FocalPose++: Focal Length and Object Pose Estimation Via Render and Compare.

We introduce FocalPose++, a neural render-and-compare method for jointly estimating the camera-object 6D pose and camera focal length given a single RGB input image depicting a known object. The contributions of this work are threefold. First, we derive a focal length update rule that extends an existing state-of-the-art render-and-compare 6D pose estimator to address the joint estimation task. Second, we investigate several different loss functions for jointly estimating the object pose and focal length. We find that a combination of direct focal length regression with a reprojection loss disentangling the contribution of translation, rotation, and focal length leads to improved results. Third, we explore the effect of different synthetic training data on the performance of our method. Specifically, we investigate different distributions used for sampling object's 6D pose and camera's focal length when rendering the synthetic images, and show that parametric distribution fitted on real training data works the best. We show results on three challenging benchmark datasets that depict known 3D models in uncontrolled settings. We demonstrate that our focal length and 6D pose estimates have lower error than the existing state-of-the-art methods.

CoVAMPnet: Comparative Markov State Analysis for Studying Effects of Drug Candidates on Disordered Biomolecules.

Computational study of the effect of drug candidates on intrinsically disordered biomolecules is challenging due to their vast and complex conformational space. Here, we developed a comparative Markov state analysis (CoVAMPnet) framework to quantify changes in the conformational distribution and dynamics of a disordered biomolecule in the presence and absence of small organic drug candidate molecules. First, molecular dynamics trajectories are generated using enhanced sampling, in the presence and absence of small molecule drug candidates, and ensembles of soft Markov state models (MSMs) are learned for each system using unsupervised machine learning. Second, these ensembles of learned MSMs are aligned across different systems based on a solution to an optimal transport problem. Third, the directional importance of inter-residue distances for the assignment to different conformational states is assessed by a discriminative analysis of aggregated neural network gradients. This final step provides interpretability and biophysical context to the learned MSMs. We applied this novel computational framework to assess the effects of ongoing phase 3 therapeutics tramiprosate (TMP) and its metabolite 3-sulfopropanoic acid (SPA) on the disordered Aß42 peptide involved in Alzheimer's disease. Based on adaptive sampling molecular dynamics and CoVAMPnet analysis, we observed that both TMP and SPA preserved more structured conformations of Aß42 by interacting nonspecifically with charged residues. SPA impacted Aß42 more than TMP, protecting α-helices and suppressing the formation of aggregation-prone ß-strands. Experimental biophysical analyses showed only mild effects of TMP/SPA on Aß42 and activity enhancement by the endogenous metabolization of TMP into SPA. Our data suggest that TMP/SPA may also target biomolecules other than Aß peptides. The CoVAMPnet method is broadly applicable to study the effects of drug candidates on the conformational behavior of intrinsically disordered biomolecules.

Multi-Task Learning of Object States and State-Modifying Actions From Web Videos.

We aim to learn to temporally localize object state changes and the corresponding state-modifying actions by observing people interacting with objects in long uncurated web videos. We introduce three principal contributions. First, we develop a self-supervised model for jointly learning state-modifying actions together with the corresponding object states from an uncurated set of videos from the Internet. The model is self-supervised by the causal ordering signal, i.e., initial object state → manipulating action → end state. Second, we explore alternative multi-task network architectures and identify a model that enables efficient joint learning of multiple object states and actions, such as pouring water and pouring coffee, together. Third, we collect a new dataset, named ChangeIt, with more than 2600 hours of video and 34 thousand changes of object states. We report results on an existing instructional video dataset COIN as well as our new large-scale ChangeIt dataset containing tens of thousands of long uncurated web videos depicting various interactions such as hole drilling, cream whisking, or paper plane folding. We show that our multi-task model achieves a relative improvement of 40% over the prior methods and significantly outperforms both image-based and video-based zero-shot models for this problem.

Machine Learning-Guided Protein Engineering.

Recent progress in engineering highly promising biocatalysts has increasingly involved machine learning methods. These methods leverage existing experimental and simulation data to aid in the discovery and annotation of promising enzymes, as well as in suggesting beneficial mutations for improving known targets. The field of machine learning for protein engineering is gathering steam, driven by recent success stories and notable progress in other areas. It already encompasses ambitious tasks such as understanding and predicting protein structure and function, catalytic efficiency, enantioselectivity, protein dynamics, stability, solubility, aggregation, and more. Nonetheless, the field is still evolving, with many challenges to overcome and questions to address. In this Perspective, we provide an overview of ongoing trends in this domain, highlight recent case studies, and examine the current limitations of machine learning-based methods. We emphasize the crucial importance of thorough experimental validation of emerging models before their use for rational protein design. We present our opinions on the fundamental problems and outline the potential directions for future research.

Learning to Answer Visual Questions from Web Videos.

Recent methods for visual question answering rely on large-scale annotated datasets. Manual annotation of questions and answers for videos, however, is tedious, expensive and prevents scalability. In this work, we propose to avoid manual annotation and generate a large-scale training dataset for video question answering making use of automatic cross-modal supervision. We leverage a question generation transformer trained on text data and use it to generate question-answer pairs from transcribed video narrations. Given narrated videos, we then automatically generate the HowToVQA69M dataset with 69M video-question-answer triplets. To handle the open vocabulary of diverse answers in this dataset, we propose a training procedure based on a contrastive loss between a video-question multi-modal transformer and an answer transformer. We introduce the zero-shot VideoQA task and the VideoQA feature probe evaluation setting and show excellent results. Furthermore, our method achieves competitive results on MSRVTT-QA, ActivityNet-QA, MSVD-QA and How2QA datasets. We also show that our approach generalizes to another source of web video and text data. We generate the WebVidVQA3M dataset from videos with alt-text annotations, and show its benefits for training VideoQA models. Finally, for a detailed evaluation we introduce iVQA, a new VideoQA dataset with reduced language bias and high-quality manual annotations.

NCNet: Neighbourhood Consensus Networks for Estimating Image Correspondences.

We address the problem of finding reliable dense correspondences between a pair of images. This is a challenging task due to strong appearance differences between the corresponding scene elements and ambiguities generated by repetitive patterns. The contributions of this work are threefold. First, inspired by the classic idea of disambiguating feature matches using semi-local constraints, we develop an end-to-end trainable convolutional neural network architecture that identifies sets of spatially consistent matches by analyzing neighbourhood consensus patterns in the 4D space of all possible correspondences between a pair of images without the need for a global geometric model. Second, we demonstrate that the model can be trained effectively from weak supervision in the form of matching and non-matching image pairs without the need for costly manual annotation of point to point correspondences. Third, we show the proposed neighbourhood consensus network can be applied to a range of matching tasks including both category- and instance-level matching, obtaining the state-of-the-art results on the PF, TSS, InLoc, and HPatches benchmarks.

Long-Term Visual Localization Revisited.

Visual localization enables autonomous vehicles to navigate in their surroundings and augmented reality applications to link virtual to real worlds. Practical visual localization approaches need to be robust to a wide variety of viewing conditions, including day-night changes, as well as weather and seasonal variations, while providing highly accurate six degree-of-freedom (6DOF) camera pose estimates. In this paper, we extend three publicly available datasets containing images captured under a wide variety of viewing conditions, but lacking camera pose information, with ground truth pose information, making evaluation of the impact of various factors on 6DOF camera pose estimation accuracy possible. We also discuss the performance of state-of-the-art localization approaches on these datasets. Additionally, we release around half of the poses for all conditions, and keep the remaining half private as a test set, in the hopes that this will stimulate research on long-term visual localization, learned local image features, and related research areas. Our datasets are available at visuallocalization.net, where we are also hosting a benchmarking server for automatic evaluation of results on the test set. The presented state-of-the-art results are to a large degree based on submissions to our server.

Bilinear Image Translation for Temporal Analysis of Photo Collections.

We propose an approach for analyzing unpaired visual data annotated with time stamps by generating how images would have looked like if they were from different times. To isolate and transfer time dependent appearance variations, we introduce a new trainable bilinear factor separation module. We analyze its relation to classical factored representations [1] and concatenation-based auto-encoders [2] . We demonstrate this new module has clear advantages compared to standard concatenation when used in a bottleneck encoder-decoder convolutional neural network architecture. We also show that it can be inserted in a recent adversarial image translation architecture [3] , enabling the image transformation to multiple different target time periods using a single network. We apply our model to a challenging collection of more than 13,000 cars manufactured between 1920 and 2000 [4] and a dataset of high school yearbook portraits from 1930 to 2009 [5] . This allows us, for a given new input image, to generate a "history-lapse video" revealing changes over time by simply varying the target year. We show that by analyzing the generated history-lapse videos we can identify object deformations across time, extracting interesting changes in visual style over decades.

InLoc: Indoor Visual Localization with Dense Matching and View Synthesis.

We seek to predict the 6 degree-of-freedom (6DoF) pose of a query photograph with respect to a large indoor 3D map. The contributions of this work are three-fold. First, we develop a new large-scale visual localization method targeted for indoor spaces. The method proceeds along three steps: (i) efficient retrieval of candidate poses that scales to large-scale environments, (ii) pose estimation using dense matching rather than sparse local features to deal with weakly textured indoor scenes, and (iii) pose verification by virtual view synthesis that is robust to significant changes in viewpoint, scene layout, and occlusion. Second, we release a new dataset with reference 6DoF poses for large-scale indoor localization. Query photographs are captured by mobile phones at a different time than the reference 3D map, thus presenting a realistic indoor localization scenario. Third, we demonstrate that our method significantly outperforms current state-of-the-art indoor localization approaches on this new challenging data. Code and data are publicly available.

Are Large-Scale 3D Models Really Necessary for Accurate Visual Localization?

Accurate visual localization is a key technology for autonomous navigation. 3D structure-based methods employ 3D models of the scene to estimate the full 6 degree-of-freedom (DOF) pose of a camera very accurately. However, constructing (and extending) large-scale 3D models is still a significant challenge. In contrast, 2D image retrieval-based methods only require a database of geo-tagged images, which is trivial to construct and to maintain. They are often considered inaccurate since they only approximate the positions of the cameras. Yet, the exact camera pose can theoretically be recovered when enough relevant database images are retrieved. In this paper, we demonstrate experimentally that large-scale 3D models are not strictly necessary for accurate visual localization. We create reference poses for a large and challenging urban dataset. Using these poses, we show that combining image-based methods with local reconstructions results in a higher pose accuracy compared to state-of-the-art structure-based methods, albeight at higher run-time costs. We show that some of these run-time costs can be alleviated by exploiting known database image poses. Our results suggest that we might want to reconsider the need for large-scale 3D models in favor of more local models, but also that further research is necessary to accelerate the local reconstruction process.

Convolutional Neural Network Architecture for Geometric Matching.

We address the problem of determining correspondences between two images in agreement with a geometric model such as an affine, homography or thin-plate spline transformation, and estimating its parameters. The contributions of this work are three-fold. First, we propose a convolutional neural network architecture for geometric matching. The architecture is based on three main components that mimic the standard steps of feature extraction, matching and simultaneous inlier detection and model parameter estimation, while being trainable end-to-end. Second, we demonstrate that the network parameters can be trained from synthetically generated imagery without the need for manual annotation and that our matching layer significantly increases generalization capabilities to never seen before images. Finally, we show that the same model can perform both instance-level and category-level matching giving state-of-the-art results on the challenging PF, TSS and Caltech-101 datasets.

24/7 Place Recognition by View Synthesis.

We address the problem of large-scale visual place recognition for situations where the scene undergoes a major change in appearance, for example, due to illumination (day/night), change of seasons, aging, or structural modifications over time such as buildings being built or destroyed. Such situations represent a major challenge for current large-scale place recognition methods. This work has the following three principal contributions. First, we demonstrate that matching across large changes in the scene appearance becomes much easier when both the query image and the database image depict the scene from approximately the same viewpoint. Second, based on this observation, we develop a new place recognition approach that combines (i) an efficient synthesis of novel views with (ii) a compact indexable image representation. Third, we introduce a new challenging dataset of 1,125 camera-phone query images of Tokyo that contain major changes in illumination (day, sunset, night) as well as structural changes in the scene. We demonstrate that the proposed approach significantly outperforms other large-scale place recognition techniques on this challenging data.

Learning from Narrated Instruction Videos.

Automatic assistants could guide a person or a robot in performing new tasks, such as changing a car tire or repotting a plant. Creating such assistants, however, is non-trivial and requires understanding of visual and verbal content of a video. Towards this goal, we here address the problem of automatically learning the main steps of a task from a set of narrated instruction videos. We develop a new unsupervised learning approach that takes advantage of the complementary nature of the input video and the associated narration. The method sequentially clusters textual and visual representations of a task, where the two clustering problems are linked by joint constraints to obtain a single coherent sequence of steps in both modalities. To evaluate our method, we collect and annotate a new challenging dataset of real-world instruction videos from the Internet. The dataset contains videos for five different tasks with complex interactions between people and objects, captured in a variety of indoor and outdoor settings. We experimentally demonstrate that the proposed method can automatically discover, learn and localize the main steps of a task in input videos.

NetVLAD: CNN Architecture for Weakly Supervised Place Recognition.

We tackle the problem of large scale visual place recognition, where the task is to quickly and accurately recognize the location of a given query photograph. We present the following four principal contributions. First, we develop a convolutional neural network (CNN) architecture that is trainable in an end-to-end manner directly for the place recognition task. The main component of this architecture, NetVLAD, is a new generalized VLAD layer, inspired by the "Vector of Locally Aggregated Descriptors" image representation commonly used in image retrieval. The layer is readily pluggable into any CNN architecture and amenable to training via backpropagation. Second, we create a new weakly supervised ranking loss, which enables end-to-end learning of the architecture's parameters from images depicting the same places over time downloaded from Google Street View Time Machine. Third, we develop an efficient training procedure which can be applied on very large-scale weakly labelled tasks. Finally, we show that the proposed architecture and training procedure significantly outperform non-learnt image representations and off-the-shelf CNN descriptors on challenging place recognition and image retrieval benchmarks.

Visual place recognition with repetitive structures.

Repeated structures such as building facades, fences or road markings often represent a significant challenge for place recognition. Repeated structures are notoriously hard for establishing correspondences using multi-view geometry. They violate the feature independence assumed in the bag-of-visual-words representation which often leads to over-counting evidence and significant degradation of retrieval performance. In this work we show that repeated structures are not a nuisance but, when appropriately represented, they form an important distinguishing feature for many places. We describe a representation of repeated structures suitable for scalable retrieval and geometric verification. The retrieval is based on robust detection of repeated image structures and a suitable modification of weights in the bag-of-visual-word model. We also demonstrate that the explicit detection of repeated patterns is beneficial for robust visual word matching for geometric verification. Place recognition results are shown on datasets of street-level imagery from Pittsburgh and San Francisco demonstrating significant gains in recognition performance compared to the standard bag-of-visual-words baseline as well as the more recently proposed burstiness weighting and Fisher vector encoding.

Pose Estimation and Segmentation of Multiple People in Stereoscopic Movies.

We describe a method to obtain a pixel-wise segmentation and pose estimation of multiple people in stereoscopic videos. This task involves challenges such as dealing with unconstrained stereoscopic video, non-stationary cameras, and complex indoor and outdoor dynamic scenes with multiple people. We cast the problem as a discrete labelling task involving multiple person labels, devise a suitable cost function, and optimize it efficiently. The contributions of our work are two-fold: First, we develop a segmentation model incorporating person detections and learnt articulated pose segmentation masks, as well as colour, motion, and stereo disparity cues. The model also explicitly represents depth ordering and occlusion. Second, we introduce a stereoscopic dataset with frames extracted from feature-length movies "StreetDance 3D" and "Pina". The dataset contains 587 annotated human poses, 1,158 bounding box annotations and 686 pixel-wise segmentations of people. The dataset is composed of indoor and outdoor scenes depicting multiple people with frequent occlusions. We demonstrate results on our new challenging dataset, as well as on the H2view dataset from (Sheasby et al. ACCV 2012).

Efficient visual search of videos cast as text retrieval.

We describe an approach to object retrieval which searches for and localizes all the occurrences of an object in a video, given a query image of the object. The object is represented by a set of viewpoint invariant region descriptors so that recognition can proceed successfully despite changes in viewpoint, illumination and partial occlusion. The temporal continuity of the video within a shot is used to track the regions in order to reject those that are unstable. Efficient retrieval is achieved by employing methods from statistical text retrieval, including inverted file systems, and text and document frequency weightings. This requires a visual analogy of a word which is provided here by vector quantizing the region descriptors. The final ranking also depends on the spatial layout of the regions. The result is that retrieval is immediate, returning a ranked list of shots in the manner of Google. We report results for object retrieval on the full length feature films 'Groundhog Day', 'Casablanca' and 'Run Lola Run', including searches from within the movie and specified by external images downloaded from the Internet. We investigate retrieval performance with respect to different quantizations of region descriptors and compare the performance of several ranking measures. Performance is also compared to a baseline method implementing standard frame to frame matching.