0000000000793281
AUTHOR
Marc Blanchon
Compréhension de scènes urbaines basée sur la polarisation
Humans possess an innate ability to interpret scenes under any condition. Computer Vision tends to mimic these capabilities by implementing intelligent algorithms to address complex understanding problems. In this regard, we are interested in understanding outdoor urban scenes in various weather conditions. This thesis specifically addresses the problems arising from the presence of specularity in the scenes. To this end, we aim to take advantage of polarization indices to define such surfaces in addition to traditional objects. In terms of understanding, we aim to introduce polarization to the fields of computer vision and deep learning.This thesis focuses on the following underlying chall…
Outdoor Scenes Pixel-wise Semantic Segmentation using Polarimetry and Fully Convolutional Network
International audience; In this paper, we propose a novel method for pixel-wise scene segmentation application using polarimetry. To address the difficulty of detecting highly reflective areas such as water and windows, we use the angle and degree of polarization of these areas, obtained by processing images from a polarimetric camera. A deep learning framework, based on encoder-decoder architecture, is used for the segmentation of regions of interest. Different methods of augmentation have been developed to obtain a sufficient amount of data, while preserving the physical properties of the polarimetric images. Moreover, we introduce a new dataset comprising both RGB and polarimetric images…
Polarimetric image augmentation
Robotics applications in urban environments are subject to obstacles that exhibit specular reflections hampering autonomous navigation. On the other hand, these reflections are highly polarized and this extra information can successfully be used to segment the specular areas. In nature, polarized light is obtained by reflection or scattering. Deep Convolutional Neural Networks (DCNNs) have shown excellent segmentation results, but require a significant amount of data to achieve best performances. The lack of data is usually overcomed by using augmentation methods. However, unlike RGB images, polarization images are not only scalar (intensity) images and standard augmentation techniques cann…
P2D: a self-supervised method for depth estimation from polarimetry
Monocular depth estimation is a recurring subject in the field of computer vision. Its ability to describe scenes via a depth map while reducing the constraints related to the formulation of perspective geometry tends to favor its use. However, despite the constant improvement of algorithms, most methods exploit only colorimetric information. Consequently, robustness to events to which the modality is not sensitive to, like specularity or transparency, is neglected. In response to this phenomenon, we propose using polarimetry as an input for a self-supervised monodepth network. Therefore, we propose exploiting polarization cues to encourage accurate reconstruction of scenes. Furthermore, we…