Parameterizing Object Detectors in the Continuous Pose Space

Kun He¹, Leonid Sigal², and Stan Sclaroff¹

¹Computer Science Department, Boston University, USA
hekun@cs.bu.edu
sclaroff@cs.bu.edu

²Disney Research, Pittsburgh, USA
lsigal@disneyresearch.com

Abstract. Object detection and pose estimation are interdependent problems in computer vision. Many past works decouple these problems, either by discretizing the continuous pose and training pose-specific object detectors, or by building pose estimators on top of detector outputs. In this paper, we propose a structured kernel machine approach to treat object detection and pose estimation jointly in a mutually benificial way. In our formulation, a unified, continuously parameterized, discriminative appearance model is learned over the entire pose space. We propose a cascaded discrete-continuous algorithm for efficient inference, and give effective online constraint generation strategies for learning our model using structural SVMs. On three standard benchmarks, our method performs better than, or on par with, state-of-the-art methods in the combined task of object detection and pose estimation.

Keywords: object detection, continuous pose estimation

LNCS 8692, p. 450 ff.

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