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Home / Proceedings / Proceedings of the AAAI Conference on Artificial Intelligence, 36 / No. 5: AAAI-22 Technical Tracks 5

Sim2Real Object-Centric Keypoint Detection and Description

February 1, 2023

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Authors

Chengliang Zhong

Xi'an High-Tech Research Institution Tsinghua University


Chao Yang

Tsinghua University


Fuchun Sun

Tsinghua University


Jinshan Qi

Shandong University of Science and Technology


Xiaodong Mu

Xi'an High-Tech Research Institution


Huaping Liu

Tsinghua University


Wenbing Huang

Tsinghua University


DOI:

10.1609/aaai.v36i5.20482


Abstract:

Keypoint detection and description play a central role in computer vision. Most existing methods are in the form of scene-level prediction, without returning the object classes of different keypoints. In this paper, we propose the object-centric formulation, which, beyond the conventional setting, requires further identifying which object each interest point belongs to. With such fine-grained information, our framework enables more downstream potentials, such as object-level matching and pose estimation in a clustered environment. To get around the difficulty of label collection in the real world, we develop a sim2real contrastive learning mechanism that can generalize the model trained in simulation to real-world applications. The novelties of our training method are three-fold: (i) we integrate the uncertainty into the learning framework to improve feature description of hard cases, e.g., less-textured or symmetric patches; (ii) we decouple the object descriptor into two independent branches, intra-object salience and inter-object distinctness, resulting in a better pixel-wise description; (iii) we enforce cross-view semantic consistency for enhanced robustness in representation learning. Comprehensive experiments on image matching and 6D pose estimation verify the encouraging generalization ability of our method. Particularly for 6D pose estimation, our method significantly outperforms typical unsupervised/sim2real methods, achieving a closer gap with the fully supervised counterpart.

Topics: AAAI

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HOW TO CITE:

Chengliang Zhong||Chao Yang||Fuchun Sun||Jinshan Qi||Xiaodong Mu||Huaping Liu||Wenbing Huang Sim2Real Object-Centric Keypoint Detection and Description Proceedings of the AAAI Conference on Artificial Intelligence (2022) 5440-5449.

Chengliang Zhong||Chao Yang||Fuchun Sun||Jinshan Qi||Xiaodong Mu||Huaping Liu||Wenbing Huang Sim2Real Object-Centric Keypoint Detection and Description AAAI 2022, 5440-5449.

Chengliang Zhong||Chao Yang||Fuchun Sun||Jinshan Qi||Xiaodong Mu||Huaping Liu||Wenbing Huang (2022). Sim2Real Object-Centric Keypoint Detection and Description. Proceedings of the AAAI Conference on Artificial Intelligence, 5440-5449.

Chengliang Zhong||Chao Yang||Fuchun Sun||Jinshan Qi||Xiaodong Mu||Huaping Liu||Wenbing Huang. Sim2Real Object-Centric Keypoint Detection and Description. Proceedings of the AAAI Conference on Artificial Intelligence 2022 p.5440-5449.

Chengliang Zhong||Chao Yang||Fuchun Sun||Jinshan Qi||Xiaodong Mu||Huaping Liu||Wenbing Huang. 2022. Sim2Real Object-Centric Keypoint Detection and Description. "Proceedings of the AAAI Conference on Artificial Intelligence". 5440-5449.

Chengliang Zhong||Chao Yang||Fuchun Sun||Jinshan Qi||Xiaodong Mu||Huaping Liu||Wenbing Huang. (2022) "Sim2Real Object-Centric Keypoint Detection and Description", Proceedings of the AAAI Conference on Artificial Intelligence, p.5440-5449

Chengliang Zhong||Chao Yang||Fuchun Sun||Jinshan Qi||Xiaodong Mu||Huaping Liu||Wenbing Huang, "Sim2Real Object-Centric Keypoint Detection and Description", AAAI, p.5440-5449, 2022.

Chengliang Zhong||Chao Yang||Fuchun Sun||Jinshan Qi||Xiaodong Mu||Huaping Liu||Wenbing Huang. "Sim2Real Object-Centric Keypoint Detection and Description". Proceedings of the AAAI Conference on Artificial Intelligence, 2022, p.5440-5449.

Chengliang Zhong||Chao Yang||Fuchun Sun||Jinshan Qi||Xiaodong Mu||Huaping Liu||Wenbing Huang. "Sim2Real Object-Centric Keypoint Detection and Description". Proceedings of the AAAI Conference on Artificial Intelligence, (2022): 5440-5449.

Chengliang Zhong||Chao Yang||Fuchun Sun||Jinshan Qi||Xiaodong Mu||Huaping Liu||Wenbing Huang. Sim2Real Object-Centric Keypoint Detection and Description. AAAI[Internet]. 2022[cited 2023]; 5440-5449.


ISSN: 2374-3468


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