The most recent trend in estimating the 6D pose of rigid objects has been to train deep networks to either directly regress the pose from the image or to predict the 2D locations of 3D keypoints, from which the pose can be obtained using a PnP algorithm. In both cases, the object is treated as a global entity, and a single pose estimate is computed. As a consequence, the resulting techniques can be vulnerable to large occlusions. In this paper, we introduce a segmentation-driven 6D pose estimation framework where each visible part of the objects contributes a local pose prediction in the form of 2D keypoint locations. We then use a predicted measure of confidence to combine these pose candidates into a robust set of 3D-to-2D correspondences, from which a reliable pose estimate can be obtained. We outperform the state-of-the-art on the challenging Occluded-LINEMOD and YCB-Video datasets, which is evidence that our approach deals well with multiple poorly-textured objects occluding each other. Furthermore, it relies on a simple enough architecture to achieve real-time performance.

State-of-the-art segmentation methods rely on very deep networks that are not always easy to train without very large training datasets and tend to be relatively slow to run on standard GPUs. In this paper, we introduce a novel recurrent U-Net architecture that preserves the compactness of the original U-Net [33], while substantially increasing its performance to the point where it outperforms the state of the art on several benchmarks. We will demonstrate its effectiveness for several tasks, including hand segmentation, retina vessel segmentation, and road segmentation. We also introduce a large-scale dataset for hand segmentation.

Abstract People increasingly have their genomes sequenced and some of them share their genomic data online. They do so for various purposes, including to find relatives and to help advance genomic research. An individual’s genome carries very sensitive, private information such as its owner’s susceptibility to diseases, which could be used for discrimination. Therefore, genomic databases are often anonymized. However, an individual’s genotype is also linked to visible phenotypic traits, such as eye or hair color, which can be used to re-identify users in anonymized public genomic databases, thus raising severe privacy issues. For instance, an adversary can identify a target’s genome using known her phenotypic traits and subsequently infer her susceptibility to Alzheimer’s disease. In this paper, we quantify, based on various phenotypic traits, the extent of this threat in several scenarios by implementing de-anonymization attacks on a genomic database of OpenSNP users sequenced by 23andMe. Our experimental results show that the proportion of correct matches reaches 23% with a supervised approach in a database of 50 participants. Our approach outperforms the baseline by a factor of four, in terms of the proportion of correct matches, in most scenarios. We also evaluate the adversary’s ability to predict individuals’ predisposition to Alzheimer’s disease, and we observe that the inference error can be halved compared to the baseline. We also analyze the effect of the number of known phenotypic traits on the success rate of the attack. As progress is made in genomic research, especially for genotype-phenotype associations, the threat presented in this paper will become more serious.