We propose novel real-time algorithm to localize hands and find their associations with multiple people in the cluttered 4D volumetric data (dynamic 3D volumes). Different from the traditional multiple view approaches, which find key points in 2D and then triangulate to recover the 3D locations, our method directly processes the dynamic 3D data that involve both clutter and crowd. The volumetric representation is more desirable than the partial observations from different view points and enables more robust and accurate results. However, due to the large amount of data in the volumetric representation brute force 3D schemes are slow. In this paper, we propose novel real-time methods to tackle the problem to achieve both higher accuracy and faster speed than previous approaches. Our method detects the 3D bounding box of each subject and localizes the hands of each person. We develop new 2D features for fast candidate proposals and optimize the trajectory linking using a new max-covering bipartite matching formulation, which is critical for robust performance. We propose a novel decomposition method to reduce the key point localization in each person 3D volume to a sequence of efficient 2D problems. Our experiments show that the proposed method is faster than different competing methods and it gives almost half the localization error.
Our method is also related to the point cloud or volumetric data semantic segmentation @cite_11 @cite_8 @cite_7 @cite_18 @cite_31 @cite_27 @cite_16 . 3D semantic segmentation labels points or voxels in a volume with specific classes. Potentially it can be used to find the left and right hand voxels in the volume data and then the locations of the left and right hand of the person can be further extracted. However, 3D semantic segmentation methods are not sufficient for hand detection and association because they are instance agnostic. When there are multiple people in a close proximity, we in fact want the hand labeling specific to each single subject. Traditional 3D semantic segmentation methods thus have difficulty when associating the hands with subjects in a scene. These methods also have high complexity even by taking advantage of the sparseness of the volumetric data. Our proposed method solves the problem.
@cite_18 @cite_7 @cite_8 @cite_27 @cite_31 @cite_16 @cite_11
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In this paper we present a novel street scene semantic recognition framework, which takes advantage of 3D point clouds captured by a high-definition LiDAR laser scanner. An important problem in object recognition is the need for sufficient labeled training data to learn robust classifiers. In this paper we show how to significantly reduce the need for manually labeled training data by reduction of scene complexity using non-supervised ground and building segmentation. Our system first automatically segments grounds point cloud, this is because the ground connects almost all other objects and we will use a connect component based algorithm to oversegment the point clouds. Then, using binary range image processing building facades will be detected. Remained point cloud will grouped into voxels which are then transformed to super voxels. Local 3D features extracted from super voxels are classified by trained boosted decision trees and labeled with semantic classes e.g. tree, pedestrian, car, etc. The proposed method is evaluated both quantitatively and qualitatively on a challenging fixed-position Terrestrial Laser Scanning (TLS) Velodyne data set and two Mobile Laser Scanning (MLS), Paris-rue-Madam and NAVTEQ True databases. Robust scene parsing results are reported. 3D data such as point clouds and meshes are becoming more and more available. The goal of this paper is to obtain 3D object and scene classification and semantic segmentation. Because point clouds have irregular formats, most of the existing methods convert the 3D data into multiple 2D projection images or 3D voxel grids. These representations are suited as input of conventional CNNs but they either ignore the underlying 3D geometrical structure or are constrained by data sparsity and computational complexity. Therefore, recent methods encode the coordinates of each point cloud to certain high dimensional features to cover the 3D space. However, by their design, these models are not able to sufficiently capture the local patterns. In this paper, we propose a method that directly uses point clouds as input and exploits the implicit space partition of k-d tree structure to learn the local contextual information and aggregate features at different scales hierarchically. Extensive experiments on challenging benchmarks show that our proposed model properly captures the local patterns to provide discriminative point set features. For the task of 3D scene semantic segmentation, our method outperforms the state-of-the-art on the challenging Stanford Large-Scale 3D Indoor Spaces Dataset(S3DIS) by a large margin. A large number of works in egocentric vision have concentrated on action and object recognition. Detection and segmentation of hands in first-person videos, however, has less been explored. For many applications in this domain, it is necessary to accurately segment not only hands of the camera wearer but also the hands of others with whom he is interacting. Here, we take an in-depth look at the hand segmentation problem. In the quest for robust hand segmentation methods, we evaluated the performance of the state of the art semantic segmentation methods, off the shelf and fine-tuned, on existing datasets. We fine-tune RefineNet, a leading semantic segmentation method, for hand segmentation and find that it does much better than the best contenders. Existing hand segmentation datasets are collected in the laboratory settings. To overcome this limitation, we contribute by collecting two new datasets: a) EgoYouTubeHands including egocentric videos containing hands in the wild, and b) HandOverFace to analyze the performance of our models in presence of similar appearance occlusions. We further explore whether conditional random fields can help refine generated hand segmentations. To demonstrate the benefit of accurate hand maps, we train a CNN for hand-based activity recognition and achieve higher accuracy when a CNN was trained using hand maps produced by the fine-tuned RefineNet. Finally, we annotate a subset of the EgoHands dataset for fine-grained action recognition and show that an accuracy of 58.6 can be achieved by just looking at a single hand pose which is much better than the chance level (12.5 ). In this paper, we address the problems of contour detection, bottom-up grouping, object detection and semantic segmentation on RGB-D data. We focus on the challenging setting of cluttered indoor scenes, and evaluate our approach on the recently introduced NYU-Depth V2 (NYUD2) dataset (, ECCV, 2012). We propose algorithms for object boundary detection and hierarchical segmentation that generalize the @math gPb-ucm approach of (TPAMI, 2011) by making effective use of depth information. We show that our system can label each contour with its type (depth, normal or albedo). We also propose a generic method for long-range amodal completion of surfaces and show its effectiveness in grouping. We train RGB-D object detectors by analyzing and computing histogram of oriented gradients on the depth image and using them with deformable part models (, TPAMI, 2010). We observe that this simple strategy for training object detectors significantly outperforms more complicated models in the literature. We then turn to the problem of semantic segmentation for which we propose an approach that classifies superpixels into the dominant object categories in the NYUD2 dataset. We design generic and class-specific features to encode the appearance and geometry of objects. We also show that additional features computed from RGB-D object detectors and scene classifiers further improves semantic segmentation accuracy. In all of these tasks, we report significant improvements over the state-of-the-art.