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Yasutaka Furukawa

Yasutaka Furukawa appears in the imported research catalog. Authorship, coauthor and topic links are available while profile ownership is still unclaimed.

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Computer VisionMachine LearningRobotics

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Published work

11 published item(s)

preprint2026arXiv

LA-Pose: Latent Action Pretraining Meets Pose Estimation

This paper revisits camera pose estimation through the lens of self-supervised pretraining, focusing on inverse-dynamics pretraining as a scalable alternative to the current trend of fully supervised training with 3D annotations. Concretely, we employ inverse- and forward-dynamics models to learn latent action representations, similar to Genie from large-scale driving videos. Our idea is simple yet effective. Existing methods use latent actions in their original capacity, that is, as action conditioning of world-models or as proxies of robot action parameters in policy networks. Our method, dubbed LA-Pose, repurposes the latent action features as inputs to a camera pose estimator, finetuned on a limited set of high-quality 3D annotations. This formulation enables accurate and generalizable pose prediction while maintaining feed-forward efficiency. Extensive experiments on driving benchmarks show that LA-Pose achieves competitive and even superior performance to state-of-the-art methods while using orders of magnitude less labeled data. Concretely, on the Waymo and PandaSet benchmarks, LA-Pose achieves over 10% higher pose accuracy than recent feed-forward methods. To our knowledge, this work is the first to demonstrate the power of inverse-dynamics self-supervised learning for pose estimation.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

HEAT: Holistic Edge Attention Transformer for Structured Reconstruction

This paper presents a novel attention-based neural network for structured reconstruction, which takes a 2D raster image as an input and reconstructs a planar graph depicting an underlying geometric structure. The approach detects corners and classifies edge candidates between corners in an end-to-end manner. Our contribution is a holistic edge classification architecture, which 1) initializes the feature of an edge candidate by a trigonometric positional encoding of its end-points; 2) fuses image feature to each edge candidate by deformable attention; 3) employs two weight-sharing Transformer decoders to learn holistic structural patterns over the graph edge candidates; and 4) is trained with a masked learning strategy. The corner detector is a variant of the edge classification architecture, adapted to operate on pixels as corner candidates. We conduct experiments on two structured reconstruction tasks: outdoor building architecture and indoor floorplan planar graph reconstruction. Extensive qualitative and quantitative evaluations demonstrate the superiority of our approach over the state of the art. Code and pre-trained models are available at https://heat-structured-reconstruction.github.io.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

Neural Inertial Localization

This paper proposes the inertial localization problem, the task of estimating the absolute location from a sequence of inertial sensor measurements. This is an exciting and unexplored area of indoor localization research, where we present a rich dataset with 53 hours of inertial sensor data and the associated ground truth locations. We developed a solution, dubbed neural inertial localization (NILoc) which 1) uses a neural inertial navigation technique to turn inertial sensor history to a sequence of velocity vectors; then 2) employs a transformer-based neural architecture to find the device location from the sequence of velocities. We only use an IMU sensor, which is energy efficient and privacy preserving compared to WiFi, cameras, and other data sources. Our approach is significantly faster and achieves competitive results even compared with state-of-the-art methods that require a floorplan and run 20 to 30 times slower. We share our code, model and data at https://sachini.github.io/niloc.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

SkexGen: Autoregressive Generation of CAD Construction Sequences with Disentangled Codebooks

We present SkexGen, a novel autoregressive generative model for computer-aided design (CAD) construction sequences containing sketch-and-extrude modeling operations. Our model utilizes distinct Transformer architectures to encode topological, geometric, and extrusion variations of construction sequences into disentangled codebooks. Autoregressive Transformer decoders generate CAD construction sequences sharing certain properties specified by the codebook vectors. Extensive experiments demonstrate that our disentangled codebook representation generates diverse and high-quality CAD models, enhances user control, and enables efficient exploration of the design space. The code is available at https://samxuxiang.github.io/skexgen.

0 citations0 reviewsNo code linkedOpen access
preprint2021arXiv

House-GAN++: Generative Adversarial Layout Refinement Networks

This paper proposes a novel generative adversarial layout refinement network for automated floorplan generation. Our architecture is an integration of a graph-constrained relational GAN and a conditional GAN, where a previously generated layout becomes the next input constraint, enabling iterative refinement. A surprising discovery of our research is that a simple non-iterative training process, dubbed component-wise GT-conditioning, is effective in learning such a generator. The iterative generator also creates a new opportunity in further improving a metric of choice via meta-optimization techniques by controlling when to pass which input constraints during iterative layout refinement. Our qualitative and quantitative evaluation based on the three standard metrics demonstrate that the proposed system makes significant improvements over the current state-of-the-art, even competitive against the ground-truth floorplans, designed by professional architects.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

House-GAN: Relational Generative Adversarial Networks for Graph-constrained House Layout Generation

This paper proposes a novel graph-constrained generative adversarial network, whose generator and discriminator are built upon relational architecture. The main idea is to encode the constraint into the graph structure of its relational networks. We have demonstrated the proposed architecture for a new house layout generation problem, whose task is to take an architectural constraint as a graph (i.e., the number and types of rooms with their spatial adjacency) and produce a set of axis-aligned bounding boxes of rooms. We measure the quality of generated house layouts with the three metrics: the realism, the diversity, and the compatibility with the input graph constraint. Our qualitative and quantitative evaluations over 117,000 real floorplan images demonstrate that the proposed approach outperforms existing methods and baselines. We will publicly share all our code and data.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Vectorizing World Buildings: Planar Graph Reconstruction by Primitive Detection and Relationship Inference

This paper tackles a 2D architecture vectorization problem, whose task is to infer an outdoor building architecture as a 2D planar graph from a single RGB image. We provide a new benchmark with ground-truth annotations for 2,001 complex buildings across the cities of Atlanta, Paris, and Las Vegas. We also propose a novel algorithm utilizing 1) convolutional neural networks (CNNs) that detects geometric primitives and infers their relationships and 2) an integer programming (IP) that assembles the information into a 2D planar graph. While being a trivial task for human vision, the inference of a graph structure with an arbitrary topology is still an open problem for computer vision. Qualitative and quantitative evaluations demonstrate that our algorithm makes significant improvements over the current state-of-the-art, towards an intelligent system at the level of human perception. We will share code and data.

0 citations0 reviewsNo code linkedOpen access
preprint2016arXiv

Deep Multi-Modal Image Correspondence Learning

Inference of correspondences between images from different modalities is an extremely important perceptual ability that enables humans to understand and recognize cross-modal concepts. In this paper, we consider an instance of this problem that involves matching photographs of building interiors with their corresponding floorplan. This is a particularly challenging problem because a floorplan, as a stylized architectural drawing, is very different in appearance from a color photograph. Furthermore, individual photographs by themselves depict only a part of a floorplan (e.g., kitchen, bathroom, and living room). We propose the use of a number of different neural network architectures for this task, which are trained and evaluated on a novel large-scale dataset of 5 million floorplan images and 80 million associated photographs. Experimental evaluation reveals that our neural network architectures are able to identify visual cues that result in reliable matches across these two quite different modalities. In fact, the trained networks are able to even outperform human subjects in several challenging image matching problems. Our result implies that neural networks are effective at perceptual tasks that require long periods of reasoning even for humans to solve.

0 citations0 reviewsNo code linkedOpen access
preprint2016arXiv

Multi-way Particle Swarm Fusion

This paper proposes a novel MAP inference framework for Markov Random Field (MRF) in parallel computing environments. The inference framework, dubbed Swarm Fusion, is a natural generalization of the Fusion Move method. Every thread (in a case of multi-threading environments) maintains and updates a solution. At each iteration, a thread can generate arbitrary number of solution proposals and take arbitrary number of concurrent solutions from the other threads to perform multi-way fusion in updating its solution. The framework is general, making popular existing inference techniques such as alpha-expansion, fusion move, parallel alpha-expansion, and hierarchical fusion, its special cases. We have evaluated the effectiveness of our approach against competing methods on three problems of varying difficulties, in particular, the stereo, the optical flow, and the layered depthmap estimation problems.

0 citations0 reviewsNo code linkedOpen access
preprint2016arXiv

Panoramic Structure from Motion via Geometric Relationship Detection

This paper addresses the problem of Structure from Motion (SfM) for indoor panoramic image streams, extremely challenging even for the state-of-the-art due to the lack of textures and minimal parallax. The key idea is the fusion of single-view and multi-view reconstruction techniques via geometric relationship detection (e.g., detecting 2D lines as coplanar in 3D). Rough geometry suffices to perform such detection, and our approach utilizes rough surface normal estimates from an image-to-normal deep network to discover geometric relationships among lines. The detected relationships provide exact geometric constraints in our line-based linear SfM formulation. A constrained linear least squares is used to reconstruct a 3D model and camera motions, followed by the bundle adjustment. We have validated our algorithm on challenging datasets, outperforming various state-of-the-art reconstruction techniques.

0 citations0 reviewsNo code linkedOpen access
preprint2016arXiv

Turning an Urban Scene Video into a Cinemagraph

This paper proposes an algorithm that turns a regular video capturing urban scenes into a high-quality endless animation, known as a Cinemagraph. The creation of a Cinemagraph usually requires a static camera in a carefully configured scene. The task becomes challenging for a regular video with a moving camera and objects. Our approach first warps an input video into the viewpoint of a reference camera. Based on the warped video, we propose effective temporal analysis algorithms to detect regions with static geometry and dynamic appearance, where geometric modeling is reliable and visually attractive animations can be created. Lastly, the algorithm applies a sequence of video processing techniques to produce a Cinemagraph movie. We have tested the proposed approach on numerous challenging real scenes. To our knowledge, this work is the first to automatically generate Cinemagraph animations from regular movies in the wild.

0 citations0 reviewsNo code linkedOpen access