Argumentation is an important research area in the field of AI. There is a substantial amount of work on different aspects of Dung's abstract Argumentation Framework (AF). Two relevant aspects considered separately so far are: i) extending the framework to account for recursive attacks and supports, and ii) considering dynamics, i.e., AFs evolving over time. In this paper, we jointly deal with these two aspects. We focus on High-Order Argumentation Frameworks with Necessities (HOAFNs) which allow for attack and support relations (interpreted as necessity) not only between arguments but also targeting attacks and supports at any level. We propose an approach for the incremental evaluation of the credulous acceptance problem in HOAFNs, by “incrementally” computing an extension (a set of accepted arguments, attacks and supports), if it exists, containing a given goal element in an updated HOAFN. In particular, we are interested in monitoring the credulous acceptance of a given argument, attack or support (goal) in an evolving HOAFN. Thus, our approach assumes to have a HOAFN Δ, a goal ϱ occurring in Δ, an extension E for Δ containing ϱ, and an update u establishing some changes in the original HOAFN, and uses the extension for first checking whether the update is relevant; for relevant updates, an extension of the updated HOAFN containing the goal is computed by translating the problem to the AF domain and leveraging on AF solvers. We provide formal results for our incremental approach and empirically show that it outperforms the evaluation from scratch of the credulous acceptance problem for an updated HOAFN.

The dialogue game-based approach to argumentation semantics proposes to determine the acceptance status of arguments through two-party zero-sum dialogue games. Furthermore, by selecting different sets of rules to govern the moves of arguments in the game, it allows for the characterization of distinct argumentation semantics. This approach has proven significant for theoretical and practical reasons. Accordingly, the ability to identify the most suitable semantics for a given domain is a key element in promoting the adoption of dialogue game-based semantics in real-world systems. This paper introduces a set of principles for systematically analyzing dialogue game-based semantics. We aim to contribute to existing frameworks by enabling a deeper understanding of the theoretical foundations of such argumentation semantics. In doing so, our framework may also guide the development of new dialogue game-based semantics.

Arguments in argumentation systems cannot always be considered as standalone entities, requiring the consideration of the pieces of evidence they rely on. This evidence might have to be retrieved from external sources such as databases or the web, and each attempt to retrieve a piece of evidence comes with an associated cost. Moreover, a piece of evidence may be available in a given scenario but not in others, and this is not known beforehand. As a result, the collection of active arguments (whose entire set of evidence is available) that can be used by the argumentation machinery of the system may vary from one scenario to another. In this work, we consider an Abstract Argumentation Framework with Fallible Evidence that accounts for these issues, and propose a heuristic measure used as part of the acceptability calculus (specifically, for building pruned dialectical trees) with the aim of minimizing the evidence retrieval cost of the arguments involved in the reasoning process. We provide an algorithmic solution that is empirically tested against two baselines and formally show the correctness of our approach.

Argumentation is an important topic in the field of AI. There is a substantial amount of work about different aspects of Dung's abstract Argumentation Framework (AF). Two relevant aspects considered separately so far are extending the framework to account for recursive attacks and supports, and considering dynamics, i.e., AFs evolving over time. In this paper, we jointly deal with these two aspects. We focus on Attack-Support Argumentation Frameworks (ASAFs) which allow for attack and support relations not only between arguments but also targeting attacks and supports at any level, and propose an approach for the incremental computation of extensions (sets of accepted arguments, attacks and supports) of updated ASAFs. Our approach assumes that an initial ASAF extension is given and uses it for first checking whether updates are irrelevant; for relevant updates, an extension of an updated ASAF is computed by translating the problem to the AF domain and leveraging on AF solvers. We experimentally show our incremental approach outperforms the direct computation of extensions for updated ASAFs.

Localizing an image w.r.t. a 3D scene model represents a core task for many computer vision applications. An increasing number of real-world applications of visual localization on mobile devices, e.g., Augmented Reality or autonomous robots such as drones or self-driving cars, demand localization approaches to minimize storage and bandwidth requirements. Compressing the 3D models used for localization thus becomes a practical necessity. In this work, we introduce a new hybrid compression algorithm that uses a given memory limit in a more effective way. Rather than treating all 3D points equally, it represents a small set of points with full appearance information and an additional, larger set of points with compressed information. This enables our approach to obtain a more complete scene representation without increasing the memory requirements, leading to a superior performance compared to previous compression schemes. As part of our contribution, we show how to handle ambiguous matches arising from point compression during RANSAC. Besides outperforming previous compression techniques in terms of pose accuracy under the same memory constraints, our compression scheme itself is also more efficient. Furthermore, the localization rates and accuracy obtained with our approach are comparable to state-of-the-art feature-based methods, while using a small fraction of the memory.

In this paper, we aim to solve the pose estimation problem of calibrated pinhole and generalized cameras w.r.t. a Structure-from-Motion (SfM) model by leveraging both 2D-3D correspondences as well as 2D-2D correspondences. Traditional approaches either focus on the use of 2D-3D matches, known as structure-based pose estimation or solely on 2D-2D matches (structure-less pose estimation). Absolute pose approaches are limited in their performance by the quality of the 3D point triangulations as well as the completeness of the 3D model. Relative pose approaches, on the other hand, while being more accurate, also tend to be far more computationally costly and often return dozens of possible solutions. This work aims to bridge the gap between these two paradigms. We propose a new RANSAC-based approach that automatically chooses the best type of solver to use at each iteration in a data-driven way. The solvers chosen by our RANSAC can range from pure structure-based or structure-less solvers, to any possible combination of hybrid solvers (i.e. using both types of matches) in between. A number of these new hybrid minimal solvers are also presented in this paper. Both synthetic and real data experiments show our approach to be as accurate as structure-less approaches, while staying close to the efficiency of structure-based methods.

Symmetries and repetitions are common and valuable features in urban scenes. We propose to leverage such regularity information in an efficient optimization scheme in order to segment a rectified image of a facade into semantic categories. Our method retrieves a parsing which respects common architectural constraints as well as detected repetitive structures and edge information. Additionally, the use of symmetry information allows us to efficiently deal with large occluded areas and to recover plausible facade images with a minimum of occlusions. Our approach yields state-of-the-art accuracy on datasets with challenging occlusions. Competitive works either fully fail to deal with large occlusions or they are an order of magnitude slower than our approach.

Localizing a query image against a 3D model at large scale is a hard problem, since 2D-3D matches become more and more ambiguous as the model size increases. This creates a need for pose estimation strategies that can handle very low inlier ratios. In this paper, we draw new insights on the geometric information available from the 2D-3D matching process. As modern descriptors are not invariant against large variations in viewpoint, we are able to find the rays in space used to triangulate a given point that are closest to a query descriptor. It is well known that two correspondences constrain the camera to lie on the surface of a torus. Adding the knowledge of direction of triangulation, we are able to approximate the position of the camera from two matches alone. We derive a geometric solver that can compute this position in under 1 microsecond. Using this solver, we propose a simple yet powerful outlier filter which scales quadratically in the number of matches. We validate the accuracy of our solver and demonstrate the usefulness of our method in real world settings.

Both image segmentation and dense 3D modeling from images represent an intrinsically ill-posed problem. Strong regularizers are therefore required to constrain the solutions from being 'too noisy'. These priors generally yield overly smooth reconstructions and/or segmentations in certain regions while they fail to constrain the solution sufficiently in other areas. In this paper, we argue that image segmentation and dense 3D reconstruction contribute valuable information to each other's task. As a consequence, we propose a mathematical framework to formulate and solve a joint segmentation and dense reconstruction problem. On the one hand knowing about the semantic class of the geometry provides information about the likelihood of the surface direction. On the other hand the surface direction provides information about the likelihood of the semantic class. Experimental results on several data sets highlight the advantages of our joint formulation. We show how weakly observed surfaces are reconstructed more faithfully compared to a geometry only reconstruction. Thanks to the volumetric nature of our formulation we also infer surfaces which cannot be directly observed for example the surface between the ground and a building. Finally, our method returns a semantic segmentation which is consistent across the whole dataset.

International audience

The Attack-Support Argumentation Framework (ASAF) is an abstract argumentation framework that provides a unified setting for representing attack and support for arguments, as well as attack and support for the attack and support relations at any level. Currently, the extensions of the ASAF are obtained by translating it into a Dung's Argumentation Framework (AF). In this work we provide the ASAF with the ability of determining its extensions without requiring such a translation. We follow an extension-based approach for characterizing the acceptability semantics directly on the ASAF, considering the complete, preferred, stable and grounded semantics. Finally, we show that the proposed characterization satisfies different results from Dung's argumentation theory.

Recent advances in Structure-from-Motion not only enable the reconstruction of large scale scenes, but are also able to detect ambiguous structures caused by repeating elements that might result in incorrect reconstructions. Yet, it is not always possible to fully reconstruct a scene. The images required to merge different sub-models might be missing or it might be impossible to acquire such images in the first place due to occlusions or the structure of the scene. The problem of aligning multiple reconstructions that do not have visual overlap is impossible to solve in general. An important variant of this problem is the case in which individual sides of a building can be reconstructed but not joined due to the missing visual overlap. In this paper, we present a combinatorial approach for solving this variant by automatically stitching multiple sides of a building together. Our approach exploits symmetries and semantic information to reason about the possible geometric relations between the individual models. We show that our approach is able to reconstruct complete building models where traditional SfM ends up with disconnected building sides.

Robust estimation of model parameters in the presence of outliers is a key problem in computer vision. RANSAC inspired techniques are widely used in this context, although their application might be limited due to the need of a priori knowledge on the inlier noise level. We propose a new approach for jointly optimizing over model parameters and the inlier noise level based on the likelihood ratio test. This allows control over the type I error incurred. We also propose an early bailout strategy for efficiency. Tests on both synthetic and real data show that our method outperforms the state-of-the-art in a fraction of the time.

We propose a sequential optimization technique for segmenting a rectified image of a facade into semantic categories. Our method retrieves a parsing which respects common architectural constraints and also returns a certificate for global optimality. Contrasting the suggested method, the considered facade labeling problem is typically tackled as a classification task or as grammar parsing. Both approaches are not capable of fully exploiting the regularity of the problem. Therefore, our technique very significantly improves the accuracy compared to the state-of-the-art while being an order of magnitude faster. In addition, in 85% of the test images we obtain a certificate for optimality.

Both image segmentation and dense 3D modeling from images represent an intrinsically ill-posed problem. Strong regularizers are therefore required to constrain the solutions from being 'too noisy'. Unfortunately, these priors generally yield overly smooth reconstructions and/or segmentations in certain regions whereas they fail in other areas to constrain the solution sufficiently. In this paper we argue that image segmentation and dense 3D reconstruction contribute valuable information to each other's task. As a consequence, we propose a rigorous mathematical framework to formulate and solve a joint segmentation and dense reconstruction problem. Image segmentations provide geometric cues about which surface orientations are more likely to appear at a certain location in space whereas a dense 3D reconstruction yields a suitable regularization for the segmentation problem by lifting the labeling from 2D images to 3D space. We show how appearance-based cues and 3D surface orientation priors can be learned from training data and subsequently used for class-specific regularization. Experimental results on several real data sets highlight the advantages of our joint formulation.

Many architectural scenes contain symmetric or repeated structures, which can generate erroneous image correspondences during structure from motion (Sfm) computation. Prior work has shown that the detection and removal of these incorrect matches is crucial for accurate and robust recovery of scene structure. In this paper, we point out that these incorrect matches, in fact, provide strong cues to the existence of symmetries and structural regularities in the unknown 3D structure. We make two key contributions. First, we propose a method to recover various symmetry relations in the structure using geometric and appearance cues. A set of structural constraints derived from the symmetries are imposed within a new constrained bundle adjustment formulation, where symmetry priors are also incorporated. Second, we show that the recovered symmetries enable us to choose a natural coordinate system for the 3D structure where gauge freedom in rotation is held fixed. Furthermore, based on the symmetries, 3D structure completion is also performed. Our approach significantly reduces drift through ”structural” loop closures and improves the accuracy of reconstructions in urban scenes.

This paper is focused on the characterization of GNSS signals reception environment by estimating the percentage of visible sky. A new segmentation technique based on a color watershed using an adaptive combination of color and texture information is proposed. This information is represented by two morphological gradients, a classical color gradient and a texture gradient based on co-occurrence matrices. The segmented images are then used as input for a k-means classifier in order to determine the percentage of visible sky in fish-eye images. The obtained classification results are evaluated to demonstrate the effectiveness and the reliability of the proposed approach.