In this paper, we propose a distortion-aware loop filtering model to improve the performance of intra coding for 360$^o$ videos projected via equirectangular projection (ERP) format. To enable the awareness of distortion, our proposed module analyzes content characteristics based on a coding unit (CU) partition mask and processes them through partial convolution to activate the specified area. The feature recalibration module, which leverages cascaded residual channel-wise attention blocks (RCABs) to adjust the inter-channel and intra-channel features automatically, is capable of adapting with different quality levels. The perceptual geometry optimization combining with weighted mean squared error (WMSE) and the perceptual loss guarantees both the local field of view (FoV) and global image reconstruction with high quality. Extensive experimental results show that our proposed scheme achieves significant bitrate savings compared with the anchor (HM + 360Lib), leading to 8.9%, 9.0%, 7.1% and 7.4% on average bit rate reductions in terms of PSNR, WPSNR, and PSNR of two viewports for luminance component of 360^o videos, respectively.
Videos are developing in the trends of Ultra High Definition (UHD), High Frame Rate (HFR), High Dynamic Range (HDR), Wide Color Gammut (WCG) and high fidelity, which provide users with more realistic visual experiences. However, the amount of video data increases exponentially and requires high efficiency video compression for storage and network transmission. Perceptually optimized video coding aims to exploit visual redundancies in videos so as to maximize compression efficiency. In this paper, we present a systematic survey on the recent advances and challenges on perceptually optimized video coding. Firstly, we present problem formulation and framework of perceptually optimized video coding, which includes visual perception modelling, visual quality assessment and perception guided coding optimization. Secondly, the recent advances on visual factors, key computational visual models and quality assessment models are presented. Thirdly, we do systematic review on perceptual video coding optimizations from four key aspects, which includes perceptually optimized bit allocation, rate-distortion optimization, transform and quantization, filtering and enhancement. In each part, problem formulation, working flow, recent advances, advantages and challenges are presented. Fourthly, perceptual coding performance of latest coding standards and tools are experimentally analyzed. Finally, challenging issues and future opportunities on perceptual video coding are identified.
3D Morphable Models (3DMMs) are generative models for face shape and appearance. However, the shape parameters of traditional 3DMMs satisfy the multivariate Gaussian distribution while the identity embeddings satisfy the hypersphere distribution, and this conflict makes it challenging for face reconstruction models to preserve the faithfulness and the shape consistency simultaneously. To address this issue, we propose the Sphere Face Model(SFM), a novel 3DMM for monocular face reconstruction, which can preserve both shape fidelity and identity consistency. The core of our SFM is the basis matrix which can be used to reconstruct 3D face shapes, and the basic matrix is learned by adopting a two-stage training approach where 3D and 2D training data are used in the first and second stages, respectively. To resolve the distribution mismatch, we design a novel loss to make the shape parameters have a hyperspherical latent space. Extensive experiments show that SFM has high representation ability and shape parameter space's clustering performance. Moreover, it produces fidelity face shapes, and the shapes are consistent in challenging conditions in monocular face reconstruction.
Achieving short-distance flight helps improve the efficiency of humanoid robots moving in complex environments (e.g., crossing large obstacles or reaching high places) for rapid emergency missions. This study proposes a design of a flying humanoid robot named Jet-HR2. The robot has 10 joints driven by brushless motors and harmonic drives for locomotion. To overcome the challenge of the stable-attitude takeoff in small thrust-to-weight conditions, the robot was designed based on the concept of thrust vectoring. The propulsion system consists of four ducted fans, that is, two fixed on the waist of the robot and the other two mounted on the feet, for thrust vector control. The thrust vector is controlled by adjusting the attitude of the foot during the flight. A simplified model and control strategies are proposed to solve the problem of attitude instability caused by mass errors and joint position errors during takeoff. The experimental results show that the robot's spin and dive behaviors during takeoff were effectively suppressed by controlling the thrust vector of the ducted fan on the foot. The robot successfully achieved takeoff at a thrust-to-weight ratio of 1.17 (17 kg / 20 kg) and maintained a stable attitude, reaching a takeoff height of over 1000 mm.
Micro-expressions are spontaneous, unconscious facial movements that show people's true inner emotions and have great potential in related fields of psychological testing. Since the face is a 3D deformation object, the occurrence of an expression can arouse spatial deformation of the face, but limited by the available databases are 2D videos, lacking the description of 3D spatial information of micro-expressions. Therefore, we proposed a new micro-expression database containing 2D video sequences and 3D point clouds sequences. The database includes 259 micro-expressions sequences, and these samples were classified using the objective method based on facial action coding system, as well as the non-objective method that combines video contents and participants' self-reports. We extracted 2D and 3D features using the local binary patterns on three orthogonal planes (LBP-TOP) and curvature algorithms, respectively, and evaluated the classification accuracies of these two features and their fusion results with leave-one-subject-out (LOSO) and 10-fold cross-validation. Further, we performed various neural network algorithms for database classification, the results show that classification accuracies are improved by fusing 3D features than using only 2D features. The database offers original and cropped micro-expression samples, which will facilitate the exploration and research on 3D Spatio-temporal features of micro-expressions.
Machine learning techniques provide a chance to explore the coding performance potential of transform. In this work, we propose an explainable transform based intra video coding to improve the coding efficiency. Firstly, we model machine learning based transform design as an optimization problem of maximizing the energy compaction or decorrelation capability. The explainable machine learning based transform, i.e., Subspace Approximation with Adjusted Bias (Saab) transform, is analyzed and compared with the mainstream Discrete Cosine Transform (DCT) on their energy compaction and decorrelation capabilities. Secondly, we propose a Saab transform based intra video coding framework with off-line Saab transform learning. Meanwhile, intra mode dependent Saab transform is developed. Then, Rate Distortion (RD) gain of Saab transform based intra video coding is theoretically and experimentally analyzed in detail. Finally, three strategies on integrating the Saab transform and DCT in intra video coding are developed to improve the coding efficiency. Experimental results demonstrate that the proposed 8$\times$8 Saab transform based intra video coding can achieve Bj{\o}nteggard Delta Bit Rate (BDBR) from -1.19% to -10.00% and -3.07% on average as compared with the mainstream 8$\times$8 DCT based coding scheme.
Most SLAM algorithms are based on the assumption that the scene is static. However, in practice, most scenes are dynamic which usually contains moving objects, these methods are not suitable. In this paper, we introduce DymSLAM, a dynamic stereo visual SLAM system being capable of reconstructing a 4D (3D + time) dynamic scene with rigid moving objects. The only input of DymSLAM is stereo video, and its output includes a dense map of the static environment, 3D model of the moving objects and the trajectories of the camera and the moving objects. We at first detect and match the interesting points between successive frames by using traditional SLAM methods. Then the interesting points belonging to different motion models (including ego-motion and motion models of rigid moving objects) are segmented by a multi-model fitting approach. Based on the interesting points belonging to the ego-motion, we are able to estimate the trajectory of the camera and reconstruct the static background. The interesting points belonging to the motion models of rigid moving objects are then used to estimate their relative motion models to the camera and reconstruct the 3D models of the objects. We then transform the relative motion to the trajectories of the moving objects in the global reference frame. Finally, we then fuse the 3D models of the moving objects into the 3D map of the environment by considering their motion trajectories to obtain a 4D (3D+time) sequence. DymSLAM obtains information about the dynamic objects instead of ignoring them and is suitable for unknown rigid objects. Hence, the proposed system allows the robot to be employed for high-level tasks, such as obstacle avoidance for dynamic objects. We conducted experiments in a real-world environment where both the camera and the objects were moving in a wide range.
The Satisfied User Ratio (SUR) curve for a lossy image compression scheme, e.g., JPEG, gives the distribution function of the Just Noticeable Difference (JND), the smallest distortion level that can be perceived by a subject when a reference image is compared to a distorted one. A sequence of JNDs can be defined with a suitable successive choice of reference images. We propose the first deep learning approach to predict SUR curves. We show how to exploit maximum likelihood estimation and the Kolmogorov-Smirnov test to select a suitable parametric model for the distribution function. We then use deep feature learning to predict samples of the SUR curve and apply the method of least squares to fit the parametric model to the predicted samples. Our deep learning approach relies on a Siamese Convolutional Neural Networks (CNN), transfer learning, and deep feature learning, using pairs consisting of a reference image and compressed image for training. Experiments on the MCL-JCI dataset showed state-of-the-art performance. For example, the mean Bhattacharyya distances between the predicted and ground truth first, second, and third JND distributions were 0.0810, 0.0702, and 0.0522, respectively, and the corresponding average absolute differences of the peak signal-to-noise ratio at the median of the distributions were 0.56, 0.65, and 0.53 dB.
With the development of computer vision, visual odometry is adopted by more and more mobile robots. However, we found that not only its own pose, but the poses of other moving objects are also crucial for the decision of the robot. In addition, the visual odometry will be greatly disturbed when a significant moving object appears. In this letter, a stereo-based multi-motion visual odometry method is proposed to acquire the poses of the robot and other moving objects. In order to obtain the poses simultaneously, a continuous motion segmentation module and a coordinate conversion module are applied to the traditional visual odometry pipeline. As a result, poses of all moving objects can be acquired and transformed into the ground coordinate system. The experimental results show that the proposed multi-motion visual odometry can effectively eliminate the influence of moving objects on the visual odometry, as well as achieve 10 cm in position and 3{\deg} in orientation RMSE (Root Mean Square Error) of each moving object.