Bo Wang

Xin Liu, Xiaofei Shao, Bo Wang et al.

Image guided depth completion aims to recover per-pixel dense depth maps from sparse depth measurements with the help of aligned color images, which has a wide range of applications from robotics to autonomous driving. However, the 3D nature of sparse-to-dense depth completion has not been fully explored by previous methods. In this work, we propose a Graph Convolution based Spatial Propagation Network (GraphCSPN) as a general approach for depth completion. First, unlike previous methods, we leverage convolution neural networks as well as graph neural networks in a complementary way for geometric representation learning. In addition, the proposed networks explicitly incorporate learnable geometric constraints to regularize the propagation process performed in three-dimensional space rather than in two-dimensional plane. Furthermore, we construct the graph utilizing sequences of feature patches, and update it dynamically with an edge attention module during propagation, so as to better capture both the local neighboring features and global relationships over long distance. Extensive experiments on both indoor NYU-Depth-v2 and outdoor KITTI datasets demonstrate that our method achieves the state-of-the-art performance, especially when compared in the case of using only a few propagation steps. Code and models are available at the project page.

Hengyue Pan, Bo Wang, Hui Jiang

In this paper, we propose several novel deep learning methods for object saliency detection based on the powerful convolutional neural networks. In our approach, we use a gradient descent method to iteratively modify an input image based on the pixel-wise gradients to reduce a cost function measuring the class-specific objectness of the image. The pixel-wise gradients can be efficiently computed using the back-propagation algorithm. The discrepancy between the modified image and the original one may be used as a saliency map for the image. Moreover, we have further proposed several new training methods to learn saliency-specific convolutional nets for object saliency detection, in order to leverage the available pixel-wise segmentation information. Our methods are extremely computationally efficient (processing 20-40 images per second in one GPU). In this work, we use the computed saliency maps for image segmentation. Experimental results on two benchmark tasks, namely Microsoft COCO and Pascal VOC 2012, have shown that our proposed methods can generate high-quality salience maps, clearly outperforming many existing methods. In particular, our approaches excel in handling many difficult images, which contain complex background, highly-variable salient objects, multiple objects, and/or very small salient objects.