Estimation of 3D motion in a dynamic scene from a temporal pair of images is a core task in many scene understanding problems. In real world applications, a dynamic scene is commonly captured by a moving camera (i.e., panning, tilting or hand-held), increasing the task complexity because the scene is observed from different view points. The main challenge is the disambiguation of the camera motion from scene motion, which becomes more difficult as the amount of rigidity observed decreases, even with successful estimation of 2D image correspondences.

Recurrent neural networks (RNNs) have emerged as a powerful model for a broad range of machine learning problems that involve sequential data. While an abundance of work exists to understand and improve RNNs in the con- text of language and audio signals such as language modeling and speech recognition, relatively little attention has been paid to analyze or modify RNNs for visual sequences, which by nature have distinct properties. In this paper, we aim to bridge this gap and present the first large-scale exploration of RNNs for visual sequence learning.

We introduce a pragmatic algorithm for real-time adaptive supersampling in games. It extends temporal antialiasing of rasterized images with adaptive ray tracing, and conforms to the constraints of a commercial game engine and today's GPU ray tracing APIs. The algorithm removes blurring and ghosting artifacts associated with standard temporal antialiasing and achieves quality approaching 8X supersampling of geometry, shading, and materials while staying within the 33ms frame budget required of most games.

Estimating the 6D pose of known objects is important for robots to interact with the real world. The problem is challenging due to the variety of objects as well as the complexity of a scene caused by clutter and occlusions between objects. In this work, we introduce PoseCNN, a new Convolutional Neural Network for 6D object pose estimation. PoseCNN estimates the 3D translation of an object by localizing its center in the image and predicting its distance from the camera. The 3D rotation of the object is estimated by regressing to a quaternion representation.

Redirected walking techniques can enhance the immersion and visual-vestibular comfort of virtual reality (VR) navigation, but are often limited by the size, shape, and content of the physical environments. We propose a redirected walking technique that can apply to small physical environments with static or dynamic obstacles. Via a head- and eye-tracking VR headset, our method detects saccadic suppression and redirects the users during the resulting temporary blindness.

We present a system to infer and execute a human-readable program from a real-world demonstration. The system consists of a series of neural networks to perform perception, program generation, and program execution. Leveraging convolutional pose machines, the perception network reliably detects the bounding cuboids of objects in real images even when severely occluded, after training only on synthetic images using domain randomization. To increase the applicability of the perception network to new scenarios, the network is formulated to predict in image space rather than in world space.

We address the unsupervised learning of several interconnected problems in low-level vision: single view depth prediction, camera motion estimation, optical flow, and segmentation of a video into the static scene and moving regions. Our key insight is that these four fundamental vision problems are coupled through geometric constraints. Consequently, learning to solve them together simplifies the problem because the solutions can reinforce each other. We go beyond previous work by exploiting geometry more explicitly and segmenting the scene into static and moving regions. To that end, we introduce Competitive Collaboration, a framework that facilitates the coordinated training of multiple specialized neural networks to solve complex problems. Competitive Collaboration works much like expectation-maximization, but with neural networks that act as both competitors to explain pixels that correspond to static or moving regions, and as collaborators through a moderator that assigns pixels to be either static or independently moving. Our novel method integrates all these problems in a common framework and simultaneously reasons about the segmentation of the scene into moving objects and the static background, the camera motion, depth of the static scene structure, and the optical flow of moving objects. Our model is trained without any supervision and achieves state-of-the-art performance among joint unsupervised methods on all sub-problems.