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Ge Gao

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22 papers

2 author rows

JBHI Journal 2026 Journal Article

GPFD-Net: A Geometry-Pose Frequency Decoupling Network for Privacy-Preserving Human Action Recognition in Healthcare

Xing Li
Jingfan Liang
Ge Gao
Li Wang
Haifeng Wang
Shihao Han

Human Action Recognition (HAR) holds significant application value in healthcare informatics, facilitating tasks such as clinical diagnosis and rehabilitation monitoring. Point cloud sequences have emerged as a pivotal modality for balancing privacy preservation with high-fidelity geometric structural representation, ensuring anonymity while retaining critical 3D behavioral information. However, existing point cloud sequence encoding methods struggle to precisely encode micro-geometric details and macro-pose contours within the spatial dimension, as well as the dynamic heterogeneity of actions within the temporal dimension. These limitations impede the realization of high-precision clinical motion analysis. To address these challenges, we propose a Geometry-Pose Frequency Decoupling Network (GPFD-Net) for human action recognition. First, we design a Geometry-Pose Parallel-Collaborative Spatial Encoder (GPCSE). This module designs a parallel dual-stream architecture to explicitly capture and fuse complementary micro-geometric details and macro-pose contours, generating an informative geometry-enhanced pose feature sequence. Second, we introduce a Frequency-Decoupled Temporal Capturer (FDTC). This module adaptively decomposes the geometry-enhanced pose feature sequence into a smooth trend sequence and a transient detail sequence, which are subsequently processed by two parallel expert encoders via differentiated encoding to achieve robust human action recognition. Extensive experiments on four public benchmark datasets demonstrate that GPFD-Net achieves superior performance. The proposed method provides a novel paradigm for high-precision and privacy-preserving motion analysis in healthcare applications.

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AAAI Conference 2025 Conference Paper

FatesGS: Fast and Accurate Sparse-View Surface Reconstruction Using Gaussian Splatting with Depth-Feature Consistency

Han Huang
Yulun Wu
Chao Deng
Ge Gao
Ming Gu
Yu-Shen Liu

Recently, Gaussian Splatting has sparked a new trend in the field of computer vision. Apart from novel view synthesis, it has also been extended to the area of multi-view reconstruction. The latest methods facilitate complete, detailed surface reconstruction while ensuring fast training speed. However, these methods still require dense input views, and their output quality significantly degrades with sparse views. We observed that the Gaussian primitives tend to overfit the few training views, leading to noisy floaters and incomplete reconstruction surfaces. In this paper, we present an innovative sparse-view reconstruction framework that leverages intra-view depth and multi-view feature consistency to achieve remarkably accurate surface reconstruction. Specifically, we utilize monocular depth ranking information to supervise the consistency of depth distribution within patches and employ a smoothness loss to enhance the continuity of the distribution. To achieve finer surface reconstruction, we optimize the absolute position of depth through multi-view projection features. Extensive experiments on DTU and BlendedMVS demonstrate that our method outperforms state-of-the-art methods with a speedup of 60x to 200x, achieving swift and fine-grained mesh reconstruction without the need for costly pre-training.

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AAAI Conference 2025 Conference Paper

PNVC: Towards Practical INR-based Video Compression

Ge Gao
Ho Man Kwan
Fan Zhang
David Bull

Neural video compression has recently demonstrated significant potential to compete with conventional video codecs in terms of rate-quality performance. These learned video codecs are however associated with various issues related to decoding complexity (for autoencoder-based methods) and/or system delays (for implicit neural representation (INR) based models), which currently prevent them from being deployed in practical applications. In this paper, targeting a practical neural video codec, we propose a novel INR-based coding framework, PNVC, which innovatively combines autoencoder-based and overfitted solutions. Our approach benefits from several design innovations, including a new structural reparameterization-based architecture, hierarchical quality control, modulation-based entropy modeling, and scale-aware positional embedding. Supporting both low delay (LD) and random access (RA) configurations, PNVC outperforms existing INR-based codecs, achieving nearly 35%+ BD-rate savings against HEVC HM 18.0 (LD) - almost 10% more compared to one of the state-of-the-art INR-based codecs, HiNeRV and 5% more over VTM 20.0 (LD), while maintaining 20+ FPS decoding speeds for 1080p content. This represents an important step forward for INR-based video coding, moving it towards practical deployment.

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NeurIPS Conference 2025 Conference Paper

Principled Fine-tuning of LLMs from User-Edits: A Medley of Preference, Supervision, and Reward

Dipendra Misra
Aldo Pacchiano
Ta-Chung Chi
Ge Gao

We study how to fine-tune LLMs using user-edit deployment data consisting of a set of context, an agent's response, and user edits. This deployment data is naturally generated by users in applications such as LLMs-based writing assistants and coding agents. The natural origin of user edits makes it a desired source for adapting and personalizing of LLMs. In this setup, there emerges a unification of various feedback types namely preferences, supervised labels, and cost that are typically studied separately in the literature. In this paper, we initiate the theoretical investigation of learning from user edits. We first derive bounds for learning algorithms that learn from each of these feedback types. We prove that these algorithms have different trade-offs depending upon the user, data distribution, and model class. We then propose a simple ensembling procedure to jointly learn from these feedback types. On two domains from Gao et al. 2024, we show our ensembling procedure outperforms these methods that learn from individual feedback. Further, we show that our proposed procedure can robustly adapt to different user-edit distributions at test time.

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AAAI Conference 2025 Conference Paper

Sparis: Neural Implicit Surface Reconstruction of Indoor Scenes from Sparse Views

Yulun Wu
Han Huang
Wenyuan Zhang
Chao Deng
Ge Gao
Ming Gu
Yu-Shen Liu

In recent years, reconstructing indoor scene geometry from multi-view images has achieved encouraging accomplishments. Current methods incorporate monocular priors into neural implicit surface models to achieve high-quality reconstructions. However, these methods require hundreds of images for scene reconstruction. When only a limited number of views are available as input, the performance of monocular priors deteriorates due to scale ambiguity, leading to the collapse of the reconstructed scene geometry. In this paper, we propose a new method, named Sparis, for indoor surface reconstruction from sparse views. Specifically, we investigate the impact of monocular priors on sparse scene reconstruction, introducing a novel prior based on inter-image matching information. Our prior offers more accurate depth information while ensuring cross-view matching consistency. Additionally, we employ an angular filter strategy and an epipolar matching weight function, aiming to reduce errors due to view matching inaccuracies, thereby refining the inter-image prior for improved reconstruction accuracy. The experiments conducted on widely used benchmarks demonstrate superior performance in sparse-view scene reconstruction.

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NeurIPS Conference 2024 Conference Paper

Aligning LLM Agents by Learning Latent Preference from User Edits

Ge Gao
Alexey Taymanov
Eduardo Salinas
Paul Mineiro
Dipendra Misra

We study interactive learning of language agents based on user edits made to the agent's output. In a typical setting such as writing assistants, the user interacts with a language agent to generate a response given a context, and may optionally edit the agent response to personalize it based on their latent preference, in addition to improving the correctness. The edit feedback is naturally generated, making it a suitable candidate for improving the agent's alignment with the user's preference, and for reducing the cost of user edits over time. We propose a learning framework, PRELUDE that infers a description of the user's latent preference based on historic edit data and using it to define a prompt policy that drives future response generation. This avoids fine-tuning the agent, which is costly, challenging to scale with the number of users, and may even degrade its performance on other tasks. Furthermore, learning descriptive preference improves interpretability, allowing the user to view and modify the learned preference. However, user preference can be complex and vary based on context, making it challenging to learn. To address this, we propose a simple yet effective algorithm named CIPHER that leverages a large language model (LLM) to infer the user preference for a given context based on user edits. In the future, CIPHER retrieves inferred preferences from the k-closest contexts in the history, and forms an aggregate preference for response generation. We introduce two interactive environments -- summarization and email writing, for evaluation using a GPT-4 simulated user. We compare with algorithms that directly retrieve user edits but do not learn descriptive preference, and algorithms that learn context-agnostic preference. On both tasks, CIPHER outperforms baselines by achieving the lowest edit distance cost. Meanwhile, CIPHER has a lower computational expense, as using learned preference results in a shorter prompt than directly using user edits. Our further analysis reports that the user preference learned by CIPHER shows significant similarity to the ground truth latent preference.

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AAAI Conference 2024 Conference Paper

Get a Head Start: On-Demand Pedagogical Policy Selection in Intelligent Tutoring

Ge Gao
Xi Yang
Min Chi

Reinforcement learning (RL) is broadly employed in human-involved systems to enhance human outcomes. Off-policy evaluation (OPE) has been pivotal for RL in those realms since online policy learning and evaluation can be high-stake. Intelligent tutoring has raised tremendous attentions as highly challenging when applying OPE to human-involved systems, due to that students' subgroups can favor different pedagogical policies and the costly procedure that policies have to be induced fully offline and then directly deployed to the upcoming semester. In this work, we formulate on-demand pedagogical policy selection (ODPS) to tackle the challenges for OPE in intelligent tutoring. We propose a pipeline, EduPlanner, as a concrete solution for ODPS. Our pipeline results in an theoretically unbiased estimator, and enables efficient and customized policy selection by identifying subgroups over both historical data and on-arrival initial logs. We evaluate our approach on the Probability ITS that has been used in real classrooms for over eight years. Our study shows significant improvement on learning outcomes of students with EduPlanner, especially for the ones associated with low-performing subgroups.

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AAAI Conference 2024 Conference Paper

GridFormer: Point-Grid Transformer for Surface Reconstruction

Shengtao Li
Ge Gao
Yudong Liu
Yu-Shen Liu
Ming Gu

Implicit neural networks have emerged as a crucial technology in 3D surface reconstruction. To reconstruct continuous surfaces from discrete point clouds, encoding the input points into regular grid features (plane or volume) has been commonly employed in existing approaches. However, these methods typically use the grid as an index for uniformly scattering point features. Compared with the irregular point features, the regular grid features may sacrifice some reconstruction details but improve efficiency. To take full advantage of these two types of features, we introduce a novel and high-efficiency attention mechanism between the grid and point features named Point-Grid Transformer (GridFormer). This mechanism treats the grid as a transfer point connecting the space and point cloud. Our method maximizes the spatial expressiveness of grid features and maintains computational efficiency. Furthermore, optimizing predictions over the entire space could potentially result in blurred boundaries. To address this issue, we further propose a boundary optimization strategy incorporating margin binary cross-entropy loss and boundary sampling. This approach enables us to achieve a more precise representation of the object structure. Our experiments validate that our method is effective and outperforms the state-of-the-art approaches under widely used benchmarks by producing more precise geometry reconstructions. The code is available at https://github.com/list17/GridFormer.

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AAAI Conference 2024 Conference Paper

NeuSurf: On-Surface Priors for Neural Surface Reconstruction from Sparse Input Views

Han Huang
Yulun Wu
Junsheng Zhou
Ge Gao
Ming Gu
Yu-Shen Liu

Recently, neural implicit functions have demonstrated remarkable results in the field of multi-view reconstruction. However, most existing methods are tailored for dense views and exhibit unsatisfactory performance when dealing with sparse views. Several latest methods have been proposed for generalizing implicit reconstruction to address the sparse view reconstruction task, but they still suffer from high training costs and are merely valid under carefully selected perspectives. In this paper, we propose a novel sparse view reconstruction framework that leverages on-surface priors to achieve highly faithful surface reconstruction. Specifically, we design several constraints on global geometry alignment and local geometry refinement for jointly optimizing coarse shapes and fine details. To achieve this, we train a neural network to learn a global implicit field from the on-surface points obtained from SfM and then leverage it as a coarse geometric constraint. To exploit local geometric consistency, we project on-surface points onto seen and unseen views, treating the consistent loss of projected features as a fine geometric constraint. The experimental results with DTU and BlendedMVS datasets in two prevalent sparse settings demonstrate significant improvements over the state-of-the-art methods.

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NeurIPS Conference 2024 Conference Paper

NVRC: Neural Video Representation Compression

Ho Man Kwan
Ge Gao
Fan Zhang
Andrew Gower
David Bull

Recent advances in implicit neural representation (INR)-based video coding havedemonstrated its potential to compete with both conventional and other learning-based approaches. With INR methods, a neural network is trained to overfit avideo sequence, with its parameters compressed to obtain a compact representationof the video content. However, although promising results have been achieved, the best INR-based methods are still out-performed by the latest standard codecs, such as VVC VTM, partially due to the simple model compression techniquesemployed. In this paper, rather than focusing on representation architectures, whichis a common focus in many existing works, we propose a novel INR-based videocompression framework, Neural Video Representation Compression (NVRC), targeting compression of the representation. Based on its novel quantization andentropy coding approaches, NVRC is the first framework capable of optimizing anINR-based video representation in a fully end-to-end manner for the rate-distortiontrade-off. To further minimize the additional bitrate overhead introduced by theentropy models, NVRC also compresses all the network, quantization and entropymodel parameters hierarchically. Our experiments show that NVRC outperformsmany conventional and learning-based benchmark codecs, with a 23% averagecoding gain over VVC VTM (Random Access) on the UVG dataset, measuredin PSNR. As far as we are aware, this is the first time an INR-based video codecachieving such performance.

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NeurIPS Conference 2024 Conference Paper

Off-Policy Selection for Initiating Human-Centric Experimental Design

Ge Gao
Xi Yang
Qitong Gao
Song Ju
Miroslav Pajic
Min Chi

In human-centric applications like healthcare and education, the \textit{heterogeneity} among patients and students necessitates personalized treatments and instructional interventions. While reinforcement learning (RL) has been utilized in those tasks, off-policy selection (OPS) is pivotal to close the loop by offline evaluating and selecting policies without online interactions, yet current OPS methods often overlook the heterogeneity among participants. Our work is centered on resolving a \textit{pivotal challenge} in human-centric systems (HCSs): \textbf{\textit{how to select a policy to deploy when a new participant joining the cohort, without having access to any prior offline data collected over the participant? }} We introduce First-Glance Off-Policy Selection (FPS), a novel approach that systematically addresses participant heterogeneity through sub-group segmentation and tailored OPS criteria to each sub-group. By grouping individuals with similar traits, FPS facilitates personalized policy selection aligned with unique characteristics of each participant or group of participants. FPS is evaluated via two important but challenging applications, intelligent tutoring systems and a healthcare application for sepsis treatment and intervention. FPS presents significant advancement in enhancing learning outcomes of students and in-hospital care outcomes.

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ICLR Conference 2024 Conference Paper

On Trajectory Augmentations for Off-Policy Evaluation

Ge Gao
Qitong Gao
Xi Yang 0019
Song Ju
Miroslav Pajic
Min Chi

In the realm of reinforcement learning (RL), off-policy evaluation (OPE) holds a pivotal position, especially in high-stake human-involved scenarios such as e-learning and healthcare. Applying OPE to these domains is often challenging with scarce and underrepresentative offline training trajectories. Data augmentation has been a successful technique to enrich training data. However, directly employing existing data augmentation methods to OPE may not be feasible, due to the Markovian nature within the offline trajectories and the desire for generalizability across diverse target policies. In this work, we propose an offline trajectory augmentation approach to specifically facilitate OPE in human-involved scenarios. We propose sub-trajectory mining to extract potentially valuable sub-trajectories from offline data, and diversify the behaviors within those sub-trajectories by varying coverage of the state-action space. Our work was empirically evaluated in a wide array of environments, encompassing both simulated scenarios and real-world domains like robotic control, healthcare, and e-learning, where the training trajectories include varying levels of coverage of the state-action space. By enhancing the performance of a variety of OPE methods, our work offers a promising path forward for tackling OPE challenges in situations where data may be limited or underrepresentative.

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IJCAI Conference 2023 Conference Paper

Hierarchical Apprenticeship Learning for Disease Progression Modeling

Xi Yang
Ge Gao
Min Chi

Disease progression modeling (DPM) plays an essential role in characterizing patients' historical pathways and predicting their future risks. Apprenticeship learning (AL) aims to induce decision-making policies by observing and imitating expert behaviors. In this paper, we investigate the incorporation of AL-derived patterns into DPM, utilizing a Time-aware Hierarchical EM Energy-based Subsequence (THEMES) AL approach. To the best of our knowledge, this is the first study incorporating AL-derived progressive and interventional patterns for DPM. We evaluate the efficacy of this approach in a challenging task of septic shock early prediction, and our results demonstrate that integrating the AL-derived patterns significantly enhances the performance of DPM.

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NeurIPS Conference 2023 Conference Paper

HiNeRV: Video Compression with Hierarchical Encoding-based Neural Representation

Ho Man Kwan
Ge Gao
Fan Zhang
Andrew Gower
David Bull

Learning-based video compression is currently a popular research topic, offering the potential to compete with conventional standard video codecs. In this context, Implicit Neural Representations (INRs) have previously been used to represent and compress image and video content, demonstrating relatively high decoding speed compared to other methods. However, existing INR-based methods have failed to deliver rate quality performance comparable with the state of the art in video compression. This is mainly due to the simplicity of the employed network architectures, which limit their representation capability. In this paper, we propose HiNeRV, an INR that combines light weight layers with novel hierarchical positional encodings. We employs depth-wise convolutional, MLP and interpolation layers to build the deep and wide network architecture with high capacity. HiNeRV is also a unified representation encoding videos in both frames and patches at the same time, which offers higher performance and flexibility than existing methods. We further build a video codec based on HiNeRV and a refined pipeline for training, pruning and quantization that can better preserve HiNeRV's performance during lossy model compression. The proposed method has been evaluated on both UVG and MCL-JCV datasets for video compression, demonstrating significant improvement over all existing INRs baselines and competitive performance when compared to learning-based codecs (72. 3\% overall bit rate saving over HNeRV and 43. 4\% over DCVC on the UVG dataset, measured in PSNR).

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AAMAS Conference 2023 Conference Paper

HOPE: Human-Centric Off-Policy Evaluation for E-Learning and Healthcare

Ge Gao
Song Ju
Markel Sanz Ausin
Min Chi

Reinforcement learning (RL) has been extensively researched for enhancing human-environment interactions in various humancentric tasks, including e-learning and healthcare. Since deploying and evaluating policies online are high-stakes in such tasks, offpolicy evaluation (OPE) is crucial for inducing effective policies. In human-centric environments, however, OPE is challenging because the underlying state is often unobservable, while only aggregate rewards can be observed (students’ test scores or whether a patient is released from the hospital eventually). In this work, we propose a human-centric OPE (HOPE) to handle partial observability and aggregated rewards in such environments. Specifically, we reconstruct immediate rewards from the aggregated rewards considering partial observability to estimate expected total returns. We provide a theoretical bound for the proposed method, and we have conducted extensive experiments in real-world human-centric tasks, including sepsis treatments and an intelligent tutoring system. Our approach reliably predicts the returns of different policies and outperforms state-of-the-art benchmarks using both standard validation methods and human-centric significance tests.

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NeurIPS Conference 2023 Conference Paper

Off-Policy Evaluation for Human Feedback

Qitong Gao
Ge Gao
Juncheng Dong
Vahid Tarokh
Min Chi
Miroslav Pajic

Off-policy evaluation (OPE) is important for closing the gap between offline training and evaluation of reinforcement learning (RL), by estimating performance and/or rank of target (evaluation) policies using offline trajectories only. It can improve the safety and efficiency of data collection and policy testing procedures in situations where online deployments are expensive, such as healthcare. However, existing OPE methods fall short in estimating human feedback (HF) signals, as HF may be conditioned over multiple underlying factors and are only sparsely available; as opposed to the agent-defined environmental rewards (used in policy optimization), which are usually determined over parametric functions or distributions. Consequently, the nature of HF signals makes extrapolating accurate OPE estimations to be challenging. To resolve this, we introduce an OPE for HF (OPEHF) framework that revives existing OPE methods in order to accurately evaluate the HF signals. Specifically, we develop an immediate human reward (IHR) reconstruction approach, regularized by environmental knowledge distilled in a latent space that captures the underlying dynamics of state transitions as well as issuing HF signals. Our approach has been tested over two real-world experiments, adaptive in-vivo neurostimulation and intelligent tutoring, and a simulation environment (visual Q&A). Results show that our approach significantly improves the performance toward estimating HF signals accurately, compared to directly applying (variants of) existing OPE methods.

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ICLR Conference 2023 Conference Paper

Variational Latent Branching Model for Off-Policy Evaluation

Qitong Gao
Ge Gao
Min Chi
Miroslav Pajic

Model-based methods have recently shown great potential for off-policy evaluation (OPE); offline trajectories induced by behavioral policies are fitted to transitions of Markov decision processes (MDPs), which are used to rollout simulated trajectories and estimate the performance of policies. Model-based OPE methods face two key challenges. First, as offline trajectories are usually fixed, they tend to cover limited state and action space. Second, the performance of model-based methods can be sensitive to the initialization of their parameters. In this work, we propose the variational latent branching model (VLBM) to learn the transition function of MDPs by formulating the environmental dynamics as a compact latent space, from which the next states and rewards are then sampled. Specifically, VLBM leverages and extends the variational inference framework with the recurrent state alignment (RSA), which is designed to capture as much information underlying the limited training data, by smoothing out the information flow between the variational (encoding) and generative (decoding) part of VLBM. Moreover, we also introduce the branching architecture to improve the model’s robustness against randomly initialized model weights. The effectiveness of the VLBM is evaluated on the deep OPE (DOPE) benchmark, from which the training trajectories are designed to result in varied coverage of the state-action space. We show that the VLBM outperforms existing state-of-the-art OPE methods in general.

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IJCAI Conference 2022 Conference Paper

A Reinforcement Learning-Informed Pattern Mining Framework for Multivariate Time Series Classification

Ge Gao
Qitong Gao
Xi Yang
Miroslav Pajic
Min Chi

Multivariate time series (MTS) classification is a challenging and important task in various domains and real-world applications. Much of prior work on MTS can be roughly divided into neural network (NN)- and pattern-based methods. The former can lead to robust classification performance, but many of the generated patterns are challenging to interpret; while the latter often produce interpretable patterns that may not be helpful for the classification task. In this work, we propose a reinforcement learning (RL) informed PAttern Mining framework (RLPAM) to identify interpretable yet important patterns for MTS classification. Our framework has been validated by 30 benchmark datasets as well as real-world large-scale electronic health records (EHRs) for an extremely challenging task: sepsis shock early prediction. We show that RLPAM outperforms the state-of-the-art NN-based methods on 14 out of 30 datasets as well as on the EHRs. Finally, we show how RL informed patterns can be interpretable and can improve our understanding of septic shock progression.

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NeurIPS Conference 2022 Conference Paper

Cross-Linked Unified Embedding for cross-modality representation learning

Xinming Tu
Zhi-Jie Cao
xia chenrui
Sara Mostafavi
Ge Gao

Multi-modal learning is essential for understanding information in the real world. Jointly learning from multi-modal data enables global integration of both shared and modality-specific information, but current strategies often fail when observa- tions from certain modalities are incomplete or missing for part of the subjects. To learn comprehensive representations based on such modality-incomplete data, we present a semi-supervised neural network model called CLUE (Cross-Linked Unified Embedding). Extending from multi-modal VAEs, CLUE introduces the use of cross-encoders to construct latent representations from modality-incomplete observations. Representation learning for modality-incomplete observations is common in genomics. For example, human cells are tightly regulated across multi- ple related but distinct modalities such as DNA, RNA, and protein, jointly defining a cell’s function. We benchmark CLUE on multi-modal data from single cell measurements, illustrating CLUE’s superior performance in all assessed categories of the NeurIPS 2021 Multimodal Single-cell Data Integration Competition. While we focus on analysis of single cell genomic datasets, we note that the proposed cross-linked embedding strategy could be readily applied to other cross-modality representation learning problems.

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ICRA Conference 2021 Conference Paper

CloudAAE: Learning 6D Object Pose Regression with On-line Data Synthesis on Point Clouds

Ge Gao
Mikko Lauri
Xiaolin Hu 0001
Jianwei Zhang 0001
Simone Frintrop

It is often desired to train 6D pose estimation systems on synthetic data because manual annotation is expensive. However, due to the large domain gap between the synthetic and real images, synthesizing color images is expensive. In contrast, this domain gap is considerably smaller and easier to fill for depth information. In this work, we present a system that regresses 6D object pose from depth information represented by point clouds, and a lightweight data synthesis pipeline that creates synthetic point cloud segments for training. We use an augmented autoencoder (AAE) for learning a latent code that encodes 6D object pose information for pose regression. The data synthesis pipeline only requires texture-less 3D object models and desired viewpoints, and it is cheap in terms of both time and hardware storage. Our data synthesis process is up to three orders of magnitude faster than commonly applied approaches that render RGB image data. We show the effectiveness of our system on the LineMOD, LineMOD Occlusion, and YCB Video datasets. The implementation of our system is available at: https://github.com/GeeeG/CloudAAE.

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ICRA Conference 2020 Conference Paper

6D Object Pose Regression via Supervised Learning on Point Clouds

Ge Gao
Mikko Lauri
Yulong Wang
Xiaolin Hu 0001
Jianwei Zhang 0001
Simone Frintrop

This paper addresses the task of estimating the 6 degrees of freedom pose of a known 3D object from depth information represented by a point cloud. Deep features learned by convolutional neural networks from color information have been the dominant features to be used for inferring object poses, while depth information receives much less attention. However, depth information contains rich geometric information of the object shape, which is important for inferring the object pose. We use depth information represented by point clouds as the input to both deep networks and geometry-based pose refinement and use separate networks for rotation and translation regression. We argue that the axis-angle representation is a suitable rotation representation for deep learning, and use a geodesic loss function for rotation regression. Ablation studies show that these design choices outperform alternatives such as the quaternion representation and L2 loss, or regressing translation and rotation with the same network. Our simple yet effective approach clearly outperforms state-of-the-art methods on the YCB-video dataset.

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IROS Conference 2017 Conference Paper

Saliency-guided adaptive seeding for supervoxel segmentation

Ge Gao
Mikko Lauri
Jianwei Zhang 0001
Simone Frintrop

We propose a new saliency-guided method for generating supervoxels in 3D space. Rather than using an evenly distributed spatial seeding procedure, our method uses visual saliency to guide the process of supervoxel generation. This results in densely distributed, small, and precise supervoxels in salient regions which often contain objects, and larger supervoxels in less salient regions that often correspond to background. Our approach largely improves the quality of the resulting supervoxel segmentation in terms of boundary recall and under-segmentation error on publicly available benchmarks.

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