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CVPR論文紹介: A Point Set Generation Network for 3D Object Reconstruction from a Single Image

CVPR論文紹介: A Point Set Generation Network for 3D Object Reconstruction from a Single Image

コンピュータビジョン分野のトップカンファレンスCVPR2017で発表された論文の内,ポイントクラウドの推定にフォーカスした表題の論文を紹介するスライドです.

このスライドは関東CV勉強会( https://kantocv.connpass.com/event/62020/ )での発表資料です.

Keisuke OGAKI

August 06, 2017
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  1. %఺܈ͷऔѻ͍
    "1PJOU4FU(FOFSBUJPO/FUXPSLGPS
    %0CKFDU3FDPOTUSVDUJPOGSPNB4JOHMF*NBHF
    େ֞ܚհ

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  2. "1PJOU4FU(FOFSBUJPO/FUXPSLGPS
    %0CKFDU3FDPOTUSVDUJPOGSPNB4JOHMF*NBHF

    ·ͱΊ: ୯؟Point Cloudਪఆ
    ໰୊ઃఆ
    Ұຕը૾͔Βɺ1PJOU$MPVEΛਪఆ͢
    Δ
    ͓΋͠Ζ͍ͱ͜Ζ
    ෼෍ؒͷڑ཭Λ࠷খԽ͢Δ͜ͱͰ௚઀
    ϙΠϯτΫϥ΢υΛग़ྗ͢Δωοτϫʔ
    ΫΛֶशͰ͖Δ
    ݁ہૄͳग़ྗͰ͋ͬͯ΋ɼͳΜͱ͔ີ
    ͳख๏ %FDPOW
    Λ͏·͘ར༻͢Δߏ
    ଄ʹམͱ͠ࠐΉͷؙ͕͍
    ײ૝
    %Ͱ΋%Ͱ΋ɼૄͳσʔλߏ଄ͷֶ
    श͸ɼ໌Β͔ʹ$//ʹಥͬࠐΊ͹͍
    ͍ΑͶܥͷख๏ΑΓ͸·ͩ·ͩߟ͑Δ
    ͜ͱ͕ͨ͘͞Μ͋ͬͯ໘ന͍
    )BPRJBOH'BO )BP4V -FPOJEBT(VJCBT
    ࿦จ'JHΑΓ

    View full-size slide

  3. ࣮ࡍʹࢼͯ͠Έ·ͨ͠

    IUUQTHJUIVCDPNGBOIRNF1PJOU4FU(FOFSBUJPO

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  4. Ͳ͏͍͏ΞϓϦέʔγϣϯ

    ͍͍ײ͡ͷࣸਅΛࡱΔ ର৅෺ΛϚεΫ͢Δ
    ͍͍ײ͡ʹΫϩοϓ͢Δ 1PJOU$MPVE͕ग़ͯདྷΔ ͜͜·Ͱ໿෼

    ؤுΔ
    ؤுΔ
    πʔϧ͕ఏڙ͞ΕͯΔ

    ࣗಈ

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  5. ࡉ͔ͳ੍໿

    ϚεΫ࡞੒͕ΊΜͲ͍ɻɻɻ
    ׂͱ͔ͬ͠Γ࣮ݧ৚݅Λἧ͑ͳ͖Ό͍͚ͳ͍Β͍͠
    ͱ͸͍͑ɺઌͷ݁Ռ͸ɺͳΜͱͳ͘ద౰ʹऔͬͨ
    ࣸਅͰͪΌΜͱҰൃͰ΍ͬͨྫͰ͢ɻ
    Χϝϥ͔Β؍ͯ͜ͷ൒ٿʹϐολϦର৅͕ೖͬͯ
    Δඞཁ͕͋Δɻ

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  6. ࣮૷ৄࡉ

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  7. ୭ʹ޲͚ͯͷൃද

    ˕%Ϟσϧͷਂ૚ֶशΛ͍ͨ͠ਓ
    ̋ϥελը૾Ҏ֎ͷը૾ॲཧΛ͍ͨ͠ਓ
    ˚ఆ൪λεΫͷਫ਼౓Λ͍͋͛ͨਓ

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  8. ը૾ੜ੒໰୊ͷ෼ྨ ݸਓͷݟղͰ͢


    ࣍ݩ
    ࣍ݩ
    ີ ૄ
    <>IUUQTSFTFBSDIHPPHMFCMPHDPNUFBDIJOHNBDIJOFTUPESBXIUNM
    <>6/461&37*4&%3&13&4&/5"5*0/-&"3/*/(8*5)%&&1$0/70-65*0/"-(&/&3"5*7&"%7&34"3*"-/&5803,4
    <>%FFQFS%FQUI1SFEJDUJPOXJUI'VMMZ$POWPMVUJPOBM3FTJEVBM/FUXPSLT
    <>%3/%3FDVSSFOU3FDPOTUSVDUJPO/FVSBM/FUXPSL
    <>(3"44(FOFSBUJWF3FDVSTJWF"VUPFODPEFSTGPS4IBQF4USVDUVSFT
    %FDPOWPMVUJPOܥ %$("/౳
    <> 4LFUDI3//<>
    %FQUIਪఆ<> %%FDPOW<>
    1PJOU$MPVE
    ϝογϡͷ௚઀ੜ੒<>
    ݚڀͷϑϩϯςΟΞ

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  9. ը૾ੜ੒໰୊ͷ෼ྨ ݸਓͷݟղͰ͢


    ࣍ݩ
    ࣍ݩ
    ີ ૄ
    <>IUUQTSFTFBSDIHPPHMFCMPHDPNUFBDIJOHNBDIJOFTUPESBXIUNM
    <>6/461&37*4&%3&13&4&/5"5*0/-&"3/*/(8*5)%&&1$0/70-65*0/"-(&/&3"5*7&"%7&34"3*"-/&5803,4
    <>%FFQFS%FQUI1SFEJDUJPOXJUI'VMMZ$POWPMVUJPOBM3FTJEVBM/FUXPSLT
    <>%3/%3FDVSSFOU3FDPOTUSVDUJPO/FVSBM/FUXPSL
    <>(3"44(FOFSBUJWF3FDVSTJWF"VUPFODPEFSTGPS4IBQF4USVDUVSFT
    %FDPOWPMVUJPOܥ %$("/౳
    <> 4LFUDI3//<>
    %FQUIਪఆ<> %%FDPOW<>
    1PJOU$MPVE
    ϝογϡͷ௚઀ੜ੒<>
    ݚڀͷϑϩϯςΟΞ
    1SPT
    w $POW͕ڧ͍ɽΰχϣΰχϣ
    ͠ͳͯ͘΋σΟʔϓϥʔχ
    ϯά͕ͳΜͱ͔ͯ͘͠ΕΔ ཁ
    ग़య

    $POT
    w ղ૾౓͕ωοτϫʔΫͷαΠ
    ζʹґଘ͢Δ͜ͱ͕ଟ͍
    1SPT
    w ύϥϝλԽ͞Εͨදݱͷ৔߹ɺ
    ࣗ༝ʹߴղ૾౓ʹͰ͖Δ ϥ
    ελը૾ϕΫλը૾

    w ղऍՄೳͳ
    ύϥϝλ͕ग़ྗ
    ʹͳΔͷͰɺਓ͕ؒޙॲཧͰ
    ͖Δ
    $POT
    w $POWͷΑ͏ʹίϞσΟςΟ
    Խͯ͠ͳ͍ͷͰɺωοτϫʔ
    Ϋ΍ϩεΛࣗ෼Ͱߟ͑ͳ͖Ό
    ͍͚ͳ͍

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  10. ࣮૷ʹؔ͢Δͭͷ࿦఺

    ϩε͸Ͳ͏͢Δ
    w ڭࢣ͋ΓֶशΛ͢Δ͕ɺϙΠϯτΫϥ΢υಉ࢜ͷڑ཭͸Ͳ͏΍ͬͯఆٛ
    ͢Δ
    ωοτϫʔΫͷܗঢ়͸
    w ग़ྗ͕ը૾͡Όͳ͍͜ͷϞσϧͷωοτϫʔΫ͸Ͳ͏΍ͬͯઃܭ͢Δ
    ֶशσʔλ͸
    w ը૾ͱϙΠϯτΫϥ΢υͷϖΞϫΠζσʔλ͸Ͳ͏΍ͬͯूΊΔ
    ໘ന͍ٞ୊͸ҎԼͷ఺

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  11. ϩε͸

    ϙΠϯτ͸ɺ఺͝ͱͷϖΞϫΠζσʔλ͸࡞Εͳ͍ͷͰɺϙΠϯτΫϥ΢υ ఺܈
    ಉ࢜ͷڑ཭Λ࢖͏͜ͱ
    ݁ہ࠷΋͍ۙ఺ΛϖΞʹ͍ͯ͠ΔɻͨͩɺYUͱUYͷ྆ํͷରԠ෇Λऔ͍ͬͯΔ఺͕
    ୯ͳΔϖΞϫΠζͱ͸ҧ͏ɽ
    w ࠷ۙ๣ͷڑ཭ΛऔΔUGOOEJTUBODFϞδϡʔϧΛஶऀΒ͕ެ։ͯ͠Δ
    4Λ4ʹมԽͤ͞ΔͨΊͷίετɺΛ࠷খԽɽ8BTTFSTUFJOڑ཭ͱ΋ɽ
    ͿͬͪΌ͚ͲͬͪͰ΋͏·͘ߦͬͯΔɻ$IBNGFSͷํ͕ПΛٻΊΔඞཁ͕ͳ͘ܭࢉ͕͍ܰ

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  12. ࣮૷ʹؔ͢Δͭͷ࿦఺

    ϩε͸Ͳ͏͢Δ
    w ڭࢣ͋ΓֶशΛ͢Δ͕ɺϙΠϯτΫϥ΢υಉ࢜ͷڑ཭͸Ͳ͏΍ͬͯఆٛ
    ͢Δ
    w ෼෍ؒͷڑ཭ $%΍&.%
    Λ࢖͏͜ͱͰ௚઀࠷খԽͰ͖Δ
    ωοτϫʔΫͷܗঢ়͸
    w ग़ྗ͕ը૾͡Όͳ͍͜ͷϞσϧͷωοτϫʔΫ͸Ͳ͏΍ͬͯઃܭ͢Δ
    ֶशσʔλ͸
    w ը૾ͱϙΠϯτΫϥ΢υͷϖΞϫΠζσʔλ͸Ͳ͏΍ͬͯूΊΔ
    ໘ന͍ٞ୊͸ҎԼͷ఺

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  13. ωοτϫʔΫߏ଄͸
    ࠷ߴਫ਼౓ͷϞσϧ·Ͱஈ֊ͷෳࡶ͕͋͞ΔɽͦΕͧΕ͕εʔύʔηοτʹͳͬͯΔ

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  14. ωοτϫʔΫߏ଄͸ -W
    &ODPEFS%FDPEFSϞσϧ
    ग़ྗ͸఺Y%
    ೖྗը૾Ҏ֎ʹϥϯμϜϕΫτϧΛ͍ΕΔ
    w ໰୊͕JMMQPTFEͰ͋Γɼͦͷࣗ༝౓ΛϞσϧԽ͢Δඞཁ
    ͕͋Δ
    w 7BSJBUJPOBM"VUP&ODPEFSͷ࿮૊ΈͰτϨʔχϯά͢Δ

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  15. ωοτϫʔΫߏ଄͸ -W
    %FDPOWΛ௨͞ͳ͍'$ଆ΋࢒ͯ͋͠ΔɽͦΕ
    ͧΕಠཱʹग़ྗͨ͠఺܈Λ݁߹
    w '$͕୺Λॲཧͯ͠$POWଆ͕ຊମΛੜ੒
    ͍ͯ͠Δͱͷใࠂ
    ͋Εɼɼ%FDPOW
    w 8JEUIY)FJHIUY Y Z [
    ͱ͍͏νϟϯ
    ωϧը૾ͱΈͳ͢
    w ཭ࢄ஋Ͱ͸ͳ͍΋ͷͷɼϙΠϯτΫϥ΢
    υ΋ͦΕͳΓʹີ͔ͩΒ͜͏͍͏ߏ଄Ͱ
    ߦ͚ΔΒ͍͠
    w ͤ΍Ζ͔

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  16. ωοτϫʔΫߏ଄͸ -W
    &ODPEFSͱ%FDPEFS͸தؒ૚Ͱ΋ͭͳ͕ͬͯΔ 6/&5෩

    $POW &ODPEFS
    %FDPOW %FDPEFS
    ͷ͋ͱʹɺ͞Βʹ$POW%FDPOWΛ܁Γ
    ฦ͢ࣄʹΑͬͯ(MPCBMͱ-PDBMͳಛ௃ΛޮՌతʹ·ͱΊΒΕΔͱ͍ͯ͠Δ
    w ि໨ΛεΩοϓ͢Δͷ΋ೖΕͯΔɻɻɻ΋͏Կ͕ͳΜ΍Β
    w 4UBDLFE)PVSHMBTTOFUXPSLͱݴ͏Β͍͠ɻQPTFਪఆͷطଘݚڀ͕͋Δ
    w ͪͳΈʹ͜ͷ࠷ऴόʔδϣϯ͸$713൛ʹ͸ೖͬͯͳͯ͘BS9JWͰͷ௥Ճ
    ໎࿏ɻɻɻ

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  17. ࣮૷ʹؔ͢Δͭͷ࿦఺

    ϩε͸Ͳ͏͢Δ
    w ڭࢣ͋ΓֶशΛ͢Δ͕ɺϙΠϯτΫϥ΢υಉ࢜ͷڑ཭͸Ͳ͏΍ͬͯఆٛ
    ͢Δ
    w ෼෍ؒͷڑ཭ $%΍&.%
    Λ࢖͏͜ͱͰ௚઀࠷খԽͰ͖Δ
    ωοτϫʔΫͷܗঢ়͸
    w ग़ྗ͕ը૾͡Όͳ͍͜ͷϞσϧͷωοτϫʔΫ͸Ͳ͏΍ͬͯઃܭ͢Δ
    w ݁ہ%FDPOWʹམͱ͢͜ͱ͕Ͱ͖Δɽ'$΋ϒϥϯνͱͯ݁͠߹͢Δ
    ֶशσʔλ͸
    w ը૾ͱϙΠϯτΫϥ΢υͷϖΞϫΠζσʔλ͸Ͳ͏΍ͬͯूΊΔ
    ໘ന͍ٞ୊͸ҎԼͷ఺

    View full-size slide

  18. ֶशσʔλ͸Ͳ͏͢Δʁ

    %ϞσϧͷσʔληοτͷΈΛ࢖͏ɻೖྗը૾͸%ϞσϧΛϨϯμϦϯάͨ͠΋ͷ
    5SBJOJOH%BUB(FOFSBUJPOCZ4ZOUIFTJT

    w ͦΕͰ΋ͪΌΜͱ࣮σʔλͰ΋ಈ͘
    w 4IBQF/FUσʔληοτΛར༻
    w ,Ϟσϧ
    w %%ܥͷ෼໺Ͱ͸΋͏͜ΕͰߦ͚Δ͜ͱ͕Α͘Θ͔ͬͯΔ
    w %FQUI΍ϘΫηϧਪఆͰطʹ࢖ΘΕͯΔ
    w ΞϓϦέʔγϣϯͷͱ͜ΖͰड़΂ͨΑ͏ʹɺࠓճ͸ӈਤͷΑ͏ͳΧϝϥͱ෺ମͷҐஔؔ܎Ͱ͔ͳ
    Γ౷੍͞Εͨσʔληοτʹ͍ͯ͠Δ
    w ඞཁʹԠͯ͡র໌৚݅΍ΧϝϥΛ΋ͬͱ͙ͪΌ͙ͪΌʹͰ͖Δ

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  19. ࣮૷ʹؔ͢Δͭͷ࿦఺

    ϩε͸Ͳ͏͢Δ
    w ڭࢣ͋ΓֶशΛ͢Δ͕ɺϙΠϯτΫϥ΢υಉ࢜ͷڑ཭͸Ͳ͏΍ͬͯఆٛ
    ͢Δ
    w ෼෍ؒͷڑ཭ $%΍&.%
    Λ࢖͏͜ͱͰ௚઀࠷খԽͰ͖Δ
    ωοτϫʔΫͷܗঢ়͸
    w ग़ྗ͕ը૾͡Όͳ͍͜ͷϞσϧͷωοτϫʔΫ͸Ͳ͏΍ͬͯઃܭ͢Δ
    w ݁ہ%FDPOWʹམͱ͢͜ͱ͕Ͱ͖Δɽ'$΋ϒϥϯνͱͯ݁͠߹͢Δ
    ֶशσʔλ͸
    w ը૾ͱϙΠϯτΫϥ΢υͷϖΞϫΠζσʔλ͸Ͳ͏΍ͬͯूΊΔ
    w %Ϟσϧ͔Β%ը૾Λੜ੒͢Δ͜ͱͰͨ͘͞Μ࡞ΕΔ
    ໘ന͍ٞ୊͸ҎԼͷ఺

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  20. ઌߦݚڀͱͷൺֱ࣮ݧ

    ͜ͷ໰୊ࣗମͷઌߦݚڀ͸ͳ͍
    ͷͰɺߋʹผͷυϝΠϯʹ໭ͯ͠ൺ
    ֱ͢Δ
    w ϙΠϯτΫϥ΢υ͔ΒϘΫηϧ
    ʹม׵্ͨ͠ͰɺϘΫηϧੜ੒
    ख๏ͱಆ͏ʂ
    w ϙΠϯτΫϥ΢υΛ཭ࢄԽͯ͠
    ϘΫηϧͱΈͳ্ͨ͠Ͱɺߋʹ
    ૚ͷ%$POWΛ࢖ͬͯ࠷ऴతͳ
    ϘΫηϧදݱΛ࡞Δ
    w ͱ͍͏͜ͱ͕TVQQMFNFOUBMʹ͠
    ͔ॻ͍ͯͳ͍
    ࢹ఺ೖྗͰ͸ڧ͍ɽͨͩ͠ઌߦ
    ݚڀ%3/͸ෳ਺ࢹ఺ೖྗ͠
    ͯਫ਼౓্͛ΒΕΔڧΈ΋͋Δ

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  21. 1PJOU/FU%FFQ-FBSOJOHPO1PJOU4FUTGPS%$MBTTJpDBUJPOBOE
    4FHNFOUBUJPO

    ࠓճ঺հͨ͠ϙΠϯτΫϥ΢υͷੜ੒
    ͱಉ࣌ʹɺϙΠϯτΫϥ΢υͷೝࣝ΋
    $713Ͱൃද͞Εͨ
    ಉ༷ʹɺ$POW͕࢖͑ͳ͍͜ͱ͕໰୊
    ͱͳΔ͕ɼ֤఺ΛͦΕͧΕे෼ʹඇઢ
    ܗม׵ͨ͠ޙʹNBYQPPMJOH͢Δ͜ͱ
    Ͱશମͷಛ௃Λଊ͑ΒΕΔͱ͍͏໘ന
    ͍ใࠂɽ
    ৄࡉʹ͍ͭͯ͸ɼ!QFJTVLF͞Μͷε
    ϥΠυ͕ެ։͞ΕͯΔͷͰࢀর͞ΕΔ
    ͱ͍͍ͱࢥ͍·͢ɽ
    w IUUQTXXXTMJEFTIBSFOFU
    'VKJNPUP,FJTVLFQPJOUOFU
    3D఺܈(Point cloud)Λͦͷ··Nx3ͷ࠲ඪྻͱͯ͠ѻ͏ೝࣝ
    ࿦จ'JHΑΓ

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  22. 1PJOU/FU%FFQ-FBSOJOHPO1PJOU4FUTGPS%$MBTTJpDBUJPOBOE
    4FHNFOUBUJPO

    ໰୊ઃఆ
    ఺܈Λͦͷ··ೖྗͱͨ͠ಛ௃நग़
    #PYFMͱҧͬͯ੔વͱฒΜͰͳ͍ͷͰɺ
    %$//͕࢖͑ͳ͍
    ΩʔΞΠσΞ
    ֤఺Λಠཱʹඇઢܗม׵ͨ͠ޙʹNBY
    QPPMJOHͱΔ͚ͩͰ݁ߏੑೳ͕ग़Δ
    w ηάϝϯςʔγϣϯͷͱ͖Ͱ΋ɺQPPMJOH
    ͨ݁͠ՌΛݩͷO఺ͷಛ௃ʹDPODBU͢
    Δ͚ͩͰ0,
    ٙ໰఺ɾײ૝
    άϥϑίϯϘϦϡʔγϣϯ͸Ͳ͏ͳΜͰ͢
    ͔ͶɻXLUL
    ਫ਼౓͚ͩͩͱϚϧνϏϡʔ$//͕Ұ൪͍
    ͍ͷ͔͊ɻͰ΋͔֬ʹϚϧνϏϡʔ͕μα
    ͍ͷ͸Θ͔Δ
    3D఺܈(Point cloud)Λͦͷ··Nx3ͷ࠲ඪྻͱͯ͠ѻ͏ೝࣝ
    ࿦จ'JHΑΓ

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  23. 1PJOU/FU%FFQ-FBSOJOHPO1PJOU4FUTGPS%$MBTTJpDBUJPOBOE
    4FHNFOUBUJPO

    .7$// ଟࢹ఺͔Βͷը૾$//ͷ౷߹
    ͕Ұ൪ೝࣝਫ਼౓͸ߴ͍Μ͚ͩ
    Ͳɺύϥϝλ਺΋ଟͯ͘ܭࢉ࣌ؒ΋͔͔Δɻ1PJOU/FU͸ਫ਼౓΋े෼Ͱ
    ߴ଎ɻ

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  24. ·ͱΊ

    ͓΋͠Ζ͍ͱ͜Ζ
    w ෼෍ؒͷڑ཭Λ࠷খԽ͢Δ͜ͱͰ௚઀ϙΠϯτΫϥ΢υΛग़ྗ
    ͢ΔωοτϫʔΫΛֶशͰ͖Δ
    w ݁ہૄͳग़ྗͰ͋ͬͯ΋ɼͳΜͱ͔ີͳख๏ %FDPOW
    Λ͏·͘
    ར༻͢Δߏ଄ʹམͱ͠ࠐΉͷؙ͕͍
    %Ͱ΋%Ͱ΋ɼૄͳσʔλߏ଄ͷֶश͸ɼ໌Β͔ʹ$//ʹ
    ಥͬࠐΊ͹͍͍ΑͶܥͷख๏ΑΓ͸·ͩ·ͩߟ͑Δ͜ͱ͕ͨ͘
    ͞Μ͋ͬͯ໘ന͍

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