Deep High-Resolution Representation Learning for Spacecraft Pose Estimation

Introduction

This is an unofficial pytorch implementation of Deep High-Resolution Representation Learning for Human Pose Estimation. In this work, we are interested in the human pose estimation problem with a focus on learning reliable high-resolution representations. Most existing methods recover high-resolution representations from low-resolution representations produced by a high-to-low resolution network. Instead, our proposed network maintains high-resolution representations through the whole process.

Environment

The code is developed using python 3.6 on Ubuntu 16.04. NVIDIA GPUs are needed. The code is developed and tested using 4 NVIDIA P100 GPU cards. Other platforms or GPU cards are not fully tested.

Quick start

Installation

Install pytorch >= v1.0.0 following official instruction. Note that if you use pytorch's version < v1.0.0, you should following the instruction at https://github.com/Microsoft/human-pose-estimation.pytorch to disable cudnn's implementations of BatchNorm layer. We encourage you to use higher pytorch's version(>=v1.0.0)
Clone this repo, and we'll call the directory that you cloned as ${POSE_ROOT}.
Install dependencies:
```
pip install -r requirements.txt
```
Make libs:
```
cd ${POSE_ROOT}/lib
make
```

Install COCOAPI:

# COCOAPI=/path/to/clone/cocoapi
git clone https://github.com/cocodataset/cocoapi.git $COCOAPI
cd $COCOAPI/PythonAPI
# Install into global site-packages
make install
# Alternatively, if you do not have permissions or prefer
# not to install the COCO API into global site-packages
python3 setup.py install --user

Note that instructions like # COCOAPI=/path/to/install/cocoapi indicate that you should pick a path where you'd like to have the software cloned and then set an environment variable (COCOAPI in this case) accordingly.

Init output(training model output directory) and log(tensorboard log directory) directory:

mkdir output 
mkdir log

Your directory tree should look like this:

${POSE_ROOT}
├── data
├── experiments
├── lib
├── log
├── models
├── output
├── tools 
├── README.md
└── requirements.txt

Download pretrained models from our model zoo(GoogleDrive or OneDrive)

${POSE_ROOT}
 `-- models
     `-- pytorch
         |-- imagenet
         |   |-- hrnet_w32-36af842e.pth
         |   |-- hrnet_w48-8ef0771d.pth
         |   |-- resnet50-19c8e357.pth
         |   |-- resnet101-5d3b4d8f.pth
         |   `-- resnet152-b121ed2d.pth
         |-- pose_coco
         |   |-- pose_hrnet_w32_256x192.pth
         |   |-- pose_hrnet_w32_384x288.pth
         |   |-- pose_hrnet_w48_256x192.pth
         |   |-- pose_hrnet_w48_384x288.pth
         |   |-- pose_resnet_101_256x192.pth
         |   |-- pose_resnet_101_384x288.pth
         |   |-- pose_resnet_152_256x192.pth
         |   |-- pose_resnet_152_384x288.pth
         |   |-- pose_resnet_50_256x192.pth
         |   `-- pose_resnet_50_384x288.pth
         `-- pose_mpii
             |-- pose_hrnet_w32_256x256.pth
             |-- pose_hrnet_w48_256x256.pth
             |-- pose_resnet_101_256x256.pth
             |-- pose_resnet_152_256x256.pth
             `-- pose_resnet_50_256x256.pth

Data preparation

For MPII data, please download from MPII Human Pose Dataset. The original annotation files are in matlab format. We have converted them into json format, you also need to download them from OneDrive or GoogleDrive. Extract them under {POSE_ROOT}/data, and make them look like this:

${POSE_ROOT}
|-- data
`-- |-- mpii
    `-- |-- annot
        |   |-- gt_valid.mat
        |   |-- test.json
        |   |-- train.json
        |   |-- trainval.json
        |   `-- valid.json
        `-- images
            |-- 000001163.jpg
            |-- 000003072.jpg

For COCO data, please download from COCO download, 2017 Train/Val is needed for COCO keypoints training and validation. We also provide person detection result of COCO val2017 and test-dev2017 to reproduce our multi-person pose estimation results. Please download from OneDrive or GoogleDrive. Download and extract them under {POSE_ROOT}/data, and make them look like this:

${POSE_ROOT}
|-- data
`-- |-- coco
    `-- |-- annotations
        |   |-- person_keypoints_train2017.json
        |   `-- person_keypoints_val2017.json
        |-- person_detection_results
        |   |-- COCO_val2017_detections_AP_H_56_person.json
        |   |-- COCO_test-dev2017_detections_AP_H_609_person.json
        `-- images
            |-- train2017
            |   |-- 000000000009.jpg
            |   |-- 000000000025.jpg
            |   |-- 000000000030.jpg
            |   |-- ... 
            `-- val2017
                |-- 000000000139.jpg
                |-- 000000000285.jpg
                |-- 000000000632.jpg
                |-- ...

Training and Testing

Testing on MPII dataset using model zoo's models(GoogleDrive or OneDrive)

python tools/test.py \
    --cfg experiments/mpii/hrnet/w32_256x256_adam_lr1e-3.yaml \
    TEST.MODEL_FILE models/pytorch/pose_mpii/pose_hrnet_w32_256x256.pth

Training on MPII dataset

python tools/train.py \
    --cfg experiments/mpii/hrnet/w32_256x256_adam_lr1e-3.yaml

Testing on COCO val2017 dataset using model zoo's models(GoogleDrive or OneDrive)

python tools/test.py \
    --cfg experiments/coco/hrnet/w32_256x192_adam_lr1e-3.yaml \
    TEST.MODEL_FILE models/pytorch/pose_coco/pose_hrnet_w32_256x192.pth \
    TEST.USE_GT_BBOX False

Training on COCO train2017 dataset

python tools/train.py \
    --cfg experiments/coco/hrnet/w32_256x192_adam_lr1e-3.yaml \

Visualization

Visualizing predictions on COCO val

python visualization/plot_coco.py \
    --prediction output/coco/w48_384x288_adam_lr1e-3/results/keypoints_val2017_results_0.json \
    --save-path visualization/results

Other applications

Many other dense prediction tasks, such as segmentation, face alignment and object detection, etc. have been benefited by HRNet. More information can be found at High-Resolution Networks.

Citation

If you use our code or models in your research, please cite with:

@inproceedings{sun2019deep,
  title={Deep High-Resolution Representation Learning for Human Pose Estimation},
  author={Sun, Ke and Xiao, Bin and Liu, Dong and Wang, Jingdong},
  booktitle={CVPR},
  year={2019}
}

@inproceedings{xiao2018simple,
    author={Xiao, Bin and Wu, Haiping and Wei, Yichen},
    title={Simple Baselines for Human Pose Estimation and Tracking},
    booktitle = {European Conference on Computer Vision (ECCV)},
    year = {2018}
}

@article{WangSCJDZLMTWLX19,
  title={Deep High-Resolution Representation Learning for Visual Recognition},
  author={Jingdong Wang and Ke Sun and Tianheng Cheng and 
          Borui Jiang and Chaorui Deng and Yang Zhao and Dong Liu and Yadong Mu and 
          Mingkui Tan and Xinggang Wang and Wenyu Liu and Bin Xiao},
  journal   = {CoRR},
  volume    = {abs/1908.07919},
  year={2019}
}

kuldeepbrd1 / HRNet-spacecraft-pose