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Over the past year, 3D Gaussian Splatting (3DGS) has received significant attention for its ability to represent 3D scenes in a perceptually accurate manner. However, it can require a substantial amount of storage since each splat's individual data must be stored. While compression techniques offer a potential solution by reducing the memory footprint, they still necessitate retrieving the entire scene before any part of it can be rendered. In this work, we introduce a novel approach for progressively rendering such scenes, aiming to display visible content that closely approximates the final scene as early as possible without loading the entire scene into memory. This approach benefits both on-device rendering applications limited by memory constraints and streaming applications where minimal bandwidth usage is preferred. To achieve this, we approximate the contribution of each Gaussian to the final scene and construct an order of prioritization on their inclusion in the rendering process. Additionally, we demonstrate that our approach can be combined with existing compression methods to progressively render (and stream) 3DGS scenes, optimizing bandwidth usage by focusing on the most important splats within a scene. Overall, our work establishes a foundation for making remotely hosted 3DGS content more quickly accessible to end-users in over-the-top consumption scenarios, with our results showing significant improvements in quality across all metrics compared to existing methods.

Due to the visual properties of reflection and refraction, RGB-D cameras cannot accurately capture the depth of transparent objects, leading to incomplete depth maps. To fill in the missing points, recent studies tend to explore new visual features and design complex networks to reconstruct the depth, however, these approaches tremendously increase computation, and the correlation of different visual features remains a problem. To this end, we propose an efficient depth completion network named DistillGrasp which distillates knowledge from the teacher branch to the student branch. Specifically, in the teacher branch, we design a position correlation block (PCB) that leverages RGB images as the query and key to search for the corresponding values, guiding the model to establish correct correspondence between two features and transfer it to the transparent areas. For the student branch, we propose a consistent feature correlation module (CFCM) that retains the reliable regions of RGB images and depth maps respectively according to the consistency and adopts a CNN to capture the pairwise relationship for depth completion. To avoid the student branch only learning regional features from the teacher branch, we devise a distillation loss that not only considers the distance loss but also the object structure and edge information. Extensive experiments conducted on the ClearGrasp dataset manifest that our teacher network outperforms state-of-the-art methods in terms of accuracy and generalization, and the student network achieves competitive results with a higher speed of 48 FPS. In addition, the significant improvement in a real-world robotic grasping system illustrates the effectiveness and robustness of our proposed system., Comment: 10 pages, 5 figures

Data augmentations are useful in closing the sim-to-real domain gap when training on synthetic data. This is because they widen the training data distribution, thus encouraging the model to generalize better to other domains. Many image augmentation techniques exist, parametrized by different settings, such as strength and probability. This leads to a large space of different possible augmentation policies. Some policies work better than others for overcoming the sim-to-real gap for specific datasets, and it is unclear why. This paper presents two different interpretable metrics that can be combined to predict how well a certain augmentation policy will work for a specific sim-to-real setting, focusing on object detection. We validate our metrics by training many models with different augmentation policies and showing a strong correlation with performance on real data. Additionally, we introduce GeneticAugment, a genetic programming method that can leverage these metrics to automatically design an augmentation policy for a specific dataset without needing to train a model., Comment: 21 pages; accepted at DMLR Workshop @ ICRL 2024

Styled Handwritten Text Generation (HTG) has received significant attention in recent years, propelled by the success of learning-based solutions employing GANs, Transformers, and, preliminarily, Diffusion Models. Despite this surge in interest, there remains a critical yet understudied aspect - the impact of the input, both visual and textual, on the HTG model training and its subsequent influence on performance. This study delves deeper into a cutting-edge Styled-HTG approach, proposing strategies for input preparation and training regularization that allow the model to achieve better performance and generalize better. These aspects are validated through extensive analysis on several different settings and datasets. Moreover, in this work, we go beyond performance optimization and address a significant hurdle in HTG research - the lack of a standardized evaluation protocol. In particular, we propose a standardization of the evaluation protocol for HTG and conduct a comprehensive benchmarking of existing approaches. By doing so, we aim to establish a foundation for fair and meaningful comparisons between HTG strategies, fostering progress in the field.

Recently, the use of synthetic training data has been on the rise as it offers correctly labelled datasets at a lower cost. The downside of this technique is that the so-called domain gap between the real target images and synthetic training data leads to a decrease in performance. In this paper, we attempt to provide a holistic overview of how to use synthetic data for object detection. We analyse aspects of generating the data as well as techniques used to train the models. We do so by devising a number of experiments, training models on the Dataset of Industrial Metal Objects (DIMO). This dataset contains both real and synthetic images. The synthetic part has different subsets that are either exact synthetic copies of the real data or are copies with certain aspects randomised. This allows us to analyse what types of variation are good for synthetic training data and which aspects should be modelled to closely match the target data. Furthermore, we investigate what types of training techniques are beneficial towards generalisation to real data, and how to use them. Additionally, we analyse how real images can be leveraged when training on synthetic images. All these experiments are validated on real data and benchmarked to models trained on real data. The results offer a number of interesting takeaways that can serve as basic guidelines for using synthetic data for object detection. Code to reproduce results is available at https://github.com/EDM-Research/DIMO_ObjectDetection., Comment: published in BMVC 2022, https://bmvc2022.mpi-inf.mpg.de/833/

The use of computer vision for product and assembly quality control is becoming ubiquitous in the manufacturing industry. Lately, it is apparent that machine learning based solutions are outperforming classical computer vision algorithms in terms of performance and robustness. However, a main drawback is that they require sufficiently large and labeled training datasets, which are often not available or too tedious and too time consuming to acquire. This is especially true for low-volume and high-variance manufacturing. Fortunately, in this industry, CAD models of the manufactured or assembled products are available. This paper introduces CAD2Render, a GPU-accelerated synthetic data generator based on the Unity High Definition Render Pipeline (HDRP). CAD2Render is designed to add variations in a modular fashion, making it possible for high customizable data generation, tailored to the needs of the industrial use case at hand. Although CAD2Render is specifically designed for manufacturing use cases, it can be used for other domains as well. We validate CAD2Render by demonstrating state of the art performance in two industrial relevant setups. We demonstrate that the data generated by our approach can be used to train object detection and pose estimation models with a high enough accuracy to direct a robot. The code for CAD2Render is available at https://github.com/EDM-Research/CAD2Render., Comment: Accepted at the Workshop on Photorealistic Image and Environment Synthesis for Computer Vision (PIES-CV) at WACV23

In this paper a deep learning architecture is presented that can, in real time, detect the 2D locations of certain landmarks of physical tools, such as a hammer or screwdriver. To avoid the labor of manual labeling, the network is trained on synthetically generated data. Training computer vision models on computer generated images, while still achieving good accuracy on real images, is a challenge due to the difference in domain. The proposed method uses an advanced rendering method in combination with transfer learning and an intermediate supervision architecture to address this problem. It is shown that the model presented in this paper, named Intermediate Heatmap Model (IHM), generalizes to real images when trained on synthetic data. To avoid the need for an exact textured 3D model of the tool in question, it is shown that the model will generalize to an unseen tool when trained on a set of different 3D models of the same type of tool. IHM is compared to two existing approaches to keypoint detection and it is shown that it outperforms those at detecting tool landmarks, trained on synthetic data.

Capturing an event from multiple camera angles can give a viewer the most complete and interesting picture of that event. To be suitable for broadcasting, a human director needs to decide what to show at each point in time. This can become cumbersome with an increasing number of camera angles. The introduction of omnidirectional or wide-angle cameras has allowed for events to be captured more completely, making it even more difficult for the director to pick a good shot. In this paper, a system is presented that, given multiple ultra-high resolution video streams of an event, can generate a visually pleasing sequence of shots that manages to follow the relevant action of an event. Due to the algorithm being general purpose, it can be applied to most scenarios that feature humans. The proposed method allows for online processing when real-time broadcasting is required, as well as offline processing when the quality of the camera operation is the priority. Object detection is used to detect humans and other objects of interest in the input streams. Detected persons of interest, along with a set of rules based on cinematic conventions, are used to determine which video stream to show and what part of that stream is virtually framed. The user can provide a number of settings that determine how these rules are interpreted. The system is able to handle input from different wide-angle video streams by removing lens distortions. Using a user study it is shown, for a number of different scenarios, that the proposed automated director is able to capture an event with aesthetically pleasing video compositions and human-like shot switching behavior.

We present a diverse dataset of industrial metal objects. These objects are symmetric, textureless and highly reflective, leading to challenging conditions not captured in existing datasets. Our dataset contains both real-world and synthetic multi-view RGB images with 6D object pose labels. Real-world data is obtained by recording multi-view images of scenes with varying object shapes, materials, carriers, compositions and lighting conditions. This results in over 30,000 images, accurately labelled using a new public tool. Synthetic data is obtained by carefully simulating real-world conditions and varying them in a controlled and realistic way. This leads to over 500,000 synthetic images. The close correspondence between synthetic and real-world data, and controlled variations, will facilitate sim-to-real research. Our dataset's size and challenging nature will facilitate research on various computer vision tasks involving reflective materials. The dataset and accompanying resources are made available on the project website at https://pderoovere.github.io/dimo., Comment: 7 pages, 9 figures