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2019


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Fisher Efficient Inference of Intractable Models

Liu, S., Kanamori, T., Jitkrittum, W., Chen, Y.

Advances in Neural Information Processing Systems 32, pages: 8790-8800, (Editors: H. Wallach and H. Larochelle and A. Beygelzimer and F. d’Alché-Buc and E. Fox and R. Garnett), Curran Associates, Inc., Neural Information Processing Systems 2019, December 2019 (conference)

ei

link (url) [BibTex]

2019


link (url) [BibTex]


Semi-supervised learning, causality, and the conditional cluster assumption
Semi-supervised learning, causality, and the conditional cluster assumption

von Kügelgen, J., Mey, A., Loog, M., Schölkopf, B.

Advances in Neural Information Processing Systems 32, Curran Associates, Inc., Neural Information Processing Systems 2019 - Workshop Do the right thing: machine learning and causal inference for improved decision making, December 2019 (conference)

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Poster PDF link (url) [BibTex]

Poster PDF link (url) [BibTex]


Optimal experimental design via Bayesian optimization: active causal structure learning for Gaussian process networks
Optimal experimental design via Bayesian optimization: active causal structure learning for Gaussian process networks

von Kügelgen, J., Rubenstein, P. K., Schölkopf, B., Weller, A.

NeurIPS 2019 Workshop Do the right thing: machine learning and causal inference for improved decision making, NeurIPS, NeurIPS 2019 Workshop Do the right thing: machine learning and causal inference for improved decision making, December 2019 (conference)

ei

arXiv Poster link (url) [BibTex]

arXiv Poster link (url) [BibTex]


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Selecting causal brain features with a single conditional independence test per feature

Mastakouri, A., Schölkopf, B., Janzing, D.

Advances in Neural Information Processing Systems 32, pages: 12532-12543, (Editors: H. Wallach and H. Larochelle and A. Beygelzimer and F. d’Alché-Buc and E. Fox and R. Garnett), Curran Associates, Inc., 33rd Annual Conference on Neural Information Processing Systems, December 2019 (conference)

ei

link (url) [BibTex]

link (url) [BibTex]


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Practical and Consistent Estimation of f-Divergences

Rubenstein, P. K., Bousquet, O., Djolonga, J., Riquelme, C., Tolstikhin, I.

Advances in Neural Information Processing Systems 32, pages: 4072-4082, (Editors: H. Wallach and H. Larochelle and A. Beygelzimer and F. d’Alché-Buc and E. Fox and R. Garnett), Curran Associates, Inc., 33rd Annual Conference on Neural Information Processing Systems, December 2019 (conference)

ei

link (url) [BibTex]

link (url) [BibTex]


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Invert to Learn to Invert

Putzky, P., Welling, M.

Advances in Neural Information Processing Systems 32, pages: 444-454, (Editors: H. Wallach and H. Larochelle and A. Beygelzimer and F. d’Alché-Buc and E. Fox and R. Garnett), Curran Associates, Inc., 33rd Annual Conference on Neural Information Processing Systems, December 2019 (conference)

ei

link (url) [BibTex]

link (url) [BibTex]


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On the Fairness of Disentangled Representations

Locatello, F., Abbati, G., Rainforth, T., Bauer, S., Schölkopf, B., Bachem, O.

Advances in Neural Information Processing Systems 32, pages: 14584-14597, (Editors: H. Wallach and H. Larochelle and A. Beygelzimer and F. d’Alché-Buc and E. Fox and R. Garnett), Curran Associates, Inc., 33rd Annual Conference on Neural Information Processing Systems, December 2019 (conference)

ei

link (url) [BibTex]

link (url) [BibTex]


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Limitations of the empirical Fisher approximation for natural gradient descent

Kunstner, F., Hennig, P., Balles, L.

Advances in Neural Information Processing Systems 32, pages: 4158-4169, (Editors: H. Wallach and H. Larochelle and A. Beygelzimer and F. d’Alché-Buc and E. Fox and R. Garnett), Curran Associates, Inc., 33rd Annual Conference on Neural Information Processing Systems, December 2019 (conference)

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link (url) [BibTex]

link (url) [BibTex]


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A Model to Search for Synthesizable Molecules

Bradshaw, J., Paige, B., Kusner, M. J., Segler, M., Hernández-Lobato, J. M.

Advances in Neural Information Processing Systems 32, pages: 7935-7947, (Editors: H. Wallach and H. Larochelle and A. Beygelzimer and F. d’Alché-Buc and E. Fox and R. Garnett), Curran Associates, Inc., 33rd Annual Conference on Neural Information Processing Systems, December 2019 (conference)

ei

link (url) [BibTex]

link (url) [BibTex]


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Kernel Stein Tests for Multiple Model Comparison

Lim, J. N., Yamada, M., Schölkopf, B., Jitkrittum, W.

Advances in Neural Information Processing Systems 32, pages: 2240-2250, (Editors: H. Wallach and H. Larochelle and A. Beygelzimer and F. d’Alché-Buc and E. Fox and R. Garnett), Curran Associates, Inc., 33rd Annual Conference on Neural Information Processing Systems, December 2019 (conference)

ei

link (url) [BibTex]

link (url) [BibTex]


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On the Transfer of Inductive Bias from Simulation to the Real World: a New Disentanglement Dataset

Gondal, M. W., Wuthrich, M., Miladinovic, D., Locatello, F., Breidt, M., Volchkov, V., Akpo, J., Bachem, O., Schölkopf, B., Bauer, S.

Advances in Neural Information Processing Systems 32, pages: 15714-15725, (Editors: H. Wallach and H. Larochelle and A. Beygelzimer and F. d’Alché-Buc and E. Fox and R. Garnett), Curran Associates, Inc., 33rd Annual Conference on Neural Information Processing Systems, December 2019 (conference)

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link (url) [BibTex]

link (url) [BibTex]


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Convergence Guarantees for Adaptive Bayesian Quadrature Methods

Kanagawa, M., Hennig, P.

Advances in Neural Information Processing Systems 32, pages: 6234-6245, (Editors: H. Wallach and H. Larochelle and A. Beygelzimer and F. d’Alché-Buc and E. Fox and R. Garnett), Curran Associates, Inc., 33rd Annual Conference on Neural Information Processing Systems, December 2019 (conference)

ei pn

link (url) [BibTex]

link (url) [BibTex]


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Are Disentangled Representations Helpful for Abstract Visual Reasoning?

van Steenkiste, S., Locatello, F., Schmidhuber, J., Bachem, O.

Advances in Neural Information Processing Systems 32, pages: 14222-14235, (Editors: H. Wallach and H. Larochelle and A. Beygelzimer and F. d’Alché-Buc and E. Fox and R. Garnett), Curran Associates, Inc., 33rd Annual Conference on Neural Information Processing Systems, December 2019 (conference)

ei

link (url) [BibTex]

link (url) [BibTex]


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Perceiving the arrow of time in autoregressive motion

Meding, K., Janzing, D., Schölkopf, B., Wichmann, F. A.

Advances in Neural Information Processing Systems 32, pages: 2303-2314, (Editors: H. Wallach and H. Larochelle and A. Beygelzimer and F. d’Alché-Buc and E. Fox and R. Garnett), Curran Associates, Inc., 33rd Annual Conference on Neural Information Processing Systems, December 2019 (conference)

ei

link (url) [BibTex]

link (url) [BibTex]


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Stochastic Frank-Wolfe for Composite Convex Minimization

Locatello, F., Yurtsever, A., Fercoq, O., Cevher, V.

Advances in Neural Information Processing Systems 32, pages: 14246-14256, (Editors: H. Wallach and H. Larochelle and A. Beygelzimer and F. d’Alché-Buc and E. Fox and R. Garnett), Curran Associates, Inc., 33rd Annual Conference on Neural Information Processing Systems, December 2019 (conference)

ei

link (url) [BibTex]

link (url) [BibTex]


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Flex-Convolution

Groh*, F., Wieschollek*, P., Lensch, H. P. A.

Computer Vision - ACCV 2018 - 14th Asian Conference on Computer Vision, 11361, pages: 105-122, Lecture Notes in Computer Science, (Editors: Jawahar, C. V. and Li, Hongdong and Mori, Greg and Schindler, Konrad), Springer International Publishing, December 2019, *equal contribution (conference)

ei

DOI [BibTex]

DOI [BibTex]


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Experience Reuse with Probabilistic Movement Primitives

Stark, S., Peters, J., Rueckert, E.

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages: 1210-1217, IEEE, 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), November 2019 (conference)

ei

DOI [BibTex]

DOI [BibTex]


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Improving Local Trajectory Optimisation using Probabilistic Movement Primitives

Shyam, R. A., Lightbody, P., Das, G., Liu, P., Gomez-Gonzalez, S., Neumann, G.

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages: 2666-2671, IEEE, International Conference on Intelligent Robots and Systems 2019 (IROS) , November 2019 (conference)

ei

DOI [BibTex]

DOI [BibTex]


Attacking Optical Flow
Attacking Optical Flow

Ranjan, A., Janai, J., Geiger, A., Black, M. J.

In Proceedings International Conference on Computer Vision (ICCV), pages: 2404-2413, IEEE, 2019 IEEE/CVF International Conference on Computer Vision (ICCV), November 2019, ISSN: 2380-7504 (inproceedings)

Abstract
Deep neural nets achieve state-of-the-art performance on the problem of optical flow estimation. Since optical flow is used in several safety-critical applications like self-driving cars, it is important to gain insights into the robustness of those techniques. Recently, it has been shown that adversarial attacks easily fool deep neural networks to misclassify objects. The robustness of optical flow networks to adversarial attacks, however, has not been studied so far. In this paper, we extend adversarial patch attacks to optical flow networks and show that such attacks can compromise their performance. We show that corrupting a small patch of less than 1% of the image size can significantly affect optical flow estimates. Our attacks lead to noisy flow estimates that extend significantly beyond the region of the attack, in many cases even completely erasing the motion of objects in the scene. While networks using an encoder-decoder architecture are very sensitive to these attacks, we found that networks using a spatial pyramid architecture are less affected. We analyse the success and failure of attacking both architectures by visualizing their feature maps and comparing them to classical optical flow techniques which are robust to these attacks. We also demonstrate that such attacks are practical by placing a printed pattern into real scenes.

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Video Project Page Paper Supplementary Material link (url) DOI [BibTex]

Video Project Page Paper Supplementary Material link (url) DOI [BibTex]


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Multimodal Uncertainty Reduction for Intention Recognition in Human-Robot Interaction

Trick, S., Koert, D., Peters, J., Rothkopf, C. A.

International Conference on Intelligent Robots and Systems (IROS), pages: 7009-7016, IEEE, November 2019 (conference)

ei

DOI [BibTex]

DOI [BibTex]


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Deep Lagrangian Networks for end-to-end learning of energy-based control for under-actuated systems

Lutter, M., Listmann, K., Peters, J.

International Conference on Intelligent Robots and Systems (IROS), pages: 7718-7725, IEEE, November 2019 (conference)

ei

DOI [BibTex]

DOI [BibTex]


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Reinforcement Learning of Trajectory Distributions: Applications in Assisted Teleoperation and Motion Planning

Ewerton, M., Guilherme, M., Koert, D., Kolev, Z., Takahashi, M., Peters, J.

International Conference on Intelligent Robots and Systems (IROS), pages: 4294-4300, IEEE, November 2019 (conference)

ei

DOI [BibTex]

DOI [BibTex]


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Chance-Constrained Trajectory Optimization for Non-linear Systems with Unknown Stochastic Dynamics

Celik, O., Abdulsamad, H., Peters, J.

International Conference on Intelligent Robots and Systems (IROS), pages: 6828-6833, IEEE, November 2019 (conference)

ei

DOI [BibTex]

DOI [BibTex]


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Generalized Multiple Correlation Coefficient as a Similarity Measurement between Trajectories

Urain, J., Peters, J.

International Conference on Intelligent Robots and Systems (IROS), pages: 1363-1369, IEEE, November 2019 (conference)

ei

DOI [BibTex]

DOI [BibTex]


Occupancy Flow: 4D Reconstruction by Learning Particle Dynamics
Occupancy Flow: 4D Reconstruction by Learning Particle Dynamics

Niemeyer, M., Mescheder, L., Oechsle, M., Geiger, A.

International Conference on Computer Vision, October 2019 (conference)

Abstract
Deep learning based 3D reconstruction techniques have recently achieved impressive results. However, while state-of-the-art methods are able to output complex 3D geometry, it is not clear how to extend these results to time-varying topologies. Approaches treating each time step individually lack continuity and exhibit slow inference, while traditional 4D reconstruction methods often utilize a template model or discretize the 4D space at fixed resolution. In this work, we present Occupancy Flow, a novel spatio-temporal representation of time-varying 3D geometry with implicit correspondences. Towards this goal, we learn a temporally and spatially continuous vector field which assigns a motion vector to every point in space and time. In order to perform dense 4D reconstruction from images or sparse point clouds, we combine our method with a continuous 3D representation. Implicitly, our model yields correspondences over time, thus enabling fast inference while providing a sound physical description of the temporal dynamics. We show that our method can be used for interpolation and reconstruction tasks, and demonstrate the accuracy of the learned correspondences. We believe that Occupancy Flow is a promising new 4D representation which will be useful for a variety of spatio-temporal reconstruction tasks.

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pdf poster suppmat code Project page video blog [BibTex]


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Neural Signatures of Motor Skill in the Resting Brain

Ozdenizci, O., Meyer, T., Wichmann, F., Peters, J., Schölkopf, B., Cetin, M., Grosse-Wentrup, M.

Proceedings of the IEEE International Conference on Systems, Man and Cybernetics (SMC 2019), pages: 4387-4394, IEEE, October 2019 (conference)

ei

DOI [BibTex]

DOI [BibTex]


Texture Fields: Learning Texture Representations in Function Space
Texture Fields: Learning Texture Representations in Function Space

Oechsle, M., Mescheder, L., Niemeyer, M., Strauss, T., Geiger, A.

International Conference on Computer Vision, October 2019 (conference)

Abstract
In recent years, substantial progress has been achieved in learning-based reconstruction of 3D objects. At the same time, generative models were proposed that can generate highly realistic images. However, despite this success in these closely related tasks, texture reconstruction of 3D objects has received little attention from the research community and state-of-the-art methods are either limited to comparably low resolution or constrained experimental setups. A major reason for these limitations is that common representations of texture are inefficient or hard to interface for modern deep learning techniques. In this paper, we propose Texture Fields, a novel texture representation which is based on regressing a continuous 3D function parameterized with a neural network. Our approach circumvents limiting factors like shape discretization and parameterization, as the proposed texture representation is independent of the shape representation of the 3D object. We show that Texture Fields are able to represent high frequency texture and naturally blend with modern deep learning techniques. Experimentally, we find that Texture Fields compare favorably to state-of-the-art methods for conditional texture reconstruction of 3D objects and enable learning of probabilistic generative models for texturing unseen 3D models. We believe that Texture Fields will become an important building block for the next generation of generative 3D models.

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pdf suppmat video poster blog Project Page [BibTex]


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Building a Library of Tactile Skills Based on FingerVision

Belousov, B., Sadybakasov, A., Wibranek, B., Veiga, F., Tessmann, O., Peters, J.

International Conference on Humanoid Robots (Humanoids), pages: 717-722, IEEE, October 2019 (conference)

ei

DOI [BibTex]

DOI [BibTex]


NoVA: Learning to See in Novel Viewpoints and Domains
NoVA: Learning to See in Novel Viewpoints and Domains

Coors, B., Condurache, A. P., Geiger, A.

In 2019 International Conference on 3D Vision (3DV), pages: 116-125, IEEE, 2019 International Conference on 3D Vision (3DV), September 2019 (inproceedings)

Abstract
Domain adaptation techniques enable the re-use and transfer of existing labeled datasets from a source to a target domain in which little or no labeled data exists. Recently, image-level domain adaptation approaches have demonstrated impressive results in adapting from synthetic to real-world environments by translating source images to the style of a target domain. However, the domain gap between source and target may not only be caused by a different style but also by a change in viewpoint. This case necessitates a semantically consistent translation of source images and labels to the style and viewpoint of the target domain. In this work, we propose the Novel Viewpoint Adaptation (NoVA) model, which enables unsupervised adaptation to a novel viewpoint in a target domain for which no labeled data is available. NoVA utilizes an explicit representation of the 3D scene geometry to translate source view images and labels to the target view. Experiments on adaptation to synthetic and real-world datasets show the benefit of NoVA compared to state-of-the-art domain adaptation approaches on the task of semantic segmentation.

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pdf suppmat poster video DOI [BibTex]

pdf suppmat poster video DOI [BibTex]


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A Differentially Private Kernel Two-Sample Test

Raj*, A., Law*, L., Sejdinovic*, D., Park, M.

Machine Learning and Knowledge Discovery in Databases (ECML/PKDD), 119066, pages: 697-724, Lecture Notes in Computer Science, (Editors: Brefeld, Ulf and Fromont, Elisa and Hotho, Andreas and Knobbe, Arno and Maathuis, Marloes and Robardet, Céline), Springer International Publishing, September 2019, *equal contribution (conference)

ei

DOI [BibTex]

DOI [BibTex]


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Automatic Segmentation and Labelling for Robot Table Tennis Time Series

Lutz, P.

Technical University Darmstadt, Germany, August 2019 (thesis)

ei

[BibTex]

[BibTex]


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Beta Power May Mediate the Effect of Gamma-TACS on Motor Performance

Mastakouri, A., Schölkopf, B., Grosse-Wentrup, M.

41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), pages: 5902-5908, July 2019 (conference)

ei

arXiv PDF link (url) DOI [BibTex]

arXiv PDF link (url) DOI [BibTex]


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Coordinating Users of Shared Facilities via Data-driven Predictive Assistants and Game Theory

Geiger, P., Besserve, M., Winkelmann, J., Proissl, C., Schölkopf, B.

Proceedings of the 35th Conference on Uncertainty in Artificial Intelligence (UAI), pages: 49, (Editors: Amir Globerson and Ricardo Silva), AUAI Press, July 2019 (conference)

ei

link (url) [BibTex]

link (url) [BibTex]


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The Sensitivity of Counterfactual Fairness to Unmeasured Confounding

Kilbertus, N., Ball, P. J., Kusner, M. J., Weller, A., Silva, R.

Proceedings of the 35th Conference on Uncertainty in Artificial Intelligence (UAI), pages: 213, (Editors: Amir Globerson and Ricardo Silva), AUAI Press, July 2019 (conference)

ei

link (url) [BibTex]

link (url) [BibTex]


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The Incomplete Rosetta Stone problem: Identifiability results for Multi-view Nonlinear ICA

Gresele*, L., Rubenstein*, P. K., Mehrjou, A., Locatello, F., Schölkopf, B.

Proceedings of the 35th Conference on Uncertainty in Artificial Intelligence (UAI), pages: 53, (Editors: Amir Globerson and Ricardo Silva), AUAI Press, July 2019, *equal contribution (conference)

ei

link (url) [BibTex]

link (url) [BibTex]


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Random Sum-Product Networks: A Simple and Effective Approach to Probabilistic Deep Learning

Peharz, R., Vergari, A., Stelzner, K., Molina, A., Shao, X., Trapp, M., Kersting, K., Ghahramani, Z.

Proceedings of the 35th Conference on Uncertainty in Artificial Intelligence (UAI), pages: 124, (Editors: Amir Globerson and Ricardo Silva), AUAI Press, July 2019 (conference)

ei

link (url) [BibTex]

link (url) [BibTex]


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AReS and MaRS Adversarial and MMD-Minimizing Regression for SDEs

Abbati, G., Wenk, P., Osborne, M. A., Krause, A., Schölkopf, B., Bauer, S.

In Proceedings of the 36th International Conference on Machine Learning, 97, pages: 1-10, PMLR , International Conference on Machine Learning 2019, June 2019 (inproceedings)

ei

link (url) [BibTex]

link (url) [BibTex]


Taking a Deeper Look at the Inverse Compositional Algorithm
Taking a Deeper Look at the Inverse Compositional Algorithm

Lv, Z., Dellaert, F., Rehg, J. M., Geiger, A.

In Proceedings IEEE Conf. on Computer Vision and Pattern Recognition (CVPR), IEEE International Conference on Computer Vision and Pattern Recognition (CVPR) 2019, June 2019 (inproceedings)

Abstract
In this paper, we provide a modern synthesis of the classic inverse compositional algorithm for dense image alignment. We first discuss the assumptions made by this well-established technique, and subsequently propose to relax these assumptions by incorporating data-driven priors into this model. More specifically, we unroll a robust version of the inverse compositional algorithm and replace multiple components of this algorithm using more expressive models whose parameters we train in an end-to-end fashion from data. Our experiments on several challenging 3D rigid motion estimation tasks demonstrate the advantages of combining optimization with learning-based techniques, outperforming the classic inverse compositional algorithm as well as data-driven image-to-pose regression approaches.

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pdf suppmat Video Project Page Poster [BibTex]

pdf suppmat Video Project Page Poster [BibTex]


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Kernel Mean Matching for Content Addressability of GANs

Jitkrittum*, W., Sangkloy*, P., Gondal, M. W., Raj, A., Hays, J., Schölkopf, B.

Proceedings of the 36th International Conference on Machine Learning (ICML), 97, pages: 3140-3151, Proceedings of Machine Learning Research, (Editors: Chaudhuri, Kamalika and Salakhutdinov, Ruslan), PMLR, June 2019, *equal contribution (conference)

ei

PDF link (url) [BibTex]

PDF link (url) [BibTex]


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Challenging Common Assumptions in the Unsupervised Learning of Disentangled Representations

Locatello, F., Bauer, S., Lucic, M., Raetsch, G., Gelly, S., Schölkopf, B., Bachem, O.

Proceedings of the 36th International Conference on Machine Learning (ICML), 97, pages: 4114-4124, Proceedings of Machine Learning Research, (Editors: Chaudhuri, Kamalika and Salakhutdinov, Ruslan), PMLR, June 2019 (conference)

ei

PDF link (url) [BibTex]

PDF link (url) [BibTex]


Local Temporal Bilinear Pooling for Fine-grained Action Parsing
Local Temporal Bilinear Pooling for Fine-grained Action Parsing

Zhang, Y., Tang, S., Muandet, K., Jarvers, C., Neumann, H.

In Proceedings IEEE Conf. on Computer Vision and Pattern Recognition (CVPR), IEEE International Conference on Computer Vision and Pattern Recognition (CVPR) 2019, June 2019 (inproceedings)

Abstract
Fine-grained temporal action parsing is important in many applications, such as daily activity understanding, human motion analysis, surgical robotics and others requiring subtle and precise operations in a long-term period. In this paper we propose a novel bilinear pooling operation, which is used in intermediate layers of a temporal convolutional encoder-decoder net. In contrast to other work, our proposed bilinear pooling is learnable and hence can capture more complex local statistics than the conventional counterpart. In addition, we introduce exact lower-dimension representations of our bilinear forms, so that the dimensionality is reduced with neither information loss nor extra computation. We perform intensive experiments to quantitatively analyze our model and show the superior performances to other state-of-the-art work on various datasets.

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Code video demo pdf link (url) [BibTex]

Code video demo pdf link (url) [BibTex]


MOTS: Multi-Object Tracking and Segmentation
MOTS: Multi-Object Tracking and Segmentation

Voigtlaender, P., Krause, M., Osep, A., Luiten, J., Sekar, B. B. G., Geiger, A., Leibe, B.

In Proceedings IEEE Conf. on Computer Vision and Pattern Recognition (CVPR), IEEE International Conference on Computer Vision and Pattern Recognition (CVPR) 2019, June 2019 (inproceedings)

Abstract
This paper extends the popular task of multi-object tracking to multi-object tracking and segmentation (MOTS). Towards this goal, we create dense pixel-level annotations for two existing tracking datasets using a semi-automatic annotation procedure. Our new annotations comprise 65,213 pixel masks for 977 distinct objects (cars and pedestrians) in 10,870 video frames. For evaluation, we extend existing multi-object tracking metrics to this new task. Moreover, we propose a new baseline method which jointly addresses detection, tracking, and segmentation with a single convolutional network. We demonstrate the value of our datasets by achieving improvements in performance when training on MOTS annotations. We believe that our datasets, metrics and baseline will become a valuable resource towards developing multi-object tracking approaches that go beyond 2D bounding boxes.

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pdf suppmat Project Page Poster Video Project Page [BibTex]

pdf suppmat Project Page Poster Video Project Page [BibTex]


PointFlowNet: Learning Representations for Rigid Motion Estimation from Point Clouds
PointFlowNet: Learning Representations for Rigid Motion Estimation from Point Clouds

Behl, A., Paschalidou, D., Donne, S., Geiger, A.

In Proceedings IEEE Conf. on Computer Vision and Pattern Recognition (CVPR), IEEE International Conference on Computer Vision and Pattern Recognition (CVPR) 2019, June 2019 (inproceedings)

Abstract
Despite significant progress in image-based 3D scene flow estimation, the performance of such approaches has not yet reached the fidelity required by many applications. Simultaneously, these applications are often not restricted to image-based estimation: laser scanners provide a popular alternative to traditional cameras, for example in the context of self-driving cars, as they directly yield a 3D point cloud. In this paper, we propose to estimate 3D motion from such unstructured point clouds using a deep neural network. In a single forward pass, our model jointly predicts 3D scene flow as well as the 3D bounding box and rigid body motion of objects in the scene. While the prospect of estimating 3D scene flow from unstructured point clouds is promising, it is also a challenging task. We show that the traditional global representation of rigid body motion prohibits inference by CNNs, and propose a translation equivariant representation to circumvent this problem. For training our deep network, a large dataset is required. Because of this, we augment real scans from KITTI with virtual objects, realistically modeling occlusions and simulating sensor noise. A thorough comparison with classic and learning-based techniques highlights the robustness of the proposed approach.

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pdf suppmat Project Page Poster Video [BibTex]

pdf suppmat Project Page Poster Video [BibTex]


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Generate Semantically Similar Images with Kernel Mean Matching

Jitkrittum*, W., Sangkloy*, P., Gondal, M. W., Raj, A., Hays, J., Schölkopf, B.

6th Workshop Women in Computer Vision (WiCV) (oral presentation), June 2019, *equal contribution (conference)

ei

[BibTex]

[BibTex]


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Projections for Approximate Policy Iteration Algorithms

Akrour, R., Pajarinen, J., Peters, J., Neumann, G.

Proceedings of the 36th International Conference on Machine Learning (ICML), 97, pages: 181-190, Proceedings of Machine Learning Research, (Editors: Chaudhuri, Kamalika and Salakhutdinov, Ruslan), PMLR, June 2019 (conference)

ei

link (url) [BibTex]

link (url) [BibTex]


Learning Non-volumetric Depth Fusion using Successive Reprojections
Learning Non-volumetric Depth Fusion using Successive Reprojections

Donne, S., Geiger, A.

In Proceedings IEEE Conf. on Computer Vision and Pattern Recognition (CVPR), IEEE International Conference on Computer Vision and Pattern Recognition (CVPR) 2019, June 2019 (inproceedings)

Abstract
Given a set of input views, multi-view stereopsis techniques estimate depth maps to represent the 3D reconstruction of the scene; these are fused into a single, consistent, reconstruction -- most often a point cloud. In this work we propose to learn an auto-regressive depth refinement directly from data. While deep learning has improved the accuracy and speed of depth estimation significantly, learned MVS techniques remain limited to the planesweeping paradigm. We refine a set of input depth maps by successively reprojecting information from neighbouring views to leverage multi-view constraints. Compared to learning-based volumetric fusion techniques, an image-based representation allows significantly more detailed reconstructions; compared to traditional point-based techniques, our method learns noise suppression and surface completion in a data-driven fashion. Due to the limited availability of high-quality reconstruction datasets with ground truth, we introduce two novel synthetic datasets to (pre-)train our network. Our approach is able to improve both the output depth maps and the reconstructed point cloud, for both learned and traditional depth estimation front-ends, on both synthetic and real data.

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pdf suppmat Project Page Video Poster blog [BibTex]

pdf suppmat Project Page Video Poster blog [BibTex]


Connecting the Dots: Learning Representations for Active Monocular Depth Estimation
Connecting the Dots: Learning Representations for Active Monocular Depth Estimation

Riegler, G., Liao, Y., Donne, S., Koltun, V., Geiger, A.

In Proceedings IEEE Conf. on Computer Vision and Pattern Recognition (CVPR), IEEE International Conference on Computer Vision and Pattern Recognition (CVPR) 2019, June 2019 (inproceedings)

Abstract
We propose a technique for depth estimation with a monocular structured-light camera, \ie, a calibrated stereo set-up with one camera and one laser projector. Instead of formulating the depth estimation via a correspondence search problem, we show that a simple convolutional architecture is sufficient for high-quality disparity estimates in this setting. As accurate ground-truth is hard to obtain, we train our model in a self-supervised fashion with a combination of photometric and geometric losses. Further, we demonstrate that the projected pattern of the structured light sensor can be reliably separated from the ambient information. This can then be used to improve depth boundaries in a weakly supervised fashion by modeling the joint statistics of image and depth edges. The model trained in this fashion compares favorably to the state-of-the-art on challenging synthetic and real-world datasets. In addition, we contribute a novel simulator, which allows to benchmark active depth prediction algorithms in controlled conditions.

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pdf suppmat Poster Project Page [BibTex]

pdf suppmat Poster Project Page [BibTex]


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Switching Linear Dynamics for Variational Bayes Filtering

Becker-Ehmck, P., Peters, J., van der Smagt, P.

Proceedings of the 36th International Conference on Machine Learning (ICML), 97, pages: 553-562, Proceedings of Machine Learning Research, (Editors: Chaudhuri, Kamalika and Salakhutdinov, Ruslan), PMLR, June 2019 (conference)

ei

link (url) [BibTex]

link (url) [BibTex]


Superquadrics Revisited: Learning 3D Shape Parsing beyond Cuboids
Superquadrics Revisited: Learning 3D Shape Parsing beyond Cuboids

Paschalidou, D., Ulusoy, A. O., Geiger, A.

In Proceedings IEEE Conf. on Computer Vision and Pattern Recognition (CVPR), IEEE International Conference on Computer Vision and Pattern Recognition (CVPR) 2019, June 2019 (inproceedings)

Abstract
Abstracting complex 3D shapes with parsimonious part-based representations has been a long standing goal in computer vision. This paper presents a learning-based solution to this problem which goes beyond the traditional 3D cuboid representation by exploiting superquadrics as atomic elements. We demonstrate that superquadrics lead to more expressive 3D scene parses while being easier to learn than 3D cuboid representations. Moreover, we provide an analytical solution to the Chamfer loss which avoids the need for computational expensive reinforcement learning or iterative prediction. Our model learns to parse 3D objects into consistent superquadric representations without supervision. Results on various ShapeNet categories as well as the SURREAL human body dataset demonstrate the flexibility of our model in capturing fine details and complex poses that could not have been modelled using cuboids.

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Project Page Poster suppmat pdf Video blog handout [BibTex]

Project Page Poster suppmat pdf Video blog handout [BibTex]


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Robustly Disentangled Causal Mechanisms: Validating Deep Representations for Interventional Robustness

Suter, R., Miladinovic, D., Schölkopf, B., Bauer, S.

Proceedings of the 36th International Conference on Machine Learning (ICML), 97, pages: 6056-6065, Proceedings of Machine Learning Research, (Editors: Chaudhuri, Kamalika and Salakhutdinov, Ruslan), PMLR, June 2019 (conference)

ei

PDF link (url) [BibTex]

PDF link (url) [BibTex]