MONET: Multiview semi-supervised keypoint detection via epipolar divergence

Yuan Yao, Yasamin Jafarian, Hyun Soo Park

Research output: Chapter in Book/Report/Conference proceedingConference contribution

38 Scopus citations

Abstract

This paper presents MONET - -an end-to-end semi-supervised learning framework for a keypoint detector using multiview image streams. In particular, we consider general subjects such as non-human species where attaining a large scale annotated dataset is challenging. While multiview geometry can be used to self-supervise the unlabeled data, integrating the geometry into learning a keypoint detector is challenging due to representation mismatch. We address this mismatch by formulating a new differentiable representation of the epipolar constraint called epipolar divergence - -a generalized distance from the epipolar lines to the corresponding keypoint distribution. Epipolar divergence characterizes when two view keypoint distributions produce zero reprojection error. We design a twin network that minimizes the epipolar divergence through stereo rectification that can significantly alleviate computational complexity and sampling aliasing in training. We demonstrate that our framework can localize customized keypoints of diverse species, e.g., humans, dogs, and monkeys.

Original languageEnglish (US)
Title of host publicationProceedings - 2019 International Conference on Computer Vision, ICCV 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages753-762
Number of pages10
ISBN (Electronic)9781728148038
DOIs
StatePublished - Oct 2019
Event17th IEEE/CVF International Conference on Computer Vision, ICCV 2019 - Seoul, Korea, Republic of
Duration: Oct 27 2019Nov 2 2019

Publication series

NameProceedings of the IEEE International Conference on Computer Vision
Volume2019-October
ISSN (Print)1550-5499

Conference

Conference17th IEEE/CVF International Conference on Computer Vision, ICCV 2019
Country/TerritoryKorea, Republic of
CitySeoul
Period10/27/1911/2/19

Bibliographical note

Publisher Copyright:
© 2019 IEEE.

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