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50 results (View BibTeX file of all listed publications)

2016

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Keep it SMPL: Automatic Estimation of 3D Human Pose and Shape from a Single Image

Bogo, F., Kanazawa, A., Lassner, C., Gehler, P., Romero, J., Black, M. J.

In Computer Vision – ECCV 2016, pages: 561-578, Lecture Notes in Computer Science, Springer International Publishing, October 2016 (inproceedings)

Abstract
We describe the first method to automatically estimate the 3D pose of the human body as well as its 3D shape from a single unconstrained image. We estimate a full 3D mesh and show that 2D joints alone carry a surprising amount of information about body shape. The problem is challenging because of the complexity of the human body, articulation, occlusion, clothing, lighting, and the inherent ambiguity in inferring 3D from 2D. To solve this, we fi rst use a recently published CNN-based method, DeepCut, to predict (bottom-up) the 2D body joint locations. We then fit (top-down) a recently published statistical body shape model, called SMPL, to the 2D joints. We do so by minimizing an objective function that penalizes the error between the projected 3D model joints and detected 2D joints. Because SMPL captures correlations in human shape across the population, we are able to robustly fi t it to very little data. We further leverage the 3D model to prevent solutions that cause interpenetration. We evaluate our method, SMPLify, on the Leeds Sports, HumanEva, and Human3.6M datasets, showing superior pose accuracy with respect to the state of the art.

pdf Video Sup Mat video Code Project Project Page [BibTex]

2016

Bogo, F., Kanazawa, A., Lassner, C., Gehler, P., Romero, J., Black, M. J. Keep it SMPL: Automatic Estimation of 3D Human Pose and Shape from a Single Image In Computer Vision – ECCV 2016, pages: 561-578, Lecture Notes in Computer Science, Springer International Publishing, October 2016 (inproceedings)

pdf Video Sup Mat video Code Project Project Page [BibTex]

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Superpixel Convolutional Networks using Bilateral Inceptions

Gadde, R., Jampani, V., Kiefel, M., Kappler, D., Gehler, P.

In European Conference on Computer Vision (ECCV), Lecture Notes in Computer Science, Springer, October 2016 (inproceedings)

Abstract
In this paper we propose a CNN architecture for semantic image segmentation. We introduce a new “bilateral inception” module that can be inserted in existing CNN architectures and performs bilateral filtering, at multiple feature-scales, between superpixels in an image. The feature spaces for bilateral filtering and other parameters of the module are learned end-to-end using standard backpropagation techniques. The bilateral inception module addresses two issues that arise with general CNN segmentation architectures. First, this module propagates information between (super) pixels while respecting image edges, thus using the structured information of the problem for improved results. Second, the layer recovers a full resolution segmentation result from the lower resolution solution of a CNN. In the experiments, we modify several existing CNN architectures by inserting our inception modules between the last CNN (1 × 1 convolution) layers. Empirical results on three different datasets show reliable improvements not only in comparison to the baseline networks, but also in comparison to several dense-pixel prediction techniques such as CRFs, while being competitive in time.

pdf supplementary poster Project Page Project Page [BibTex]

Gadde, R., Jampani, V., Kiefel, M., Kappler, D., Gehler, P. Superpixel Convolutional Networks using Bilateral Inceptions In European Conference on Computer Vision (ECCV), Lecture Notes in Computer Science, Springer, October 2016 (inproceedings)

pdf supplementary poster Project Page Project Page [BibTex]

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Barrista - Caffe Well-Served

Lassner, C., Kappler, D., Kiefel, M., Gehler, P.

In ACM Multimedia Open Source Software Competition, October 2016 (inproceedings)

Abstract
The caffe framework is one of the leading deep learning toolboxes in the machine learning and computer vision community. While it offers efficiency and configurability, it falls short of a full interface to Python. With increasingly involved procedures for training deep networks and reaching depths of hundreds of layers, creating configuration files and keeping them consistent becomes an error prone process. We introduce the barrista framework, offering full, pythonic control over caffe. It separates responsibilities and offers code to solve frequently occurring tasks for pre-processing, training and model inspection. It is compatible to all caffe versions since mid 2015 and can import and export .prototxt files. Examples are included, e.g., a deep residual network implemented in only 172 lines (for arbitrary depths), comparing to 2320 lines in the official implementation for the equivalent model.

pdf link (url) DOI Project Page [BibTex]

Lassner, C., Kappler, D., Kiefel, M., Gehler, P. Barrista - Caffe Well-Served In ACM Multimedia Open Source Software Competition, October 2016 (inproceedings)

pdf link (url) DOI Project Page [BibTex]

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Dynamic baseline stereo vision-based cooperative target tracking

Ahmad, A., Ruff, E., Bülthoff, H.

19th International Conference on Information Fusion, pages: 1728-1734, July 2016 (conference)

Abstract
In this article we present a new method for multi-robot cooperative target tracking based on dynamic baseline stereo vision. The core novelty of our approach includes a computationally light-weight scheme to compute the 3D stereo measurements that exactly satisfy the epipolar constraints and a covariance intersection (CI)-based method to fuse the 3D measurements obtained by each individual robot. Using CI we are able to systematically integrate the robot localization uncertainties as well as the uncertainties in the measurements generated by the monocular camera images from each individual robot into the resulting stereo measurements. Through an extensive set of simulation and real robot results we show the robustness and accuracy of our approach with respect to ground truth. The source code related to this article is publicly accessible on our website and the datasets are available on request.

DOI [BibTex]

Ahmad, A., Ruff, E., Bülthoff, H. Dynamic baseline stereo vision-based cooperative target tracking 19th International Conference on Information Fusion, pages: 1728-1734, July 2016 (conference)

DOI [BibTex]

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DeepCut: Joint Subset Partition and Labeling for Multi Person Pose Estimation

Pishchulin, L., Insafutdinov, E., Tang, S., Andres, B., Andriluka, M., Gehler, P., Schiele, B.

In 2016 IEEE Conference on Computer Vision and Pattern Recognition (CVPR), pages: 4929-4937, IEEE, June 2016 (inproceedings)

Abstract
This paper considers the task of articulated human pose estimation of multiple people in real-world images. We propose an approach that jointly solves the tasks of detection and pose estimation: it infers the number of persons in a scene, identifies occluded body parts, and disambiguates body parts between people in close proximity of each other. This joint formulation is in contrast to previous strategies, that address the problem by first detecting people and subsequently estimating their body pose. We propose a partitioning and labeling formulation of a set of body-part hypotheses generated with CNN-based part detectors. Our formulation, an instance of an integer linear program, implicitly performs non-maximum suppression on the set of part candidates and groups them to form configurations of body parts respecting geometric and appearance constraints. Experiments on four different datasets demonstrate state-of-the-art results for both single person and multi person pose estimation.

code pdf supplementary DOI Project Page [BibTex]

Pishchulin, L., Insafutdinov, E., Tang, S., Andres, B., Andriluka, M., Gehler, P., Schiele, B. DeepCut: Joint Subset Partition and Labeling for Multi Person Pose Estimation In 2016 IEEE Conference on Computer Vision and Pattern Recognition (CVPR), pages: 4929-4937, IEEE, June 2016 (inproceedings)

code pdf supplementary DOI Project Page [BibTex]

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Video segmentation via object flow

Tsai, Y., Yang, M., Black, M. J.

In IEEE Conf. on Computer Vision and Pattern Recognition (CVPR), June 2016 (inproceedings)

Abstract
Video object segmentation is challenging due to fast moving objects, deforming shapes, and cluttered backgrounds. Optical flow can be used to propagate an object segmentation over time but, unfortunately, flow is often inaccurate, particularly around object boundaries. Such boundaries are precisely where we want our segmentation to be accurate. To obtain accurate segmentation across time, we propose an efficient algorithm that considers video segmentation and optical flow estimation simultaneously. For video segmentation, we formulate a principled, multiscale, spatio-temporal objective function that uses optical flow to propagate information between frames. For optical flow estimation, particularly at object boundaries, we compute the flow independently in the segmented regions and recompose the results. We call the process object flow and demonstrate the effectiveness of jointly optimizing optical flow and video segmentation using an iterative scheme. Experiments on the SegTrack v2 and Youtube-Objects datasets show that the proposed algorithm performs favorably against the other state-of-the-art methods.

pdf [BibTex]

Tsai, Y., Yang, M., Black, M. J. Video segmentation via object flow In IEEE Conf. on Computer Vision and Pattern Recognition (CVPR), June 2016 (inproceedings)

pdf [BibTex]

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Patches, Planes and Probabilities: A Non-local Prior for Volumetric 3D Reconstruction

Ulusoy, A. O., Black, M. J., Geiger, A.

In IEEE Conf. on Computer Vision and Pattern Recognition (CVPR), June 2016 (inproceedings)

Abstract
In this paper, we propose a non-local structured prior for volumetric multi-view 3D reconstruction. Towards this goal, we present a novel Markov random field model based on ray potentials in which assumptions about large 3D surface patches such as planarity or Manhattan world constraints can be efficiently encoded as probabilistic priors. We further derive an inference algorithm that reasons jointly about voxels, pixels and image segments, and estimates marginal distributions of appearance, occupancy, depth, normals and planarity. Key to tractable inference is a novel hybrid representation that spans both voxel and pixel space and that integrates non-local information from 2D image segmentations in a principled way. We compare our non-local prior to commonly employed local smoothness assumptions and a variety of state-of-the-art volumetric reconstruction baselines on challenging outdoor scenes with textureless and reflective surfaces. Our experiments indicate that regularizing over larger distances has the potential to resolve ambiguities where local regularizers fail.

YouTube pdf poster suppmat Project Page [BibTex]

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Optical Flow with Semantic Segmentation and Localized Layers

Sevilla-Lara, L., Sun, D., Jampani, V., Black, M. J.

In IEEE Conf. on Computer Vision and Pattern Recognition (CVPR), pages: 3889-3898, June 2016 (inproceedings)

Abstract
Existing optical flow methods make generic, spatially homogeneous, assumptions about the spatial structure of the flow. In reality, optical flow varies across an image depending on object class. Simply put, different objects move differently. Here we exploit recent advances in static semantic scene segmentation to segment the image into objects of different types. We define different models of image motion in these regions depending on the type of object. For example, we model the motion on roads with homographies, vegetation with spatially smooth flow, and independently moving objects like cars and planes with affine motion plus deviations. We then pose the flow estimation problem using a novel formulation of localized layers, which addresses limitations of traditional layered models for dealing with complex scene motion. Our semantic flow method achieves the lowest error of any published monocular method in the KITTI-2015 flow benchmark and produces qualitatively better flow and segmentation than recent top methods on a wide range of natural videos.

video Kitti Precomputed Data (1.6GB) pdf YouTube Sequences Code Project Page Project Page [BibTex]

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Learning Sparse High Dimensional Filters: Image Filtering, Dense CRFs and Bilateral Neural Networks

Jampani, V., Kiefel, M., Gehler, P. V.

In IEEE Conf. on Computer Vision and Pattern Recognition (CVPR), pages: 4452-4461, June 2016 (inproceedings)

Abstract
Bilateral filters have wide spread use due to their edge-preserving properties. The common use case is to manually choose a parametric filter type, usually a Gaussian filter. In this paper, we will generalize the parametrization and in particular derive a gradient descent algorithm so the filter parameters can be learned from data. This derivation allows to learn high dimensional linear filters that operate in sparsely populated feature spaces. We build on the permutohedral lattice construction for efficient filtering. The ability to learn more general forms of high-dimensional filters can be used in several diverse applications. First, we demonstrate the use in applications where single filter applications are desired for runtime reasons. Further, we show how this algorithm can be used to learn the pairwise potentials in densely connected conditional random fields and apply these to different image segmentation tasks. Finally, we introduce layers of bilateral filters in CNNs and propose bilateral neural networks for the use of high-dimensional sparse data. This view provides new ways to encode model structure into network architectures. A diverse set of experiments empirically validates the usage of general forms of filters.

project page code CVF open-access pdf supplementary poster Project Page Project Page [BibTex]

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Occlusion boundary detection via deep exploration of context

Fu, H., Wang, C., Tao, D., Black, M. J.

In IEEE Conf. on Computer Vision and Pattern Recognition (CVPR), June 2016 (inproceedings)

Abstract
Occlusion boundaries contain rich perceptual information about the underlying scene structure. They also provide important cues in many visual perception tasks such as scene understanding, object recognition, and segmentation. In this paper, we improve occlusion boundary detection via enhanced exploration of contextual information (e.g., local structural boundary patterns, observations from surrounding regions, and temporal context), and in doing so develop a novel approach based on convolutional neural networks (CNNs) and conditional random fields (CRFs). Experimental results demonstrate that our detector significantly outperforms the state-of-the-art (e.g., improving the F-measure from 0.62 to 0.71 on the commonly used CMU benchmark). Last but not least, we empirically assess the roles of several important components of the proposed detector, so as to validate the rationale behind this approach.

pdf [BibTex]

Fu, H., Wang, C., Tao, D., Black, M. J. Occlusion boundary detection via deep exploration of context In IEEE Conf. on Computer Vision and Pattern Recognition (CVPR), June 2016 (inproceedings)

pdf [BibTex]

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Semantic Instance Annotation of Street Scenes by 3D to 2D Label Transfer

Xie, J., Kiefel, M., Sun, M., Geiger, A.

In IEEE Conf. on Computer Vision and Pattern Recognition (CVPR), June 2016 (inproceedings)

Abstract
Semantic annotations are vital for training models for object recognition, semantic segmentation or scene understanding. Unfortunately, pixelwise annotation of images at very large scale is labor-intensive and only little labeled data is available, particularly at instance level and for street scenes. In this paper, we propose to tackle this problem by lifting the semantic instance labeling task from 2D into 3D. Given reconstructions from stereo or laser data, we annotate static 3D scene elements with rough bounding primitives and develop a probabilistic model which transfers this information into the image domain. We leverage our method to obtain 2D labels for a novel suburban video dataset which we have collected, resulting in 400k semantic and instance image annotations. A comparison of our method to state-of-the-art label transfer baselines reveals that 3D information enables more efficient annotation while at the same time resulting in improved accuracy and time-coherent labels.

pdf suppmat Project Page Project Page [BibTex]

Xie, J., Kiefel, M., Sun, M., Geiger, A. Semantic Instance Annotation of Street Scenes by 3D to 2D Label Transfer In IEEE Conf. on Computer Vision and Pattern Recognition (CVPR), June 2016 (inproceedings)

pdf suppmat Project Page Project Page [BibTex]

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Appealing female avatars from 3D body scans: Perceptual effects of stylization

Fleming, R., Mohler, B., Romero, J., Black, M. J., Breidt, M.

In 11th Int. Conf. on Computer Graphics Theory and Applications (GRAPP), Febuary 2016 (inproceedings)

Abstract
Advances in 3D scanning technology allow us to create realistic virtual avatars from full body 3D scan data. However, negative reactions to some realistic computer generated humans suggest that this approach might not always provide the most appealing results. Using styles derived from existing popular character designs, we present a novel automatic stylization technique for body shape and colour information based on a statistical 3D model of human bodies. We investigate whether such stylized body shapes result in increased perceived appeal with two different experiments: One focuses on body shape alone, the other investigates the additional role of surface colour and lighting. Our results consistently show that the most appealing avatar is a partially stylized one. Importantly, avatars with high stylization or no stylization at all were rated to have the least appeal. The inclusion of colour information and improvements to render quality had no significant effect on the overall perceived appeal of the avatars, and we observe that the body shape primarily drives the change in appeal ratings. For body scans with colour information, we found that a partially stylized avatar was most effective, increasing average appeal ratings by approximately 34%.

pdf Project Page [BibTex]

Fleming, R., Mohler, B., Romero, J., Black, M. J., Breidt, M. Appealing female avatars from 3D body scans: Perceptual effects of stylization In 11th Int. Conf. on Computer Graphics Theory and Applications (GRAPP), Febuary 2016 (inproceedings)

pdf Project Page [BibTex]

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Deep Discrete Flow

Güney, F., Geiger, A.

Asian Conference on Computer Vision (ACCV), 2016 (conference) Accepted

pdf suppmat Project Page [BibTex]

Güney, F., Geiger, A. Deep Discrete Flow Asian Conference on Computer Vision (ACCV), 2016 (conference) Accepted

pdf suppmat Project Page [BibTex]

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Multi-Person Tracking by Multicuts and Deep Matching

(Winner of the Multi-Object Tracking Challenge ECCV 2016)

Tang, S., Andres, B., Andriluka, M., Schiele, B.

ECCV Workshop on Benchmarking Mutliple Object Tracking, 2016 (conference)

PDF [BibTex]

Tang, S., Andres, B., Andriluka, M., Schiele, B. Multi-Person Tracking by Multicuts and Deep Matching ECCV Workshop on Benchmarking Mutliple Object Tracking, 2016 (conference)

PDF [BibTex]

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Reconstructing Articulated Rigged Models from RGB-D Videos

Tzionas, D., Gall, J.

In European Conference on Computer Vision Workshops 2016 (ECCVW’16) - Workshop on Recovering 6D Object Pose (R6D’16), pages: 620-633, Springer International Publishing, 2016 (inproceedings)

Abstract
Although commercial and open-source software exist to reconstruct a static object from a sequence recorded with an RGB-D sensor, there is a lack of tools that build rigged models of articulated objects that deform realistically and can be used for tracking or animation. In this work, we fill this gap and propose a method that creates a fully rigged model of an articulated object from depth data of a single sensor. To this end, we combine deformable mesh tracking, motion segmentation based on spectral clustering and skeletonization based on mean curvature flow. The fully rigged model then consists of a watertight mesh, embedded skeleton, and skinning weights.

pdf suppl Project's Website YouTube link (url) DOI [BibTex]

Tzionas, D., Gall, J. Reconstructing Articulated Rigged Models from RGB-D Videos In European Conference on Computer Vision Workshops 2016 (ECCVW’16) - Workshop on Recovering 6D Object Pose (R6D’16), pages: 620-633, Springer International Publishing, 2016 (inproceedings)

pdf suppl Project's Website YouTube link (url) DOI [BibTex]

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A Multi-cut Formulation for Joint Segmentation and Tracking of Multiple Objects

Keuper, M., Tang, S., Yu, Z., Andres, B., Brox, T., Schiele, B.

In arXiv:1607.06317, 2016 (inproceedings)

PDF [BibTex]

Keuper, M., Tang, S., Yu, Z., Andres, B., Brox, T., Schiele, B. A Multi-cut Formulation for Joint Segmentation and Tracking of Multiple Objects In arXiv:1607.06317, 2016 (inproceedings)

PDF [BibTex]

2008

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Learning Optical Flow

Sun, D., Roth, S., Lewis, J., Black, M. J.

In European Conf. on Computer Vision, ECCV, 5304, pages: 83-97, LNCS, (Editors: Forsyth, D. and Torr, P. and Zisserman, A.), Springer-Verlag, October 2008 (inproceedings)

Abstract
Assumptions of brightness constancy and spatial smoothness underlie most optical flow estimation methods. In contrast to standard heuristic formulations, we learn a statistical model of both brightness constancy error and the spatial properties of optical flow using image sequences with associated ground truth flow fields. The result is a complete probabilistic model of optical flow. Specifically, the ground truth enables us to model how the assumption of brightness constancy is violated in naturalistic sequences, resulting in a probabilistic model of "brightness inconstancy". We also generalize previous high-order constancy assumptions, such as gradient constancy, by modeling the constancy of responses to various linear filters in a high-order random field framework. These filters are free variables that can be learned from training data. Additionally we study the spatial structure of the optical flow and how motion boundaries are related to image intensity boundaries. Spatial smoothness is modeled using a Steerable Random Field, where spatial derivatives of the optical flow are steered by the image brightness structure. These models provide a statistical motivation for previous methods and enable the learning of all parameters from training data. All proposed models are quantitatively compared on the Middlebury flow dataset.

pdf Springerlink version [BibTex]

2008

Sun, D., Roth, S., Lewis, J., Black, M. J. Learning Optical Flow In European Conf. on Computer Vision, ECCV, 5304, pages: 83-97, LNCS, (Editors: Forsyth, D. and Torr, P. and Zisserman, A.), Springer-Verlag, October 2008 (inproceedings)

pdf Springerlink version [BibTex]

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GNU Octave Manual Version 3

John W. Eaton, David Bateman, Soren Hauberg

Network Theory Ltd., October 2008 (book)

Publishers site GNU Octave [BibTex]

John W. Eaton, David Bateman, Soren Hauberg GNU Octave Manual Version 3 Network Theory Ltd., October 2008 (book)

Publishers site GNU Octave [BibTex]

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Probabilistic Roadmap Method and Real Time Gait Changing Technique Implementation for Travel Time Optimization on a Designed Six-legged Robot

Ahmad, A., Dhang, N.

In pages: 1-5, October 2008 (inproceedings)

Abstract
This paper presents design and development of a six legged robot with a total of 12 degrees of freedom, two in each limb and then an implementation of 'obstacle and undulated terrain-based' probabilistic roadmap method for motion planning of this hexaped which is able to negotiate large undulations as obstacles. The novelty in this implementation is that, it doesnt require the complete view of the robot's configuration space at any given time during the traversal. It generates a map of the area that is in visibility range and finds the best suitable point in that field of view to make it as the next node of the algorithm. A particular category of undulations which are small enough are automatically 'run-over' as a part of the terrain and not considered as obstacles. The traversal between the nodes is optimized by taking the shortest path and the most optimum gait at that instance which the hexaped can assume. This is again a novel approach to have a real time gait changing technique to optimize the travel time. The hexaped limb can swing in the robot's X-Y plane and the lower link of the limb can move in robot's Z plane by an implementation of a four-bar mechanism. A GUI based server 'Yellow Ladybird' eventually which is the name of the hexaped, is made for real time monitoring and communicating to it the final destination co-ordinates.

link (url) [BibTex]

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The naked truth: Estimating body shape under clothing,

Balan, A., Black, M. J.

In European Conf. on Computer Vision, ECCV, 5304, pages: 15-29, LNCS, (Editors: D. Forsyth and P. Torr and A. Zisserman), Springer-Verlag, Marseilles, France, October 2008 (inproceedings)

Abstract
We propose a method to estimate the detailed 3D shape of a person from images of that person wearing clothing. The approach exploits a model of human body shapes that is learned from a database of over 2000 range scans. We show that the parameters of this shape model can be recovered independently of body pose. We further propose a generalization of the visual hull to account for the fact that observed silhouettes of clothed people do not provide a tight bound on the true 3D shape. With clothed subjects, different poses provide different constraints on the possible underlying 3D body shape. We consequently combine constraints across pose to more accurately estimate 3D body shape in the presence of occluding clothing. Finally we use the recovered 3D shape to estimate the gender of subjects and then employ gender-specific body models to refine our shape estimates. Results on a novel database of thousands of images of clothed and "naked" subjects, as well as sequences from the HumanEva dataset, suggest the method may be accurate enough for biometric shape analysis in video.

pdf pdf with higher quality images Springerlink version YouTube video on applications data slides [BibTex]

Balan, A., Black, M. J. The naked truth: Estimating body shape under clothing, In European Conf. on Computer Vision, ECCV, 5304, pages: 15-29, LNCS, (Editors: D. Forsyth and P. Torr and A. Zisserman), Springer-Verlag, Marseilles, France, October 2008 (inproceedings)

pdf pdf with higher quality images Springerlink version YouTube video on applications data slides [BibTex]

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Dynamic time warping for binocular hand tracking and reconstruction

Romero, J., Kragic, D., Kyrki, V., Argyros, A.

In IEEE International Conference on Robotics and Automation,ICRA, pages: 2289 -2294, May 2008 (inproceedings)

Pdf [BibTex]

Romero, J., Kragic, D., Kyrki, V., Argyros, A. Dynamic time warping for binocular hand tracking and reconstruction In IEEE International Conference on Robotics and Automation,ICRA, pages: 2289 -2294, May 2008 (inproceedings)

Pdf [BibTex]

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Simultaneous Visual Recognition of Manipulation Actions and Manipulated Objects

Kjellström, H., Romero, J., Martinez, D., Kragic, D.

In European Conference on Computer Vision, ECCV, pages: 336-349, 2008 (inproceedings)

Pdf [BibTex]

Kjellström, H., Romero, J., Martinez, D., Kragic, D. Simultaneous Visual Recognition of Manipulation Actions and Manipulated Objects In European Conference on Computer Vision, ECCV, pages: 336-349, 2008 (inproceedings)

Pdf [BibTex]

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Tuning analysis of motor cortical neurons in a person with paralysis during performance of visually instructed cursor control tasks

Kim, S., Simeral, J. D., Hochberg, L. R., Truccolo, W., Donoghue, J., Friehs, G. M., Black, M. J.

2008 Abstract Viewer and Itinerary Planner, Society for Neuroscience, Washington, DC, 2008, Online (conference)

[BibTex]

Kim, S., Simeral, J. D., Hochberg, L. R., Truccolo, W., Donoghue, J., Friehs, G. M., Black, M. J. Tuning analysis of motor cortical neurons in a person with paralysis during performance of visually instructed cursor control tasks 2008 Abstract Viewer and Itinerary Planner, Society for Neuroscience, Washington, DC, 2008, Online (conference)

[BibTex]

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Infinite Kernel Learning

Gehler, P., Nowozin, S.

In Proceedings of NIPS 2008 Workshop on "Kernel Learning: Automatic Selection of Optimal Kernels", 2008 (inproceedings)

project page pdf [BibTex]

Gehler, P., Nowozin, S. Infinite Kernel Learning In Proceedings of NIPS 2008 Workshop on "Kernel Learning: Automatic Selection of Optimal Kernels", 2008 (inproceedings)

project page pdf [BibTex]

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Visual Recognition of Grasps for Human-to-Robot Mapping

Kjellström, H., Romero, J., Kragic, D.

In IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, pages: 3192-3199, 2008 (inproceedings)

Pdf [BibTex]

Kjellström, H., Romero, J., Kragic, D. Visual Recognition of Grasps for Human-to-Robot Mapping In IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, pages: 3192-3199, 2008 (inproceedings)

Pdf [BibTex]

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More than two years of intracortically-based cursor control via a neural interface system

Hochberg, L. R., Simeral, J. D., Kim, S., Stein, J., Friehs, G. M., Black, M. J., Donoghue, J. P.

2008 Abstract Viewer and Itinerary Planner, Society for Neuroscience, Washington, DC, 2008, Online (conference)

[BibTex]

Hochberg, L. R., Simeral, J. D., Kim, S., Stein, J., Friehs, G. M., Black, M. J., Donoghue, J. P. More than two years of intracortically-based cursor control via a neural interface system 2008 Abstract Viewer and Itinerary Planner, Society for Neuroscience, Washington, DC, 2008, Online (conference)

[BibTex]

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Decoding of reach and grasp from MI population spiking activity using a low-dimensional model of hand and arm posture

Yadollahpour, P., Shakhnarovich, G., Vargas-Irwin, C., Donoghue, J. P., Black, M. J.

2008 Abstract Viewer and Itinerary Planner, Society for Neuroscience, Washington, DC, 2008, Online (conference)

[BibTex]

Yadollahpour, P., Shakhnarovich, G., Vargas-Irwin, C., Donoghue, J. P., Black, M. J. Decoding of reach and grasp from MI population spiking activity using a low-dimensional model of hand and arm posture 2008 Abstract Viewer and Itinerary Planner, Society for Neuroscience, Washington, DC, 2008, Online (conference)

[BibTex]

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Neural activity in the motor cortex of humans with tetraplegia

Donoghue, J., Simeral, J., Black, M., Kim, S., Truccolo, W., Hochberg, L.

AREADNE Research in Encoding And Decoding of Neural Ensembles, June, Santorini, Greece, 2008 (conference)

[BibTex]

Donoghue, J., Simeral, J., Black, M., Kim, S., Truccolo, W., Hochberg, L. Neural activity in the motor cortex of humans with tetraplegia AREADNE Research in Encoding And Decoding of Neural Ensembles, June, Santorini, Greece, 2008 (conference)

[BibTex]

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Nonrigid Structure from Motion in Trajectory Space

Akhter, I., Sheikh, Y., Khan, S., Kanade, T.

In Neural Information Processing Systems, 1(2):41-48, 2008 (inproceedings)

Abstract
Existing approaches to nonrigid structure from motion assume that the instantaneous 3D shape of a deforming object is a linear combination of basis shapes, which have to be estimated anew for each video sequence. In contrast, we propose that the evolving 3D structure be described by a linear combination of basis trajectories. The principal advantage of this approach is that we do not need to estimate any basis vectors during computation. We show that generic bases over trajectories, such as the Discrete Cosine Transform (DCT) basis, can be used to compactly describe most real motions. This results in a significant reduction in unknowns, and corresponding stability in estimation. We report empirical performance, quantitatively using motion capture data, and qualitatively on several video sequences exhibiting nonrigid motions including piece-wise rigid motion, partially nonrigid motion (such as a facial expression), and highly nonrigid motion (such as a person dancing).

pdf project page [BibTex]

Akhter, I., Sheikh, Y., Khan, S., Kanade, T. Nonrigid Structure from Motion in Trajectory Space In Neural Information Processing Systems, 1(2):41-48, 2008 (inproceedings)

pdf project page [BibTex]

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Combined discriminative and generative articulated pose and non-rigid shape estimation

Sigal, L., Balan, A., Black, M. J.

In Advances in Neural Information Processing Systems 20, NIPS-2007, pages: 1337–1344, MIT Press, 2008 (inproceedings)

pdf [BibTex]

Sigal, L., Balan, A., Black, M. J. Combined discriminative and generative articulated pose and non-rigid shape estimation In Advances in Neural Information Processing Systems 20, NIPS-2007, pages: 1337–1344, MIT Press, 2008 (inproceedings)

pdf [BibTex]

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Reconstructing reach and grasp actions using neural population activity from Primary Motor Cortex

Vargas-Irwin, C. E., Yadollahpour, P., Shakhnarovich, G., Black, M. J., Donoghue, J. P.

2008 Abstract Viewer and Itinerary Planner, Society for Neuroscience, Washington, DC, 2008, Online (conference)

[BibTex]

Vargas-Irwin, C. E., Yadollahpour, P., Shakhnarovich, G., Black, M. J., Donoghue, J. P. Reconstructing reach and grasp actions using neural population activity from Primary Motor Cortex 2008 Abstract Viewer and Itinerary Planner, Society for Neuroscience, Washington, DC, 2008, Online (conference)

[BibTex]

2006

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Finding directional movement representations in motor cortical neural populations using nonlinear manifold learning

WorKim, S., Simeral, J., Jenkins, O., Donoghue, J., Black, M.

World Congress on Medical Physics and Biomedical Engineering 2006, Seoul, Korea, August 2006 (conference)

[BibTex]

2006

WorKim, S., Simeral, J., Jenkins, O., Donoghue, J., Black, M. Finding directional movement representations in motor cortical neural populations using nonlinear manifold learning World Congress on Medical Physics and Biomedical Engineering 2006, Seoul, Korea, August 2006 (conference)

[BibTex]

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A non-parametric Bayesian approach to spike sorting

Wood, F., Goldwater, S., Black, M. J.

In International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS, pages: 1165-1169, New York, NY, August 2006 (inproceedings)

pdf [BibTex]

Wood, F., Goldwater, S., Black, M. J. A non-parametric Bayesian approach to spike sorting In International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS, pages: 1165-1169, New York, NY, August 2006 (inproceedings)

pdf [BibTex]

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Predicting 3D people from 2D pictures

(Best Paper)

Sigal, L., Black, M. J.

In Proc. IV Conf. on Articulated Motion and DeformableObjects (AMDO), LNCS 4069, pages: 185-195, July 2006 (inproceedings)

Abstract
We propose a hierarchical process for inferring the 3D pose of a person from monocular images. First we infer a learned view-based 2D body model from a single image using non-parametric belief propagation. This approach integrates information from bottom-up body-part proposal processes and deals with self-occlusion to compute distributions over limb poses. Then, we exploit a learned Mixture of Experts model to infer a distribution of 3D poses conditioned on 2D poses. This approach is more general than recent work on inferring 3D pose directly from silhouettes since the 2D body model provides a richer representation that includes the 2D joint angles and the poses of limbs that may be unobserved in the silhouette. We demonstrate the method in a laboratory setting where we evaluate the accuracy of the 3D poses against ground truth data. We also estimate 3D body pose in a monocular image sequence. The resulting 3D estimates are sufficiently accurate to serve as proposals for the Bayesian inference of 3D human motion over time

pdf pdf from publisher Video [BibTex]

Sigal, L., Black, M. J. Predicting 3D people from 2D pictures In Proc. IV Conf. on Articulated Motion and DeformableObjects (AMDO), LNCS 4069, pages: 185-195, July 2006 (inproceedings)

pdf pdf from publisher Video [BibTex]

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Specular flow and the recovery of surface structure

Roth, S., Black, M.

In Proc. IEEE Conf. on Computer Vision and Pattern Recognition, CVPR, 2, pages: 1869-1876, New York, NY, June 2006 (inproceedings)

Abstract
In scenes containing specular objects, the image motion observed by a moving camera may be an intermixed combination of optical flow resulting from diffuse reflectance (diffuse flow) and specular reflection (specular flow). Here, with few assumptions, we formalize the notion of specular flow, show how it relates to the 3D structure of the world, and develop an algorithm for estimating scene structure from 2D image motion. Unlike previous work on isolated specular highlights we use two image frames and estimate the semi-dense flow arising from the specular reflections of textured scenes. We parametrically model the image motion of a quadratic surface patch viewed from a moving camera. The flow is modeled as a probabilistic mixture of diffuse and specular components and the 3D shape is recovered using an Expectation-Maximization algorithm. Rather than treating specular reflections as noise to be removed or ignored, we show that the specular flow provides additional constraints on scene geometry that improve estimation of 3D structure when compared with reconstruction from diffuse flow alone. We demonstrate this for a set of synthetic and real sequences of mixed specular-diffuse objects.

pdf [BibTex]

Roth, S., Black, M. Specular flow and the recovery of surface structure In Proc. IEEE Conf. on Computer Vision and Pattern Recognition, CVPR, 2, pages: 1869-1876, New York, NY, June 2006 (inproceedings)

pdf [BibTex]

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An adaptive appearance model approach for model-based articulated object tracking

Balan, A., Black, M. J.

In Proc. IEEE Conf. on Computer Vision and Pattern Recognition, CVPR, 1, pages: 758-765, New York, NY, June 2006 (inproceedings)

Abstract
The detection and tracking of three-dimensional human body models has progressed rapidly but successful approaches typically rely on accurate foreground silhouettes obtained using background segmentation. There are many practical applications where such information is imprecise. Here we develop a new image likelihood function based on the visual appearance of the subject being tracked. We propose a robust, adaptive, appearance model based on the Wandering-Stable-Lost framework extended to the case of articulated body parts. The method models appearance using a mixture model that includes an adaptive template, frame-to-frame matching and an outlier process. We employ an annealed particle filtering algorithm for inference and take advantage of the 3D body model to predict self occlusion and improve pose estimation accuracy. Quantitative tracking results are presented for a walking sequence with a 180 degree turn, captured with four synchronized and calibrated cameras and containing significant appearance changes and self-occlusion in each view.

pdf [BibTex]

Balan, A., Black, M. J. An adaptive appearance model approach for model-based articulated object tracking In Proc. IEEE Conf. on Computer Vision and Pattern Recognition, CVPR, 1, pages: 758-765, New York, NY, June 2006 (inproceedings)

pdf [BibTex]

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Measure locally, reason globally: Occlusion-sensitive articulated pose estimation

Sigal, L., Black, M. J.

In Proc. IEEE Conf. on Computer Vision and Pattern Recognition, CVPR, 2, pages: 2041-2048, New York, NY, June 2006 (inproceedings)

pdf [BibTex]

Sigal, L., Black, M. J. Measure locally, reason globally: Occlusion-sensitive articulated pose estimation In Proc. IEEE Conf. on Computer Vision and Pattern Recognition, CVPR, 2, pages: 2041-2048, New York, NY, June 2006 (inproceedings)

pdf [BibTex]

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Statistical analysis of the non-stationarity of neural population codes

Kim, S., Wood, F., Fellows, M., Donoghue, J. P., Black, M. J.

In BioRob 2006, The first IEEE / RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, pages: 295-299, Pisa, Italy, Febuary 2006 (inproceedings)

pdf [BibTex]

Kim, S., Wood, F., Fellows, M., Donoghue, J. P., Black, M. J. Statistical analysis of the non-stationarity of neural population codes In BioRob 2006, The first IEEE / RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, pages: 295-299, Pisa, Italy, Febuary 2006 (inproceedings)

pdf [BibTex]

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How to choose the covariance for Gaussian process regression independently of the basis

Franz, M., Gehler, P.

In Proceedings of the Workshop Gaussian Processes in Practice, 2006 (inproceedings)

pdf [BibTex]

Franz, M., Gehler, P. How to choose the covariance for Gaussian process regression independently of the basis In Proceedings of the Workshop Gaussian Processes in Practice, 2006 (inproceedings)

pdf [BibTex]

Thumb xl screen shot 2012 06 06 at 11.30.03 am
The rate adapting poisson model for information retrieval and object recognition

Gehler, P. V., Holub, A. D., Welling, M.

In Proceedings of the 23rd international conference on Machine learning, pages: 337-344, ICML ’06, ACM, New York, NY, USA, 2006 (inproceedings)

project page pdf DOI [BibTex]

Gehler, P. V., Holub, A. D., Welling, M. The rate adapting poisson model for information retrieval and object recognition In Proceedings of the 23rd international conference on Machine learning, pages: 337-344, ICML ’06, ACM, New York, NY, USA, 2006 (inproceedings)

project page pdf DOI [BibTex]

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Tracking complex objects using graphical object models

Sigal, L., Zhu, Y., Comaniciu, D., Black, M. J.

In International Workshop on Complex Motion, LNCS 3417, pages: 223-234, Springer-Verlag, 2006 (inproceedings)

pdf pdf from publisher [BibTex]

Sigal, L., Zhu, Y., Comaniciu, D., Black, M. J. Tracking complex objects using graphical object models In International Workshop on Complex Motion, LNCS 3417, pages: 223-234, Springer-Verlag, 2006 (inproceedings)

pdf pdf from publisher [BibTex]

Thumb xl bildschirmfoto 2013 01 16 um 10.16.16
Hierarchical Approach for Articulated 3D Pose-Estimation and Tracking (extended abstract)

Sigal, L., Black, M. J.

In Learning, Representation and Context for Human Sensing in Video Workshop (in conjunction with CVPR), 2006 (inproceedings)

pdf poster [BibTex]

Sigal, L., Black, M. J. Hierarchical Approach for Articulated 3D Pose-Estimation and Tracking (extended abstract) In Learning, Representation and Context for Human Sensing in Video Workshop (in conjunction with CVPR), 2006 (inproceedings)

pdf poster [BibTex]

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Nonlinear physically-based models for decoding motor-cortical population activity

Shakhnarovich, G., Kim, S., Black, M. J.

In Advances in Neural Information Processing Systems 19, NIPS-2006, pages: 1257-1264, MIT Press, 2006 (inproceedings)

pdf [BibTex]

Shakhnarovich, G., Kim, S., Black, M. J. Nonlinear physically-based models for decoding motor-cortical population activity In Advances in Neural Information Processing Systems 19, NIPS-2006, pages: 1257-1264, MIT Press, 2006 (inproceedings)

pdf [BibTex]

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A comparison of decoding models for imagined motion from human motor cortex

Kim, S., Simeral, J., Donoghue, J. P., Hocherberg, L. R., Friehs, G., Mukand, J. A., Chen, D., Black, M. J.

Program No. 256.11. 2006 Abstract Viewer and Itinerary Planner, Society for Neuroscience, Atlanta, GA, 2006, Online (conference)

[BibTex]

Kim, S., Simeral, J., Donoghue, J. P., Hocherberg, L. R., Friehs, G., Mukand, J. A., Chen, D., Black, M. J. A comparison of decoding models for imagined motion from human motor cortex Program No. 256.11. 2006 Abstract Viewer and Itinerary Planner, Society for Neuroscience, Atlanta, GA, 2006, Online (conference)

[BibTex]

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Denoising archival films using a learned Bayesian model

Moldovan, T. M., Roth, S., Black, M. J.

In Int. Conf. on Image Processing, ICIP, pages: 2641-2644, Atlanta, 2006 (inproceedings)

pdf [BibTex]

Moldovan, T. M., Roth, S., Black, M. J. Denoising archival films using a learned Bayesian model In Int. Conf. on Image Processing, ICIP, pages: 2641-2644, Atlanta, 2006 (inproceedings)

pdf [BibTex]

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Efficient belief propagation with learned higher-order Markov random fields

Lan, X., Roth, S., Huttenlocher, D., Black, M. J.

In European Conference on Computer Vision, ECCV, II, pages: 269-282, Graz, Austria, 2006 (inproceedings)

pdf pdf from publisher [BibTex]

Lan, X., Roth, S., Huttenlocher, D., Black, M. J. Efficient belief propagation with learned higher-order Markov random fields In European Conference on Computer Vision, ECCV, II, pages: 269-282, Graz, Austria, 2006 (inproceedings)

pdf pdf from publisher [BibTex]

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Modeling neural control of physically realistic movement

Shaknarovich, G., Kim, S., Donoghue, J. P., Hocherberg, L. R., Friehs, G., Mukand, J. A., Chen, D., Black, M. J.

Program No. 256.12. 2006 Abstract Viewer and Itinerary Planner, Society for Neuroscience, Atlanta, GA, 2006, Online (conference)

[BibTex]

Shaknarovich, G., Kim, S., Donoghue, J. P., Hocherberg, L. R., Friehs, G., Mukand, J. A., Chen, D., Black, M. J. Modeling neural control of physically realistic movement Program No. 256.12. 2006 Abstract Viewer and Itinerary Planner, Society for Neuroscience, Atlanta, GA, 2006, Online (conference)

[BibTex]

1993

Thumb xl bildschirmfoto 2013 01 14 um 11.48.36
Mixture models for optical flow computation

Jepson, A., Black, M.

In IEEE Conf. on Computer Vision and Pattern Recognition, CVPR-93, pages: 760-761, New York, NY, June 1993 (inproceedings)

pdf abstract tech report [BibTex]

1993

Jepson, A., Black, M. Mixture models for optical flow computation In IEEE Conf. on Computer Vision and Pattern Recognition, CVPR-93, pages: 760-761, New York, NY, June 1993 (inproceedings)

pdf abstract tech report [BibTex]

Thumb xl bildschirmfoto 2013 01 14 um 11.52.45
A framework for the robust estimation of optical flow

(Helmholtz Prize)

Black, M. J., Anandan, P.

In Fourth International Conf. on Computer Vision, ICCV-93, pages: 231-236, Berlin, Germany, May 1993 (inproceedings)

Abstract
Most approaches for estimating optical flow assume that, within a finite image region, only a single motion is present. This single motion assumption is violated in common situations involving transparency, depth discontinuities, independently moving objects, shadows, and specular reflections. To robustly estimate optical flow, the single motion assumption must be relaxed. This work describes a framework based on robust estimation that addresses violations of the brightness constancy and spatial smoothness assumptions caused by multiple motions. We show how the robust estimation framework can be applied to standard formulations of the optical flow problem thus reducing their sensitivity to violations of their underlying assumptions. The approach has been applied to three standard techniques for recovering optical flow: area-based regression, correlation, and regularization with motion discontinuities. This work focuses on the recovery of multiple parametric motion models within a region as well as the recovery of piecewise-smooth flow fields and provides examples with natural and synthetic image sequences.

pdf video abstract code [BibTex]

Black, M. J., Anandan, P. A framework for the robust estimation of optical flow In Fourth International Conf. on Computer Vision, ICCV-93, pages: 231-236, Berlin, Germany, May 1993 (inproceedings)

pdf video abstract code [BibTex]

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Action, representation, and purpose: Re-evaluating the foundations of computational vision

Black, M. J., Aloimonos, Y., Brown, C. M., Horswill, I., Malik, J., G. Sandini, , Tarr, M. J.

In International Joint Conference on Artificial Intelligence, IJCAI-93, pages: 1661-1666, Chambery, France, 1993 (inproceedings)

pdf [BibTex]

Black, M. J., Aloimonos, Y., Brown, C. M., Horswill, I., Malik, J., G. Sandini, , Tarr, M. J. Action, representation, and purpose: Re-evaluating the foundations of computational vision In International Joint Conference on Artificial Intelligence, IJCAI-93, pages: 1661-1666, Chambery, France, 1993 (inproceedings)

pdf [BibTex]