Domain-wise Invariant Learning for Panoptic Scene Graph Generation

Panoptic Scene Graph Generation (PSG) involves the detection of objects and the prediction of their corresponding relationships (predicates). However, the presence of biased predicate annotations poses a significant challenge for PSG models, as it hinders their ability to establish a clear decision boundary among different predicates. This issue substantially impedes the practical utility and real-world applicability of PSG models. To address the intrinsic bias above, we propose a novel framework to infer potentially biased annotations by measuring the predicate prediction risks within each subject-object pair (domain), and adaptively transfer the biased annotations to consistent ones by learning invariant predicate representation embeddings. Experiments show that our method significantly improves the performance of benchmark models, achieving a new state-of-the-art performance, and shows great generalization and effectiveness on PSG dataset.

EgoLocate: Real-time Motion Capture, Localization, and Mapping with Sparse Body-mounted Sensors

Human and environment sensing are two important topics in Computer Vision and Graphics. Human motion is often captured by inertial sensors, while the environment is mostly reconstructed using cameras. We integrate the two techniques together in EgoLocate, a system that simultaneously performs human motion capture (mocap), localization, and mapping in real time from sparse body-mounted sensors, including 6 inertial measurement units (IMUs) and a monocular phone camera. On one hand, inertial mocap suffers from large translation drift due to the lack of the global positioning signal. EgoLocate leverages image-based simultaneous localization and mapping (SLAM) techniques to locate the human in the reconstructed scene. On the other hand, SLAM often fails when the visual feature is poor. EgoLocate involves inertial mocap to provide a strong prior for the camera motion. Experiments show that localization, a key challenge for both two fields, is largely improved by our technique, compared with the state of the art of the two fields. Our codes are available for research at https://xinyu-yi.github.io/EgoLocate/.

TransPose: Real-time 3D Human Translation and Pose Estimation with Six Inertial Sensors

Motion capture is facing some new possibilities brought by the inertial sensing technologies which do not suffer from occlusion or wide-range recordings as vision-based solutions do. However, as the recorded signals are sparse and quite noisy, online performance and global translation estimation turn out to be two key difficulties. In this paper, we present TransPose, a DNN-based approach to perform full motion capture (with both global translations and body poses) from only 6 Inertial Measurement Units (IMUs) at over 90 fps. For body pose estimation, we propose a multi-stage network that estimates leaf-to-full joint positions as intermediate results. This design makes the pose estimation much easier, and thus achieves both better accuracy and lower computation cost. For global translation estimation, we propose a supporting-foot-based method and an RNN-based method to robustly solve for the global translations with a confidence-based fusion technique. Quantitative and qualitative comparisons show that our method outperforms the state-of-the-art learning- and optimization-based methods with a large margin in both accuracy and efficiency. As a purely inertial sensor-based approach, our method is not limited by environmental settings (e.g., fixed cameras), making the capture free from common difficulties such as wide-range motion space and strong occlusion.

Monocular Real-time Full Body Capture with Inter-part Correlations

We present the first method for real-time full body capture that estimates shape and motion of body and hands together with a dynamic 3D face model from a single color image. Our approach uses a new neural network architecture that exploits correlations between body and hands at high computational efficiency. Unlike previous works, our approach is jointly trained on multiple datasets focusing on hand, body or face separately, without requiring data where all the parts are annotated at the same time, which is much more difficult to create at sufficient variety. The possibility of such multi-dataset training enables superior generalization ability. In contrast to earlier monocular full body methods, our approach captures more expressive 3D face geometry and color by estimating the shape, expression, albedo and illumination parameters of a statistical face model. Our method achieves competitive accuracy on public benchmarks, while being significantly faster and providing more complete face reconstructions.

Monocular Real-time Hand Shape and Motion Capture using Multi-modal Data

We present a novel method for monocular hand shape and pose estimation at unprecedented runtime performance of 100fps and at state-of-the-art accuracy. This is enabled by a new learning based architecture designed such that it can make use of all the sources of available hand training data: image data with either 2D or 3D annotations, as well as stand-alone 3D animations without corresponding image data. It features a 3D hand joint detection module and an inverse kinematics module which regresses not only 3D joint positions but also maps them to joint rotations in a single feed-forward pass. This output makes the method more directly usable for applications in computer vision and graphics compared to only regressing 3D joint positions. We demonstrate that our architectural design leads to a significant quantitative and qualitative improvement over the state of the art on several challenging benchmarks. Our model is publicly available for future research.