In this paper, we present a spatial rectifier to estimate surface normals of tilted images. Tilted images are of particular interest as more visual data are captured by arbitrarily oriented sensors such as body-/robot-mounted cameras. Existing approaches exhibit bounded performance on predicting surface normals because they were trained using gravity-aligned images. Our two main hypotheses are: (1) visual scene layout is indicative of the gravity direction; and (2) not all surfaces are equally represented by a learned estimator due to the structured distribution of the training data, thus, there exists a transformation for each tilted image that is more responsive to the learned estimator than others. We design a spatial rectifier that is learned to transform the surface normal distribution of a tilted image to the rectified one that matches the gravity-aligned training data distribution. Along with the spatial rectifier, we propose a novel truncated angular loss that offers a stronger gradient at smaller angular errors and robustness to outliers. The resulting estimator outperforms the state-of-the-art methods including data augmentation baselines not only on ScanNet and NYUv2 but also on a new dataset called Tilt-RGBD that includes considerable roll and pitch camera motion.
|Original language||English (US)|
|Title of host publication||Computer Vision – ECCV 2020 - 16th European Conference, 2020, Proceedings|
|Editors||Andrea Vedaldi, Horst Bischof, Thomas Brox, Jan-Michael Frahm|
|Publisher||Springer Science and Business Media Deutschland GmbH|
|Number of pages||16|
|State||Published - 2020|
|Event||16th European Conference on Computer Vision, ECCV 2020 - Glasgow, United Kingdom|
Duration: Aug 23 2020 → Aug 28 2020
|Name||Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)|
|Conference||16th European Conference on Computer Vision, ECCV 2020|
|Period||8/23/20 → 8/28/20|
Bibliographical noteFunding Information:
This work is supported by NSF IIS-1328722 and NSF CAREER IIS-1846031.
© 2020, Springer Nature Switzerland AG.
- Spatial rectifier
- Surface normal estimation
- Tilted images