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Sign Language Assessment (SLA) tools are useful to aid in language learning and are underdeveloped. Previous work has focused on isolated signs or comparison against a single reference video to assess Sign Languages (SL). This paper introduces a novel SLA tool designed to evaluate the comprehensibility of SL by modelling the natural distribution of human motion. We train our pipeline on data from native signers and evaluate it using SL learners. We compare our results to ratings from a human raters study and find strong correlation between human ratings and our tool. We visually demonstrate our tools ability to detect anomalous results spatio-temporally, providing actionable feedback to aid in SL learning and assessment., Comment: Accepted to Twelfth International Workshop on Assistive Computer Vision and Robotics at ECCV 2024

This paper addresses the problem of diversity-aware sign language production, where we want to give an image (or sequence) of a signer and produce another image with the same pose but different attributes (\textit{e.g.} gender, skin color). To this end, we extend the variational inference paradigm to include information about the pose and the conditioning of the attributes. This formulation improves the quality of the synthesised images. The generator framework is presented as a UNet architecture to ensure spatial preservation of the input pose, and we include the visual features from the variational inference to maintain control over appearance and style. We generate each body part with a separate decoder. This architecture allows the generator to deliver better overall results. Experiments on the SMILE II dataset show that the proposed model performs quantitatively better than state-of-the-art baselines regarding diversity, per-pixel image quality, and pose estimation. Quantitatively, it faithfully reproduces non-manual features for signers.

Sign Language Production (SLP) is a challenging task, given the limited resources available and the inherent diversity within sign data. As a result, previous works have suffered from the problem of regression to the mean, leading to under-articulated and incomprehensible signing. In this paper, we propose using dictionary examples and a learnt codebook of facial expressions to create expressive sign language sequences. However, simply concatenating signs and adding the face creates robotic and unnatural sequences. To address this we present a 7-step approach to effectively stitch sequences together. First, by normalizing each sign into a canonical pose, cropping, and stitching we create a continuous sequence. Then, by applying filtering in the frequency domain and resampling each sign, we create cohesive natural sequences that mimic the prosody found in the original data. We leverage a SignGAN model to map the output to a photo-realistic signer and present a complete Text-to-Sign (T2S) SLP pipeline. Our evaluation demonstrates the effectiveness of the approach, showcasing state-of-the-art performance across all datasets. Finally, a user evaluation shows our approach outperforms the baseline model and is capable of producing realistic sign language sequences., Comment: 18 pages, 3 figures, 4 tables

Automatic Sign Language Translation requires the integration of both computer vision and natural language processing to effectively bridge the communication gap between sign and spoken languages. However, the deficiency in large-scale training data to support sign language translation means we need to leverage resources from spoken language. We introduce, Sign2GPT, a novel framework for sign language translation that utilizes large-scale pretrained vision and language models via lightweight adapters for gloss-free sign language translation. The lightweight adapters are crucial for sign language translation, due to the constraints imposed by limited dataset sizes and the computational requirements when training with long sign videos. We also propose a novel pretraining strategy that directs our encoder to learn sign representations from automatically extracted pseudo-glosses without requiring gloss order information or annotations. We evaluate our approach on two public benchmark sign language translation datasets, namely RWTH-PHOENIX-Weather 2014T and CSL-Daily, and improve on state-of-the-art gloss-free translation performance with a significant margin., Comment: Accepted at ICLR2024

This paper discusses the results of the third edition of the Monocular Depth Estimation Challenge (MDEC). The challenge focuses on zero-shot generalization to the challenging SYNS-Patches dataset, featuring complex scenes in natural and indoor settings. As with the previous edition, methods can use any form of supervision, i.e. supervised or self-supervised. The challenge received a total of 19 submissions outperforming the baseline on the test set: 10 among them submitted a report describing their approach, highlighting a diffused use of foundational models such as Depth Anything at the core of their method. The challenge winners drastically improved 3D F-Score performance, from 17.51% to 23.72%., Comment: To appear in CVPRW2024

Sign languages, often categorised as low-resource languages, face significant challenges in achieving accurate translation due to the scarcity of parallel annotated datasets. This paper introduces Select and Reorder (S&R), a novel approach that addresses data scarcity by breaking down the translation process into two distinct steps: Gloss Selection (GS) and Gloss Reordering (GR). Our method leverages large spoken language models and the substantial lexical overlap between source spoken languages and target sign languages to establish an initial alignment. Both steps make use of Non-AutoRegressive (NAR) decoding for reduced computation and faster inference speeds. Through this disentanglement of tasks, we achieve state-of-the-art BLEU and Rouge scores on the Meine DGS Annotated (mDGS) dataset, demonstrating a substantial BLUE-1 improvement of 37.88% in Text to Gloss (T2G) Translation. This innovative approach paves the way for more effective translation models for sign languages, even in resource-constrained settings., Comment: 8 Pages, 5 Figures, 7 Tables, LREC-COLING 2024

Phonetic representations are used when recording spoken languages, but no equivalent exists for recording signed languages. As a result, linguists have proposed several annotation systems that operate on the gloss or sub-unit level; however, these resources are notably irregular and scarce. Sign Language Production (SLP) aims to automatically translate spoken language sentences into continuous sequences of sign language. However, current state-of-the-art approaches rely on scarce linguistic resources to work. This has limited progress in the field. This paper introduces an innovative solution by transforming the continuous pose generation problem into a discrete sequence generation problem. Thus, overcoming the need for costly annotation. Although, if available, we leverage the additional information to enhance our approach. By applying Vector Quantisation (VQ) to sign language data, we first learn a codebook of short motions that can be combined to create a natural sequence of sign. Where each token in the codebook can be thought of as the lexicon of our representation. Then using a transformer we perform a translation from spoken language text to a sequence of codebook tokens. Each token can be directly mapped to a sequence of poses allowing the translation to be performed by a single network. Furthermore, we present a sign stitching method to effectively join tokens together. We evaluate on the RWTH-PHOENIX-Weather-2014T (PHOENIX14T) and the more challenging Meine DGS Annotated (mDGS) datasets. An extensive evaluation shows our approach outperforms previous methods, increasing the BLEU-1 back translation score by up to 72%., Comment: 8 Pages, 3 Figures, 7 Tables, 18th IEEE International Conference on Automatic Face and Gesture Recognition 2024

3D hand pose estimation from images has seen considerable interest from the literature, with new methods improving overall 3D accuracy. One current challenge is to address hand-to-hand interaction where self-occlusions and finger articulation pose a significant problem to estimation. Little work has applied physical constraints that minimize the hand intersections that occur as a result of noisy estimation. This work addresses the intersection of hands by exploiting an occupancy network that represents the hand's volume as a continuous manifold. This allows us to model the probability distribution of points being inside a hand. We designed an intersection loss function to minimize the likelihood of hand-to-point intersections. Moreover, we propose a new hand mesh parameterization that is superior to the commonly used MANO model in many respects including lower mesh complexity, underlying 3D skeleton extraction, watertightness, etc. On the benchmark InterHand2.6M dataset, the models trained using our intersection loss achieve better results than the state-of-the-art by significantly decreasing the number of hand intersections while lowering the mean per-joint positional error. Additionally, we demonstrate superior performance for 3D hand uplift on Re:InterHand and SMILE datasets and show reduced hand-to-hand intersections for complex domains such as sign-language pose estimation.

Recent years have seen significant progress in human image generation, particularly with the advancements in diffusion models. However, existing diffusion methods encounter challenges when producing consistent hand anatomy and the generated images often lack precise control over the hand pose. To address this limitation, we introduce a novel approach to pose-conditioned human image generation, dividing the process into two stages: hand generation and subsequent body outpainting around the hands. We propose training the hand generator in a multi-task setting to produce both hand images and their corresponding segmentation masks, and employ the trained model in the first stage of generation. An adapted ControlNet model is then used in the second stage to outpaint the body around the generated hands, producing the final result. A novel blending technique is introduced to preserve the hand details during the second stage that combines the results of both stages in a coherent way. This involves sequential expansion of the outpainted region while fusing the latent representations, to ensure a seamless and cohesive synthesis of the final image. Experimental evaluations demonstrate the superiority of our proposed method over state-of-the-art techniques, in both pose accuracy and image quality, as validated on the HaGRID dataset. Our approach not only enhances the quality of the generated hands but also offers improved control over hand pose, advancing the capabilities of pose-conditioned human image generation. The source code of the proposed approach is available at https://github.com/apelykh/hand-to-diffusion.

Sign Language Translation (SLT) is a challenging task that aims to generate spoken language sentences from sign language videos. In this paper, we introduce a hybrid SLT approach, Spotter+GPT, that utilizes a sign spotter and a powerful Large Language Model (LLM) to improve SLT performance. Spotter+GPT breaks down the SLT task into two stages. The videos are first processed by the Spotter, which is trained on a linguistic sign language dataset, to identify individual signs. These spotted signs are then passed to an LLM, which transforms them into coherent and contextually appropriate spoken language sentences. The source code of the Spotter is available at https://gitlab.surrey.ac.uk/cogvispublic/sign-spotter.

Self-supervised learning is the key to unlocking generic computer vision systems. By eliminating the reliance on ground-truth annotations, it allows scaling to much larger data quantities. Unfortunately, self-supervised monocular depth estimation (SS-MDE) has been limited by the absence of diverse training data. Existing datasets have focused exclusively on urban driving in densely populated cities, resulting in models that fail to generalize beyond this domain. To address these limitations, this paper proposes two novel datasets: SlowTV and CribsTV. These are large-scale datasets curated from publicly available YouTube videos, containing a total of 2M training frames. They offer an incredibly diverse set of environments, ranging from snowy forests to coastal roads, luxury mansions and even underwater coral reefs. We leverage these datasets to tackle the challenging task of zero-shot generalization, outperforming every existing SS-MDE approach and even some state-of-the-art supervised methods. The generalization capabilities of our models are further enhanced by a range of components and contributions: 1) learning the camera intrinsics, 2) a stronger augmentation regime targeting aspect ratio changes, 3) support frame randomization, 4) flexible motion estimation, 5) a modern transformer-based architecture. We demonstrate the effectiveness of each component in extensive ablation experiments. To facilitate the development of future research, we make the datasets, code and pretrained models available to the public at https://github.com/jspenmar/slowtv_monodepth.

Sign Language Translation (SLT) is a challenging task that aims to generate spoken language sentences from sign language videos, both of which have different grammar and word/gloss order. From a Neural Machine Translation (NMT) perspective, the straightforward way of training translation models is to use sign language phrase-spoken language sentence pairs. However, human interpreters heavily rely on the context to understand the conveyed information, especially for sign language interpretation, where the vocabulary size may be significantly smaller than their spoken language equivalent. Taking direct inspiration from how humans translate, we propose a novel multi-modal transformer architecture that tackles the translation task in a context-aware manner, as a human would. We use the context from previous sequences and confident predictions to disambiguate weaker visual cues. To achieve this we use complementary transformer encoders, namely: (1) A Video Encoder, that captures the low-level video features at the frame-level, (2) A Spotting Encoder, that models the recognized sign glosses in the video, and (3) A Context Encoder, which captures the context of the preceding sign sequences. We combine the information coming from these encoders in a final transformer decoder to generate spoken language translations. We evaluate our approach on the recently published large-scale BOBSL dataset, which contains ~1.2M sequences, and on the SRF dataset, which was part of the WMT-SLT 2022 challenge. We report significant improvements on state-of-the-art translation performance using contextual information, nearly doubling the reported BLEU-4 scores of baseline approaches.

This work addresses 3D human pose reconstruction in single images. We present a method that combines Forward Kinematics (FK) with neural networks to ensure a fast and valid prediction of 3D pose. Pose is represented as a hierarchical tree/graph with nodes corresponding to human joints that model their physical limits. Given a 2D detection of keypoints in the image, we lift the skeleton to 3D using neural networks to predict both the joint rotations and bone lengths. These predictions are then combined with skeletal constraints using an FK layer implemented as a network layer in PyTorch. The result is a fast and accurate approach to the estimation of 3D skeletal pose. Through quantitative and qualitative evaluation, we demonstrate the method is significantly more accurate than MediaPipe in terms of both per joint positional error and visual appearance. Furthermore, we demonstrate generalization over different datasets. The implementation in PyTorch runs at between 100-200 milliseconds per image (including CNN detection) using CPU only.

Hand pose estimation from a single image has many applications. However, approaches to full 3D body pose estimation are typically trained on day-to-day activities or actions. As such, detailed hand-to-hand interactions are poorly represented, especially during motion. We see this in the failure cases of techniques such as OpenPose or MediaPipe. However, accurate hand pose estimation is crucial for many applications where the global body motion is less important than accurate hand pose estimation. This paper addresses the problem of 3D hand pose estimation from monocular images or sequences. We present a novel end-to-end framework for 3D hand regression that employs diffusion models that have shown excellent ability to capture the distribution of data for generative purposes. Moreover, we enforce kinematic constraints to ensure realistic poses are generated by incorporating an explicit forward kinematic layer as part of the network. The proposed model provides state-of-the-art performance when lifting a 2D single-hand image to 3D. However, when sequence data is available, we add a Transformer module over a temporal window of consecutive frames to refine the results, overcoming jittering and further increasing accuracy. The method is quantitatively and qualitatively evaluated showing state-of-the-art robustness, generalization, and accuracy on several different datasets.

In natural language processing (NLP) of spoken languages, word embeddings have been shown to be a useful method to encode the meaning of words. Sign languages are visual languages, which require sign embeddings to capture the visual and linguistic semantics of sign. Unlike many common approaches to Sign Recognition, we focus on explicitly creating sign embeddings that bridge the gap between sign language and spoken language. We propose a learning framework to derive LCC (Learnt Contrastive Concept) embeddings for sign language, a weakly supervised contrastive approach to learning sign embeddings. We train a vocabulary of embeddings that are based on the linguistic labels for sign video. Additionally, we develop a conceptual similarity loss which is able to utilise word embeddings from NLP methods to create sign embeddings that have better sign language to spoken language correspondence. These learnt representations allow the model to automatically localise the sign in time. Our approach achieves state-of-the-art keypoint-based sign recognition performance on the WLASL and BOBSL datasets.

Capturing and annotating Sign language datasets is a time consuming and costly process. Current datasets are orders of magnitude too small to successfully train unconstrained \acf{slt} models. As a result, research has turned to TV broadcast content as a source of large-scale training data, consisting of both the sign language interpreter and the associated audio subtitle. However, lack of sign language annotation limits the usability of this data and has led to the development of automatic annotation techniques such as sign spotting. These spottings are aligned to the video rather than the subtitle, which often results in a misalignment between the subtitle and spotted signs. In this paper we propose a method for aligning spottings with their corresponding subtitles using large spoken language models. Using a single modality means our method is computationally inexpensive and can be utilized in conjunction with existing alignment techniques. We quantitatively demonstrate the effectiveness of our method on the \acf{mdgs} and \acf{bobsl} datasets, recovering up to a 33.22 BLEU-1 score in word alignment., Comment: 4 pages, 4 figures, 2023 IEEE International Conference on Acoustics, Speech, and Signal Processing Workshops (ICASSPW)

Self-supervised monocular depth estimation (SS-MDE) has the potential to scale to vast quantities of data. Unfortunately, existing approaches limit themselves to the automotive domain, resulting in models incapable of generalizing to complex environments such as natural or indoor settings. To address this, we propose a large-scale SlowTV dataset curated from YouTube, containing an order of magnitude more data than existing automotive datasets. SlowTV contains 1.7M images from a rich diversity of environments, such as worldwide seasonal hiking, scenic driving and scuba diving. Using this dataset, we train an SS-MDE model that provides zero-shot generalization to a large collection of indoor/outdoor datasets. The resulting model outperforms all existing SSL approaches and closes the gap on supervised SoTA, despite using a more efficient architecture. We additionally introduce a collection of best-practices to further maximize performance and zero-shot generalization. This includes 1) aspect ratio augmentation, 2) camera intrinsic estimation, 3) support frame randomization and 4) flexible motion estimation. Code is available at https://github.com/jspenmar/slowtv_monodepth., Comment: Accepted to ICCV2023

Graph convolutional networks (GCNs) enable end-to-end learning on graph structured data. However, many works assume a given graph structure. When the input graph is noisy or unavailable, one approach is to construct or learn a latent graph structure. These methods typically fix the choice of node degree for the entire graph, which is suboptimal. Instead, we propose a novel end-to-end differentiable graph generator which builds graph topologies where each node selects both its neighborhood and its size. Our module can be readily integrated into existing pipelines involving graph convolution operations, replacing the predetermined or existing adjacency matrix with one that is learned, and optimized, as part of the general objective. As such it is applicable to any GCN. We integrate our module into trajectory prediction, point cloud classification and node classification pipelines resulting in improved accuracy over other structure-learning methods across a wide range of datasets and GCN backbones., Comment: ICCV 2023

This paper discusses the results for the second edition of the Monocular Depth Estimation Challenge (MDEC). This edition was open to methods using any form of supervision, including fully-supervised, self-supervised, multi-task or proxy depth. The challenge was based around the SYNS-Patches dataset, which features a wide diversity of environments with high-quality dense ground-truth. This includes complex natural environments, e.g. forests or fields, which are greatly underrepresented in current benchmarks. The challenge received eight unique submissions that outperformed the provided SotA baseline on any of the pointcloud- or image-based metrics. The top supervised submission improved relative F-Score by 27.62%, while the top self-supervised improved it by 16.61%. Supervised submissions generally leveraged large collections of datasets to improve data diversity. Self-supervised submissions instead updated the network architecture and pretrained backbones. These results represent a significant progress in the field, while highlighting avenues for future research, such as reducing interpolation artifacts at depth boundaries, improving self-supervised indoor performance and overall natural image accuracy., Comment: Published at CVPRW2023

Autonomous agents that drive on roads shared with human drivers must reason about the nuanced interactions among traffic participants. This poses a highly challenging decision making problem since human behavior is influenced by a multitude of factors (e.g., human intentions and emotions) that are hard to model. This paper presents a decision making approach for autonomous driving, focusing on the complex task of merging into moving traffic where uncertainty emanates from the behavior of other drivers and imperfect sensor measurements. We frame the problem as a partially observable Markov decision process (POMDP) and solve it online with Monte Carlo tree search. The solution to the POMDP is a policy that performs high-level driving maneuvers, such as giving way to an approaching car, keeping a safe distance from the vehicle in front or merging into traffic. Our method leverages a model learned from data to predict the future states of traffic while explicitly accounting for interactions among the surrounding agents. From these predictions, the autonomous vehicle can anticipate the future consequences of its actions on the environment and optimize its trajectory accordingly. We thoroughly test our approach in simulation, showing that the autonomous vehicle can adapt its behavior to different situations. We also compare against other methods, demonstrating an improvement with respect to the considered performance metrics., Comment: 12 pages, 12 figures

We present a new approach for synthesizing novel views of people in new poses. Our novel differentiable renderer enables the synthesis of highly realistic images from any viewpoint. Rather than operating over mesh-based structures, our renderer makes use of diffuse Gaussian primitives that directly represent the underlying skeletal structure of a human. Rendering these primitives gives results in a high-dimensional latent image, which is then transformed into an RGB image by a decoder network. The formulation gives rise to a fully differentiable framework that can be trained end-to-end. We demonstrate the effectiveness of our approach to image reconstruction on both the Human3.6M and Panoptic Studio datasets. We show how our approach can be used for motion transfer between individuals; novel view synthesis of individuals captured from just a single camera; to synthesize individuals from any virtual viewpoint; and to re-render people in novel poses. Code and video results are available at https://github.com/GuillaumeRochette/HumanViewSynthesis., Comment: Accepted at IEEE transactions on Biometrics, Behavior, and Identity Science, 10 pages, 11 figures. arXiv admin note: substantial text overlap with arXiv:2111.12731

This paper summarizes the results of the first Monocular Depth Estimation Challenge (MDEC) organized at WACV2023. This challenge evaluated the progress of self-supervised monocular depth estimation on the challenging SYNS-Patches dataset. The challenge was organized on CodaLab and received submissions from 4 valid teams. Participants were provided a devkit containing updated reference implementations for 16 State-of-the-Art algorithms and 4 novel techniques. The threshold for acceptance for novel techniques was to outperform every one of the 16 SotA baselines. All participants outperformed the baseline in traditional metrics such as MAE or AbsRel. However, pointcloud reconstruction metrics were challenging to improve upon. We found predictions were characterized by interpolation artefacts at object boundaries and errors in relative object positioning. We hope this challenge is a valuable contribution to the community and encourage authors to participate in future editions., Comment: WACV-Workshops 2023

Most of the vision-based sign language research to date has focused on Isolated Sign Language Recognition (ISLR), where the objective is to predict a single sign class given a short video clip. Although there has been significant progress in ISLR, its real-life applications are limited. In this paper, we focus on the challenging task of Sign Spotting instead, where the goal is to simultaneously identify and localise signs in continuous co-articulated sign videos. To address the limitations of current ISLR-based models, we propose a hierarchical sign spotting approach which learns coarse-to-fine spatio-temporal sign features to take advantage of representations at various temporal levels and provide more precise sign localisation. Specifically, we develop Hierarchical Sign I3D model (HS-I3D) which consists of a hierarchical network head that is attached to the existing spatio-temporal I3D model to exploit features at different layers of the network. We evaluate HS-I3D on the ChaLearn 2022 Sign Spotting Challenge - MSSL track and achieve a state-of-the-art 0.607 F1 score, which was the top-1 winning solution of the competition.

Neural Sign Language Production (SLP) aims to automatically translate from spoken language sentences to sign language videos. Historically the SLP task has been broken into two steps; Firstly, translating from a spoken language sentence to a gloss sequence and secondly, producing a sign language video given a sequence of glosses. In this paper we apply Natural Language Processing techniques to the first step of the SLP pipeline. We use language models such as BERT and Word2Vec to create better sentence level embeddings, and apply several tokenization techniques, demonstrating how these improve performance on the low resource translation task of Text to Gloss. We introduce Text to HamNoSys (T2H) translation, and show the advantages of using a phonetic representation for sign language translation rather than a sign level gloss representation. Furthermore, we use HamNoSys to extract the hand shape of a sign and use this as additional supervision during training, further increasing the performance on T2H. Assembling best practise, we achieve a BLEU-4 score of 26.99 on the MineDGS dataset and 25.09 on PHOENIX14T, two new state-of-the-art baselines., Comment: 8 pages, 4 figures, 5 tables, SLTAT 2022

This paper presents an open and comprehensive framework to systematically evaluate state-of-the-art contributions to self-supervised monocular depth estimation. This includes pretraining, backbone, architectural design choices and loss functions. Many papers in this field claim novelty in either architecture design or loss formulation. However, simply updating the backbone of historical systems results in relative improvements of 25%, allowing them to outperform the majority of existing systems. A systematic evaluation of papers in this field was not straightforward. The need to compare like-with-like in previous papers means that longstanding errors in the evaluation protocol are ubiquitous in the field. It is likely that many papers were not only optimized for particular datasets, but also for errors in the data and evaluation criteria. To aid future research in this area, we release a modular codebase (https://github.com/jspenmar/monodepth_benchmark), allowing for easy evaluation of alternate design decisions against corrected data and evaluation criteria. We re-implement, validate and re-evaluate 16 state-of-the-art contributions and introduce a new dataset (SYNS-Patches) containing dense outdoor depth maps in a variety of both natural and urban scenes. This allows for the computation of informative metrics in complex regions such as depth boundaries., Comment: https://github.com/jspenmar/monodepth_benchmark

To plan safe maneuvers and act with foresight, autonomous vehicles must be capable of accurately predicting the uncertain future. In the context of autonomous driving, deep neural networks have been successfully applied to learning predictive models of human driving behavior from data. However, the predictions suffer from cascading errors, resulting in large inaccuracies over long time horizons. Furthermore, the learned models are black boxes, and thus it is often unclear how they arrive at their predictions. In contrast, rule-based models, which are informed by human experts, maintain long-term coherence in their predictions and are human-interpretable. However, such models often lack the sufficient expressiveness needed to capture complex real-world dynamics. In this work, we begin to close this gap by embedding the Intelligent Driver Model, a popular hand-crafted driver model, into deep neural networks. Our model's transparency can offer considerable advantages, e.g., in debugging the model and more easily interpreting its predictions. We evaluate our approach on a simulated merging scenario, showing that it yields a robust model that is end-to-end trainable and provides greater transparency at no cost to the model's predictive accuracy.

Motion estimation approaches typically employ sensor fusion techniques, such as the Kalman Filter, to handle individual sensor failures. More recently, deep learning-based fusion approaches have been proposed, increasing the performance and requiring less model-specific implementations. However, current deep fusion approaches often assume that sensors are synchronised, which is not always practical, especially for low-cost hardware. To address this limitation, in this work, we propose AFT-VO, a novel transformer-based sensor fusion architecture to estimate VO from multiple sensors. Our framework combines predictions from asynchronous multi-view cameras and accounts for the time discrepancies of measurements coming from different sources. Our approach first employs a Mixture Density Network (MDN) to estimate the probability distributions of the 6-DoF poses for every camera in the system. Then a novel transformer-based fusion module, AFT-VO, is introduced, which combines these asynchronous pose estimations, along with their confidences. More specifically, we introduce Discretiser and Source Encoding techniques which enable the fusion of multi-source asynchronous signals. We evaluate our approach on the popular nuScenes and KITTI datasets. Our experiments demonstrate that multi-view fusion for VO estimation provides robust and accurate trajectories, outperforming the state of the art in both challenging weather and lighting conditions.

Recent approaches to multi-task learning (MTL) have focused on modelling connections between tasks at the decoder level. This leads to a tight coupling between tasks, which need retraining if a new task is inserted or removed. We argue that MTL is a stepping stone towards universal feature learning (UFL), which is the ability to learn generic features that can be applied to new tasks without retraining. We propose Medusa to realize this goal, designing task heads with dual attention mechanisms. The shared feature attention masks relevant backbone features for each task, allowing it to learn a generic representation. Meanwhile, a novel Multi-Scale Attention head allows the network to better combine per-task features from different scales when making the final prediction. We show the effectiveness of Medusa in UFL (+13.18% improvement), while maintaining MTL performance and being 25% more efficient than previous approaches., Comment: Accepted @ CVPRW 2022 (CLVision, 3rd Edition)

Estimating a semantically segmented bird's-eye-view (BEV) map from a single image has become a popular technique for autonomous control and navigation. However, they show an increase in localization error with distance from the camera. While such an increase in error is entirely expected - localization is harder at distance - much of the drop in performance can be attributed to the cues used by current texture-based models, in particular, they make heavy use of object-ground intersections (such as shadows), which become increasingly sparse and uncertain for distant objects. In this work, we address these shortcomings in BEV-mapping by learning the spatial relationship between objects in a scene. We propose a graph neural network which predicts BEV objects from a monocular image by spatially reasoning about an object within the context of other objects. Our approach sets a new state-of-the-art in BEV estimation from monocular images across three large-scale datasets, including a 50% relative improvement for objects on nuScenes., Comment: Accepted to CVPR 2022

Sign languages are visual languages, with vocabularies as rich as their spoken language counterparts. However, current deep-learning based Sign Language Production (SLP) models produce under-articulated skeleton pose sequences from constrained vocabularies and this limits applicability. To be understandable and accepted by the deaf, an automatic SLP system must be able to generate co-articulated photo-realistic signing sequences for large domains of discourse. In this work, we tackle large-scale SLP by learning to co-articulate between dictionary signs, a method capable of producing smooth signing while scaling to unconstrained domains of discourse. To learn sign co-articulation, we propose a novel Frame Selection Network (FS-Net) that improves the temporal alignment of interpolated dictionary signs to continuous signing sequences. Additionally, we propose SignGAN, a pose-conditioned human synthesis model that produces photo-realistic sign language videos direct from skeleton pose. We propose a novel keypoint-based loss function which improves the quality of synthesized hand images. We evaluate our SLP model on the large-scale meineDGS (mDGS) corpus, conducting extensive user evaluation showing our FS-Net approach improves co-articulation of interpolated dictionary signs. Additionally, we show that SignGAN significantly outperforms all baseline methods for quantitative metrics, human perceptual studies and native deaf signer comprehension., Comment: arXiv admin note: text overlap with arXiv:2011.09846

Parameter estimation in empirical fields is usually undertaken using parametric models, and such models readily facilitate statistical inference. Unfortunately, they are unlikely to be sufficiently flexible to be able to adequately model real-world phenomena, and may yield biased estimates. Conversely, non-parametric approaches are flexible but do not readily facilitate statistical inference and may still exhibit residual bias. We explore the potential for Influence Functions (IFs) to (a) improve initial estimators without needing more data (b) increase model robustness and (c) facilitate statistical inference. We begin with a broad introduction to IFs, and propose a neural network method 'MultiNet', which seeks the diversity of an ensemble using a single architecture. We also introduce variants on the IF update step which we call 'MultiStep', and provide a comprehensive evaluation of different approaches. The improvements are found to be dataset dependent, indicating an interaction between the methods used and nature of the data generating process. Our experiments highlight the need for practitioners to check the consistency of their findings, potentially by undertaking multiple analyses with different combinations of estimators. We also show that it is possible to improve existing neural networks for `free', without needing more data, and without needing to retrain them.

Visual Odometry (VO) estimation is an important source of information for vehicle state estimation and autonomous driving. Recently, deep learning based approaches have begun to appear in the literature. However, in the context of driving, single sensor based approaches are often prone to failure because of degraded image quality due to environmental factors, camera placement, etc. To address this issue, we propose a deep sensor fusion framework which estimates vehicle motion using both pose and uncertainty estimations from multiple on-board cameras. We extract spatio-temporal feature representations from a set of consecutive images using a hybrid CNN - RNN model. We then utilise a Mixture Density Network (MDN) to estimate the 6-DoF pose as a mixture of distributions and a fusion module to estimate the final pose using MDN outputs from multi-cameras. We evaluate our approach on the publicly available, large scale autonomous vehicle dataset, nuScenes. The results show that the proposed fusion approach surpasses the state-of-the-art, and provides robust estimates and accurate trajectories compared to individual camera-based estimations.

Visual Odometry (VO) is used in many applications including robotics and autonomous systems. However, traditional approaches based on feature matching are computationally expensive and do not directly address failure cases, instead relying on heuristic methods to detect failure. In this work, we propose a deep learning-based VO model to efficiently estimate 6-DoF poses, as well as a confidence model for these estimates. We utilise a CNN - RNN hybrid model to learn feature representations from image sequences. We then employ a Mixture Density Network (MDN) which estimates camera motion as a mixture of Gaussians, based on the extracted spatio-temporal representations. Our model uses pose labels as a source of supervision, but derives uncertainties in an unsupervised manner. We evaluate the proposed model on the KITTI and nuScenes datasets and report extensive quantitative and qualitative results to analyse the performance of both pose and uncertainty estimation. Our experiments show that the proposed model exceeds state-of-the-art performance in addition to detecting failure cases using the predicted pose uncertainty.

Recent approaches to Sign Language Production (SLP) have adopted spoken language Neural Machine Translation (NMT) architectures, applied without sign-specific modifications. In addition, these works represent sign language as a sequence of skeleton pose vectors, projected to an abstract representation with no inherent skeletal structure. In this paper, we represent sign language sequences as a skeletal graph structure, with joints as nodes and both spatial and temporal connections as edges. To operate on this graphical structure, we propose Skeletal Graph Self-Attention (SGSA), a novel graphical attention layer that embeds a skeleton inductive bias into the SLP model. Retaining the skeletal feature representation throughout, we directly apply a spatio-temporal adjacency matrix into the self-attention formulation. This provides structure and context to each skeletal joint that is not possible when using a non-graphical abstract representation, enabling fluid and expressive sign language production. We evaluate our Skeletal Graph Self-Attention architecture on the challenging RWTH-PHOENIX-Weather-2014T(PHOENIX14T) dataset, achieving state-of-the-art back translation performance with an 8% and 7% improvement over competing methods for the dev and test sets.

We present a new approach for synthesizing novel views of people in new poses. Our novel differentiable renderer enables the synthesis of highly realistic images from any viewpoint. Rather than operating over mesh-based structures, our renderer makes use of diffuse Gaussian primitives that directly represent the underlying skeletal structure of a human. Rendering these primitives gives results in a high-dimensional latent image, which is then transformed into an RGB image by a decoder network. The formulation gives rise to a fully differentiable framework that can be trained end-to-end. We demonstrate the effectiveness of our approach to image reconstruction on both the Human3.6M and Panoptic Studio datasets. We show how our approach can be used for motion transfer between individuals; novel view synthesis of individuals captured from just a single camera; to synthesize individuals from any virtual viewpoint; and to re-render people in novel poses. Code and video results are available at https://github.com/GuillaumeRochette/HumanViewSynthesis., Comment: Accepted at Face and Gesture 2021, 8 pages, 7 figures

We approach instantaneous mapping, converting images to a top-down view of the world, as a translation problem. We show how a novel form of transformer network can be used to map from images and video directly to an overhead map or bird's-eye-view (BEV) of the world, in a single end-to-end network. We assume a 1-1 correspondence between a vertical scanline in the image, and rays passing through the camera location in an overhead map. This lets us formulate map generation from an image as a set of sequence-to-sequence translations. Posing the problem as translation allows the network to use the context of the image when interpreting the role of each pixel. This constrained formulation, based upon a strong physical grounding of the problem, leads to a restricted transformer network that is convolutional in the horizontal direction only. The structure allows us to make efficient use of data when training, and obtains state-of-the-art results for instantaneous mapping of three large-scale datasets, including a 15% and 30% relative gain against existing best performing methods on the nuScenes and Argoverse datasets, respectively. We make our code available on https://github.com/avishkarsaha/translating-images-into-maps., Comment: Accepted to ICRA 2022

Attention is an important component of modern deep learning. However, less emphasis has been put on its inverse: ignoring distraction. Our daily lives require us to explicitly avoid giving attention to salient visual features that confound the task we are trying to accomplish. This visual prioritisation allows us to concentrate on important tasks while ignoring visual distractors. In this work, we introduce Neural Blindness, which gives an agent the ability to completely ignore objects or classes that are deemed distractors. More explicitly, we aim to render a neural network completely incapable of representing specific chosen classes in its latent space. In a very real sense, this makes the network "blind" to certain classes, allowing and agent to focus on what is important for a given task, and demonstrates how this can be used to improve localisation., Comment: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

It is common practice to represent spoken languages at their phonetic level. However, for sign languages, this implies breaking motion into its constituent motion primitives. Avatar based Sign Language Production (SLP) has traditionally done just this, building up animation from sequences of hand motions, shapes and facial expressions. However, more recent deep learning based solutions to SLP have tackled the problem using a single network that estimates the full skeletal structure. We propose splitting the SLP task into two distinct jointly-trained sub-tasks. The first translation sub-task translates from spoken language to a latent sign language representation, with gloss supervision. Subsequently, the animation sub-task aims to produce expressive sign language sequences that closely resemble the learnt spatio-temporal representation. Using a progressive transformer for the translation sub-task, we propose a novel Mixture of Motion Primitives (MoMP) architecture for sign language animation. A set of distinct motion primitives are learnt during training, that can be temporally combined at inference to animate continuous sign language sequences. We evaluate on the challenging RWTH-PHOENIX-Weather-2014T(PHOENIX14T) dataset, presenting extensive ablation studies and showing that MoMP outperforms baselines in user evaluations. We achieve state-of-the-art back translation performance with an 11% improvement over competing results. Importantly, and for the first time, we showcase stronger performance for a full translation pipeline going from spoken language to sign, than from gloss to sign.

The visual anonymisation of sign language data is an essential task to address privacy concerns raised by large-scale dataset collection. Previous anonymisation techniques have either significantly affected sign comprehension or required manual, labour-intensive work. In this paper, we formally introduce the task of Sign Language Video Anonymisation (SLVA) as an automatic method to anonymise the visual appearance of a sign language video whilst retaining the meaning of the original sign language sequence. To tackle SLVA, we propose AnonySign, a novel automatic approach for visual anonymisation of sign language data. We first extract pose information from the source video to remove the original signer appearance. We next generate a photo-realistic sign language video of a novel appearance from the pose sequence, using image-to-image translation methods in a conditional variational autoencoder framework. An approximate posterior style distribution is learnt, which can be sampled from to synthesise novel human appearances. In addition, we propose a novel \textit{style loss} that ensures style consistency in the anonymised sign language videos. We evaluate AnonySign for the SLVA task with extensive quantitative and qualitative experiments highlighting both realism and anonymity of our novel human appearance synthesis. In addition, we formalise an anonymity perceptual study as an evaluation criteria for the SLVA task and showcase that video anonymisation using AnonySign retains the original sign language content.

In this paper, we focus on the task of one-shot sign spotting, i.e. given an example of an isolated sign (query), we want to identify whether/where this sign appears in a continuous, co-articulated sign language video (target). To achieve this goal, we propose a transformer-based network, called SignLookup. We employ 3D Convolutional Neural Networks (CNNs) to extract spatio-temporal representations from video clips. To solve the temporal scale discrepancies between the query and the target videos, we construct multiple queries from a single video clip using different frame-level strides. Self-attention is applied across these query clips to simulate a continuous scale space. We also utilize another self-attention module on the target video to learn the contextual within the sequence. Finally a mutual-attention is used to match the temporal scales to localize the query within the target sequence. Extensive experiments demonstrate that the proposed approach can not only reliably identify isolated signs in continuous videos, regardless of the signers' appearance, but can also generalize to different sign languages. By taking advantage of the attention mechanism and the adaptive features, our model achieves state-of-the-art performance on the sign spotting task with accuracy as high as 96% on challenging benchmark datasets and significantly outperforming other approaches., Comment: 8 pages, 2 figures

Imitation learning has been widely used to learn control policies for autonomous driving based on pre-recorded data. However, imitation learning based policies have been shown to be susceptible to compounding errors when encountering states outside of the training distribution. Further, these agents have been demonstrated to be easily exploitable by adversarial road users aiming to create collisions. To overcome these shortcomings, we introduce Adversarial Mixture Density Networks (AMDN), which learns two distributions from separate datasets. The first is a distribution of safe actions learned from a dataset of naturalistic human driving. The second is a distribution representing unsafe actions likely to lead to collision, learned from a dataset of collisions. During training, we leverage these two distributions to provide an additional loss based on the similarity of the two distributions. By penalising the safe action distribution based on its similarity to the unsafe action distribution when training on the collision dataset, a more robust and safe control policy is obtained. We demonstrate the proposed AMDN approach in a vehicle following use-case, and evaluate under naturalistic and adversarial testing environments. We show that despite its simplicity, AMDN provides significant benefits for the safety of the learned control policy, when compared to pure imitation learning or standard mixture density network approaches., Comment: Accepted in IEEE Intelligent Transportation Systems Conference (ITSC) 2021

Deep neural networks have demonstrated their capability to learn control policies for a variety of tasks. However, these neural network-based policies have been shown to be susceptible to exploitation by adversarial agents. Therefore, there is a need to develop techniques to learn control policies that are robust against adversaries. We introduce Adversarially Robust Control (ARC), which trains the protagonist policy and the adversarial policy end-to-end on the same loss. The aim of the protagonist is to maximise this loss, whilst the adversary is attempting to minimise it. We demonstrate the proposed ARC training in a highway driving scenario, where the protagonist controls the follower vehicle whilst the adversary controls the lead vehicle. By training the protagonist against an ensemble of adversaries, it learns a significantly more robust control policy, which generalises to a variety of adversarial strategies. The approach is shown to reduce the amount of collisions against new adversaries by up to 90.25%, compared to the original policy. Moreover, by utilising an auxiliary distillation loss, we show that the fine-tuned control policy shows no drop in performance across its original training distribution., Comment: Accepted in IEEE Intelligent Transportation Systems Conference (ITSC) 2021

In the context of self-driving vehicles there is strong competition between approaches based on visual localisation and LiDAR. While LiDAR provides important depth information, it is sparse in resolution and expensive. On the other hand, cameras are low-cost and recent developments in deep learning mean they can provide high localisation performance. However, several fundamental problems remain, particularly in the domain of uncertainty, where learning based approaches can be notoriously over-confident. Markov, or grid-based, localisation was an early solution to the localisation problem but fell out of favour due to its computational complexity. Representing the likelihood field as a grid (or volume) means there is a trade off between accuracy and memory size. Furthermore, it is necessary to perform expensive convolutions across the entire likelihood volume. Despite the benefit of simultaneously maintaining a likelihood for all possible locations, grid based approaches were superseded by more efficient particle filters and Monte Carlo Localisation (MCL). However, MCL introduces its own problems e.g. particle deprivation. Recent advances in deep learning hardware allow large likelihood volumes to be stored directly on the GPU, along with the hardware necessary to efficiently perform GPU-bound 3D convolutions and this obviates many of the disadvantages of grid based methods. In this work, we present a novel CNN-based localisation approach that can leverage modern deep learning hardware. By implementing a grid-based Markov localisation approach directly on the GPU, we create a hybrid CNN that can perform image-based localisation and odometry-based likelihood propagation within a single neural network. The resulting approach is capable of outperforming direct pose regression methods as well as state-of-the-art localisation systems., Comment: IEEE International Conference on Robotics and Automation (ICRA) 2021

Computational sign language research lacks the large-scale datasets that enables the creation of useful reallife applications. To date, most research has been limited to prototype systems on small domains of discourse, e.g. weather forecasts. To address this issue and to push the field forward, we release six datasets comprised of 190 hours of footage on the larger domain of news. From this, 20 hours of footage have been annotated by Deaf experts and interpreters and is made publicly available for research purposes. In this paper, we share the dataset collection process and tools developed to enable the alignment of sign language video and subtitles, as well as baseline translation results to underpin future research.

Predicting 3D human pose from a single monoscopic video can be highly challenging due to factors such as low resolution, motion blur and occlusion, in addition to the fundamental ambiguity in estimating 3D from 2D. Approaches that directly regress the 3D pose from independent images can be particularly susceptible to these factors and result in jitter, noise and/or inconsistencies in skeletal estimation. Much of which can be overcome if the temporal evolution of the scene and skeleton are taken into account. However, rather than tracking body parts and trying to temporally smooth them, we propose a novel transformer based network that can learn a distribution over both pose and motion in an unsupervised fashion. We call our approach Skeletor. Skeletor overcomes inaccuracies in detection and corrects partial or entire skeleton corruption. Skeletor uses strong priors learn from on 25 million frames to correct skeleton sequences smoothly and consistently. Skeletor can achieve this as it implicitly learns the spatio-temporal context of human motion via a transformer based neural network. Extensive experiments show that Skeletor achieves improved performance on 3D human pose estimation and further provides benefits for downstream tasks such as sign language translation.

Signed languages are visual languages produced by the movement of the hands, face, and body. In this paper, we evaluate representations based on skeleton poses, as these are explainable, person-independent, privacy-preserving, low-dimensional representations. Basically, skeletal representations generalize over an individual's appearance and background, allowing us to focus on the recognition of motion. But how much information is lost by the skeletal representation? We perform two independent studies using two state-of-the-art pose estimation systems. We analyze the applicability of the pose estimation systems to sign language recognition by evaluating the failure cases of the recognition models. Importantly, this allows us to characterize the current limitations of skeletal pose estimation approaches in sign language recognition.

An important goal across most scientific fields is the discovery of causal structures underling a set of observations. Unfortunately, causal discovery methods which are based on correlation or mutual information can often fail to identify causal links in systems which exhibit dynamic relationships. Such dynamic systems (including the famous coupled logistic map) exhibit `mirage' correlations which appear and disappear depending on the observation window. This means not only that correlation is not causation but, perhaps counter-intuitively, that causation may occur without correlation. In this paper we describe Neural Shadow-Mapping, a neural network based method which embeds high-dimensional video data into a low-dimensional shadow representation, for subsequent estimation of causal links. We demonstrate its performance at discovering causal links from video-representations of dynamic systems.