SMEMO: Social Memory for Trajectory Forecasting.

Effective modeling of human interactions is of utmost importance when forecasting behaviors such as future trajectories. Each individual, with its motion, influences surrounding agents since everyone obeys to social non-written rules such as collision avoidance or group following. In this paper we model such interactions, which constantly evolve through time, by looking at the problem from an algorithmic point of view, i.e., as a data manipulation task. We present a neural network based on an end-to-end trainable working memory, which acts as an external storage where information about each agent can be continuously written, updated and recalled. We show that our method is capable of learning explainable cause-effect relationships between motions of different agents, obtaining state-of-the-art results on multiple trajectory forecasting datasets.

Multiple Trajectory Prediction of Moving Agents With Memory Augmented Networks.

Pedestrians and drivers are expected to safely navigate complex urban environments along with several non cooperating agents. Autonomous vehicles will soon replicate this capability. Each agent acquires a representation of the world from an egocentric perspective and must make decisions ensuring safety for itself and others. This requires to predict motion patterns of observed agents for a far enough future. In this paper we propose MANTRA, a model that exploits memory augmented networks to effectively predict multiple trajectories of other agents, observed from an egocentric perspective. Our model stores observations in memory and uses trained controllers to write meaningful pattern encodings and read trajectories that are most likely to occur in future. We show that our method is able to natively perform multi-modal trajectory prediction obtaining state-of-the art results on four datasets. Moreover, thanks to the non-parametric nature of the memory module, we show how once trained our system can continuously improve by ingesting novel patterns.

Regular Polytope Networks.

Neural networks are widely used as a model for classification in a large variety of tasks. Typically, a learnable transformation (i.e., the classifier) is placed at the end of such models returning a value for each class used for classification. This transformation plays an important role in determining how the generated features change during the learning process. In this work, we argue that this transformation not only can be fixed (i.e., set as nontrainable) with no loss of accuracy and with a reduction in memory usage, but it can also be used to learn stationary and maximally separated embeddings. We show that the stationarity of the embedding and its maximal separated representation can be theoretically justified by setting the weights of the fixed classifier to values taken from the coordinate vertices of the three regular polytopes available in [Formula: see text], namely, the d -Simplex, the d -Cube, and the d -Orthoplex. These regular polytopes have the maximal amount of symmetry that can be exploited to generate stationary features angularly centered around their corresponding fixed weights. Our approach improves and broadens the concept of a fixed classifier, recently proposed by Hoffer et al., to a larger class of fixed classifier models. Experimental results confirm the theoretical analysis, the generalization capability, the faster convergence, and the improved performance of the proposed method. Code will be publicly available.

A Sparse and Locally Coherent Morphable Face Model for Dense Semantic Correspondence Across Heterogeneous 3D Faces.

The 3D Morphable Model (3DMM) is a powerful statistical tool for representing 3D face shapes. To build a 3DMM, a training set of face scans in full point-to-point correspondence is required, and its modeling capabilities directly depend on the variability contained in the training data. Thus, to increase the descriptive power of the 3DMM, establishing a dense correspondence across heterogeneous scans with sufficient diversity in terms of identities, ethnicities, or expressions becomes essential. In this manuscript, we present a fully automatic approach that leverages a 3DMM to transfer its dense semantic annotation across raw 3D faces, establishing a dense correspondence between them. We propose a novel formulation to learn a set of sparse deformation components with local support on the face that, together with an original non-rigid deformation algorithm, allow the 3DMM to precisely fit unseen faces and transfer its semantic annotation. We extensively experimented our approach, showing it can effectively generalize to highly diverse samples and accurately establish a dense correspondence even in presence of complex facial expressions. The accuracy of the dense registration is demonstrated by building a heterogeneous, large-scale 3DMM from more than 9,000 fully registered scans obtained by joining three large datasets together.

Spatio-Temporal Closed-Loop Object Detection.

Object detection is one of the most important tasks of computer vision. It is usually performed by evaluating a subset of the possible locations of an image, that are more likely to contain the object of interest. Exhaustive approaches have now been superseded by object proposal methods. The interplay of detectors and proposal algorithms has not been fully analyzed and exploited up to now, although this is a very relevant problem for object detection in video sequences. We propose to connect, in a closed-loop, detectors and object proposal generator functions exploiting the ordered and continuous nature of video sequences. Different from tracking we only require a previous frame to improve both proposal and detection: no prediction based on local motion is performed, thus avoiding tracking errors. We obtain three to four points of improvement in mAP and a detection time that is lower than Faster Regions with CNN features (R-CNN), which is the fastest Convolutional Neural Network (CNN) based generic object detector known at the moment.