360° images are usually represented in either equirectangular projection (ERP) or multiple perspective projections. Different from the flat 2D images, the detection task is challenging for 360° images due to the distortion of ERP and the inefficiency of perspective projections. However, existing methods mostly focus on one of the above representations instead of both, leading to limited detection performance. Moreover, the lack of appropriate bounding-box annotations as well as the annotated datasets further increases the difficulties of the detection task. In this paper, we present a standard object detection framework for 360° images. Specifically, we adapt the terminologies of the traditional object detection task to the omnidirectional scenarios, and propose a novel two-stage object detector, i.e., Reprojection R-CNN by combining both ERP and perspective projection. Owing to the omnidirectional field-of-view of ERP, Reprojection R-CNN first generates coarse region proposals efficiently by a distortion-aware spherical region proposal network. Then, it leverages the distortion-free perspective projection and refines the proposed regions by a novel reprojection network. We construct two novel synthetic datasets for training and evaluation. Experiments reveal that Reprojection R-CNN outperforms the previous state-of-the-art methods on the mAP metric. In addition, the proposed detector could run at 178ms per image in the panoramic datasets, which implies its practicability in real-world applications.
: Recent advances in 360 @math images resort to geometric information on the sphere. @cite_13 represent the ERP with a weighted graph, and apply the graph convolutional network to generate graph-based representations. @cite_9 propose SO(3) 3D rotation group for retrieval and classification tasks on spherical images. On top of that, @cite_30 suggest transforming the domain space from Euclidean S2 space to a SO(3) representation to reduce the distortion, and encoding rotation equivariance in the network. Meanwhile, some works attempt to solve the distortion in the ERP directly. @cite_15 transfer knowledge from a pre-trained CNN on perspective projections to a novel network on ERP. Other approaches @cite_32 @cite_6 @cite_28 refer to the idea of the deformable convolutional network @cite_18 , and propose the distortion-aware spherical convolution, where the convolutional filter get distorted in the same way as the objects on the ERP. Though SphConv is simple and effective, due to the implicit interpolation, it could not eliminate the distortion as the network grows deeper. To adjust the distortion from SphConv, we introduce a reprojection mechanism in Rep R-CNN, which significantly increases the detection accuracy.
@cite_30 @cite_18 @cite_28 @cite_9 @cite_32 @cite_6 @cite_15 @cite_13
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Existing deep convolutional neural networks (CNNs) require a fixed-size (e.g., 224 @math 224) input image. This requirement is “artificial” and may reduce the recognition accuracy for the images or sub-images of an arbitrary size scale. In this work, we equip the networks with another pooling strategy, “spatial pyramid pooling”, to eliminate the above requirement. The new network structure, called SPP-net, can generate a fixed-length representation regardless of image size scale. Pyramid pooling is also robust to object deformations. With these advantages, SPP-net should in general improve all CNN-based image classification methods. On the ImageNet 2012 dataset, we demonstrate that SPP-net boosts the accuracy of a variety of CNN architectures despite their different designs. On the Pascal VOC 2007 and Caltech101 datasets, SPP-net achieves state-of-the-art classification results using a single full-image representation and no fine-tuning. The power of SPP-net is also significant in object detection. Using SPP-net, we compute the feature maps from the entire image only once, and then pool features in arbitrary regions (sub-images) to generate fixed-length representations for training the detectors. This method avoids repeatedly computing the convolutional features. In processing test images, our method is 24-102 @math faster than the R-CNN method, while achieving better or comparable accuracy on Pascal VOC 2007. In ImageNet Large Scale Visual Recognition Challenge (ILSVRC) 2014, our methods rank #2 in object detection and #3 in image classification among all 38 teams. This manuscript also introduces the improvement made for this competition. Deep convolutional network architectures are often assumed to guarantee generalization for small image translations and deformations. In this paper we show that modern CNNs (VGG16, ResNet50, and InceptionResNetV2) can drastically change their output when an image is translated in the image plane by a few pixels, and that this failure of generalization also happens with other realistic small image transformations. Furthermore, the deeper the network the more we see these failures to generalize. We show that these failures are related to the fact that the architecture of modern CNNs ignores the classical sampling theorem so that generalization is not guaranteed. We also show that biases in the statistics of commonly used image datasets makes it unlikely that CNNs will learn to be invariant to these transformations. Taken together our results suggest that the performance of CNNs in object recognition falls far short of the generalization capabilities of humans. Convolution as inner product has been the founding basis of convolutional neural networks (CNNs) and the key to end-to-end visual representation learning. Benefiting from deeper architectures, recent CNNs have demonstrated increasingly strong representation abilities. Despite such improvement, the increased depth and larger parameter space have also led to challenges in properly training a network. In light of such challenges, we propose hyperspherical convolution (SphereConv), a novel learning framework that gives angular representations on hyperspheres. We introduce SphereNet, deep hyperspherical convolution networks that are distinct from conventional inner product based convolutional networks. In particular, SphereNet adopts SphereConv as its basic convolution operator and is supervised by generalized angular softmax loss - a natural loss formulation under SphereConv. We show that SphereNet can effectively encode discriminative representation and alleviate training difficulty, leading to easier optimization, faster convergence and comparable (even better) classification accuracy over convolutional counterparts. We also provide some theoretical insights for the advantages of learning on hyperspheres. In addition, we introduce the learnable SphereConv, i.e., a natural improvement over prefixed SphereConv, and SphereNorm, i.e., hyperspherical learning as a normalization method. Experiments have verified our conclusions. The superior performance of Deformable Convolutional Networks arises from its ability to adapt to the geometric variations of objects. Through an examination of its adaptive behavior, we observe that while the spatial support for its neural features conforms more closely than regular ConvNets to object structure, this support may nevertheless extend well beyond the region of interest, causing features to be influenced by irrelevant image content. To address this problem, we present a reformulation of Deformable ConvNets that improves its ability to focus on pertinent image regions, through increased modeling power and stronger training. The modeling power is enhanced through a more comprehensive integration of deformable convolution within the network, and by introducing a modulation mechanism that expands the scope of deformation modeling. To effectively harness this enriched modeling capability, we guide network training via a proposed feature mimicking scheme that helps the network to learn features that reflect the object focus and classification power of R-CNN features. With the proposed contributions, this new version of Deformable ConvNets yields significant performance gains over the original model and produces leading results on the COCO benchmark for object detection and instance segmentation.