Jaesik Park

High quality depth map upsampling for 3D-TOF cameras

This paper describes an application framework to perform high quality upsampling on depth maps captured from a low-resolution and noisy 3D time-of-flight (3D-ToF) camera that has been coupled with a high-resolution RGB camera. Our framework is inspired by recent work that uses nonlocal means filtering to regularize depth maps in order to maintain fine detail and structure. Our framework extends this regularization with an additional edge weighting scheme based on several image features based on the additional high-resolution RGB input. Quantitative and qualitative results show that our method outperforms existing approaches for 3D-ToF upsampling. We describe the complete process for this system, including device calibration, scene warping for input alignment, and even how the results can be further processed using simple user markup.

Accurate depth map estimation from a lenslet light field camera

This paper introduces an algorithm that accurately estimates depth maps using a lenslet light field camera. The proposed algorithm estimates the multi-view stereo correspondences with sub-pixel accuracy using the cost volume. The foundation for constructing accurate costs is threefold. First, the sub-aperture images are displaced using the phase shift theorem. Second, the gradient costs are adaptively aggregated using the angular coordinates of the light field. Third, the feature correspondences between the sub-aperture images are used as additional constraints. With the cost volume, the multi-label optimization propagates and corrects the depth map in the weak texture regions. Finally, the local depth map is iteratively refined through fitting the local quadratic function to estimate a non-discrete depth map. Because micro-lens images contain unexpected distortions, a method is also proposed that corrects this error. The effectiveness of the proposed algorithm is demonstrated through challenging real world examples and including comparisons with the performance of advanced depth estimation algorithms.

Multispectral pedestrian detection: Benchmark dataset and baseline

With the increasing interest in pedestrian detection, pedestrian datasets have also been the subject of research in the past decades. However, most existing datasets focus on a color channel, while a thermal channel is helpful for detection even in a dark environment. With this in mind, we propose a multispectral pedestrian dataset which provides well aligned color-thermal image pairs, captured by beam splitter-based special hardware. The color-thermal dataset is as large as previous color-based datasets and provides dense annotations including temporal correspondences. With this dataset, we introduce multispectral ACF, which is an extension of aggregated channel features (ACF) to simultaneously handle color-thermal image pairs. Multi-spectral ACF reduces the average miss rate of ACF by 15%, and achieves another breakthrough in the pedestrian detection task.

Fast Global Registration

We present an algorithm for fast global registration of partially overlapping 3D surfaces. The algorithm operates on candidate matches that cover the surfaces. A single objective is optimized to align the surfaces and disable false matches. The objective is defined densely over the surfaces and the optimization achieves tight alignment with no initialization. No correspondence updates or closest-point queries are performed in the inner loop. An extension of the algorithm can perform joint global registration of many partially overlapping surfaces. Extensive experiments demonstrate that the presented approach matches or exceeds the accuracy of state-of-the-art global registration pipelines, while being at least an order of magnitude faster. Remarkably, the presented approach is also faster than local refinement algorithms such as ICP. It provides the accuracy achieved by well-initialized local refinement algorithms, without requiring an initialization and at lower computational cost.

Multiview Photometric Stereo Using Planar Mesh Parameterization

We propose a method for accurate 3D shape reconstruction using uncalibrated multiview photometric stereo. A coarse mesh reconstructed using multiview stereo is first parameterized using a planar mesh parameterization technique. Subsequently, multiview photometric stereo is performed in the 2D parameter domain of the mesh, where all geometric and photometric cues from multiple images can be treated uniformly. Unlike traditional methods, there is no need for merging view-dependent surface normal maps. Our key contribution is a new photometric stereo based mesh refinement technique that can efficiently reconstruct meshes with extremely fine geometric details by directly estimating a displacement texture map in the 2D parameter domain. We demonstrate that intricate surface geometry can be reconstructed using several challenging datasets containing surfaces with specular reflections, multiple albedos and complex topologies.

High-Quality Depth Map Upsampling and Completion for RGB-D Cameras

This paper describes an application framework to perform high-quality upsampling and completion on noisy depth maps. Our framework targets a complementary system setup, which consists of a depth camera coupled with an RGB camera. Inspired by a recent work that uses a nonlocal structure regularization, we regularize depth maps in order to maintain fine details and structures. We extend this regularization by combining the additional high-resolution RGB input when upsampling a low-resolution depth map together with a weighting scheme that favors structure details. Our technique is also able to repair large holes in a depth map with consideration of structures and discontinuities utilizing edge information from the RGB input. Quantitative and qualitative results show that our method outperforms existing approaches for depth map upsampling and completion. We describe the complete process for this system, including device calibration, scene warping for input alignment, and even how our framework can be extended for video depth-map completion with the consideration of temporal coherence.

Modeling photo composition and its application to photo re-arrangement

We introduce a learning based photo composition model and its application on photo re-arrangement. In contrast to previous approaches which evaluate quality of photo composition using the rule of thirds or the golden ratio, we train a normalized saliency map from visually pleasurable photos taken by professional photographers. We use Principal Component Analysis (PCA) to analyze training data and build a Gaussian mixture model (GMM) to describe the photo composition model. Our experimental results show that our approach is reliable and our trained photo composition model can be used to improve photo quality through photo re-arrangement.

Exploiting Shading Cues in Kinect IR Images for Geometry Refinement

In this paper, we propose a method to refine geometry of 3D meshes from the Kinect fusion by exploiting shading cues captured from the infrared (IR) camera of Kinect. A major benefit of using the Kinect IR camera instead of a RGB camera is that the IR images captured by Kinect are narrow band images which filtered out most undesired ambient light that makes our system robust to natural indoor illumination. We define a near light IR shading model which describes the captured intensity as a function of surface normals, albedo, lighting direction, and distance between a light source and surface points. To resolve ambiguity in our model between normals and distance, we utilize an initial 3D mesh from the Kinect fusion and multi-view information to reliably estimate surface details that were not reconstructed by the Kinect fusion. Our approach directly operates on a 3D mesh model for geometry refinement. The effectiveness of our approach is demonstrated through several challenging real-world examples.

Real-Time Head Orientation from a Monocular Camera Using Deep Neural Network

We propose an efficient and accurate head orientation estimation algorithm using a monocular camera. Our approach is leveraged by deep neural network and we exploit the architecture in a data regression manner to learn the mapping function between visual appearance and three dimensional head orientation angles. Therefore, in contrast to classification based approaches, our system outputs continuous head orientation. The algorithm uses convolutional filters trained with a large number of augmented head appearances, thus it is user independent and covers large pose variations. Our key observation is that an input image having \(32 \times 32\) resolution is enough to achieve about 3 degrees of mean square error, which can be used for efficient head orientation applications. Therefore, our architecture takes only 1 ms on roughly localized head positions with the aid of GPU. We also propose particle filter based post-processing to enhance stability of the estimation further in video sequences. We compare the performance with the state-of-the-art algorithm which utilizes depth sensor and we validate our head orientation estimator on Internet photos and video.

Tanks and temples: benchmarking large-scale scene reconstruction

We present a benchmark for image-based 3D reconstruction. The benchmark sequences were acquired outside the lab, in realistic conditions. Ground-truth data was captured using an industrial laser scanner. The benchmark includes both outdoor scenes and indoor environments. High-resolution video sequences are provided as input, supporting the development of novel pipelines that take advantage of video input to increase reconstruction fidelity. We report the performance of many image-based 3D reconstruction pipelines on the new benchmark. The results point to exciting challenges and opportunities for future work.