A Perceptual Measure for Deep Single Image Camera Calibration (#2618) — Supplementary Material

The purpose of this document is to extend the results presented in the main paper. Specifically, more results on horizon line estimation, smoothed guided backpropagation and virtual object insertion are provided.

Table of Contents

  1. Horizon Line Estimations (extends fig. 1)
  2. Smoothed Guided Backpropagation (extends fig. 4)
  3. User Study Examples (extends fig. 6)
  4. User Study Results (extends fig. 6)
  5. Virtual Object Insertions (extends fig. 10)

1. Horizon Line Estimations

In this section, we present additional horizon line estimations, extending the results shown in fig. 1.

2. Smoothed Guided Backpropagation

In this section, we present additional smoothed guided backpropagation, extending the results shown in fig. 4.

3. User Study Examples

In this section, we present additional pairs of images shown during the user study along with their distorted parameter(s), extending the results shown in fig. 6.

To ease the comparison, hovering the mouse over the ground truth calibration column will display the distorted calibration. Note that in the study, the image containing the virtual object inserted using the ground truth camera calibration was randomly positioned left or right, and no mouse hovering comparison was given to the user.

 
Ground truth calibration
Distorted calibration
 
 

Distorted parameter(s): hfov
Amount: -30.76°

Distorted parameter(s): roll, hfov
Amount: -7.17°, -44.48°

Distorted parameter(s): roll
Amount: 13.04°

Distorted parameter(s): pitch, roll
Amount: -16.58°, -1.69°

Distorted parameter(s): roll, hfov
Amount: 14.04°, 32.35°

Distorted parameter(s): roll
Amount: 3.30°

Distorted parameter(s): pitch, roll, hfov
Amount: 24.13°, 4.30°, 12.24°

Distorted parameter(s): roll
Amount: -1.46°

Distorted parameter(s): roll
Amount: -4.49°

Distorted parameter(s): roll, hfov
Amount: 9.75°, 34.95°

Distorted parameter(s): roll
Amount: -9.93°

Distorted parameter(s): hfov
Amount: 25.03°

Distorted parameter(s): pitch, hfov
Amount: -17.46°, -25.83°

Distorted parameter(s): hfov
Amount: -40.29°

Distorted parameter(s): roll
Amount: -7.90°

Distorted parameter(s): pitch, hfov
Amount: 10.38°, 32.73°

Distorted parameter(s): hfov
Amount: 31.04°

Distorted parameter(s): roll
Amount: 15.65°

Distorted parameter(s): hfov
Amount: 21.62°

Distorted parameter(s): pitch, hfov
Amount: 20.91°, 8.13°

Distorted parameter(s): hfov
Amount: -47.51°

Distorted parameter(s): pitch, hfov
Amount: 29.60°, 28.94°

Distorted parameter(s): roll
Amount: -18.05°

Distorted parameter(s): pitch, hfov
Amount: -16.67°, -47.51°

Distorted parameter(s): pitch, hfov
Amount: 21.70°, 16.72°

Distorted parameter(s): pitch, roll, hfov
Amount: 1.63°, 11.52°, 20.50°

Distorted parameter(s): hfov
Amount: 45.32°

Distorted parameter(s): pitch, roll
Amount: -2.43°, -12.91°

Distorted parameter(s): roll, hfov
Amount: -9.08°, -23.48°

Distorted parameter(s): roll
Amount: -11.81°

Distorted parameter(s): pitch
Amount: 6.30°

Distorted parameter(s): pitch, hfov
Amount: 12.19°, 53.86°

Distorted parameter(s): pitch, roll, hfov
Amount: 28.51°, 3.21°, 9.68°

Distorted parameter(s): pitch, hfov
Amount: 6.19°, 22.54°

Distorted parameter(s): hfov
Amount: -17.51°

Distorted parameter(s): pitch, roll, hfov
Amount: 16.80°, 5.11°, 10.91°

Distorted parameter(s): roll
Amount: -7.46°

Distorted parameter(s): roll, hfov
Amount: -10.22°, -9.74°

Distorted parameter(s): roll, hfov
Amount: 8.78°, 21.12°

Distorted parameter(s): pitch, hfov
Amount: 23.37°, 32.76°

Distorted parameter(s): roll, hfov
Amount: 13.11°, 20.87°

Distorted parameter(s): pitch, hfov
Amount: 24.07°, 47.47°

Distorted parameter(s): hfov
Amount: 11.37°

Distorted parameter(s): hfov
Amount: 25.62°

Distorted parameter(s): roll
Amount: -4.05°

Distorted parameter(s): hfov
Amount: 8.70°

Distorted parameter(s): roll
Amount: -16.67°

Distorted parameter(s): pitch
Amount: 6.19°

Distorted parameter(s): pitch
Amount: 11.45°

Distorted parameter(s): roll
Amount: -4.09°

Distorted parameter(s): roll
Amount: 11.94°

Distorted parameter(s): roll
Amount: 12.93°

Distorted parameter(s): hfov
Amount: -13.67°

Distorted parameter(s): pitch, roll, hfov
Amount: 18.28°, 15.36°, 53.53°

Distorted parameter(s): pitch, roll, hfov
Amount: 26.91°, 4.59°, 57.07°

Distorted parameter(s): hfov
Amount: -13.67°

Distorted parameter(s): roll
Amount: -13.07°

Distorted parameter(s): roll
Amount: -6.31°

Distorted parameter(s): roll, hfov
Amount: 15.56°, 16.14°

Distorted parameter(s): roll
Amount: 11.55°

Distorted parameter(s): pitch, roll, hfov
Amount: 25.25°, 11.11°, 12.73°

Distorted parameter(s): pitch, roll, hfov
Amount: 29.22°, 11.88°, 41.32°

Distorted parameter(s): roll
Amount: 4.00°

Distorted parameter(s): pitch, roll, hfov
Amount: -9.91°, -5.96°, -12.78°

Distorted parameter(s): roll
Amount: 0.54°

Distorted parameter(s): roll
Amount: 15.22°

Distorted parameter(s): roll, hfov
Amount: 11.20°, 41.07°

Distorted parameter(s): roll
Amount: 3.57°

Distorted parameter(s): pitch, roll
Amount: 23.11°, 4.58°

Distorted parameter(s): pitch, hfov
Amount: 1.37°, 6.28°

Distorted parameter(s): hfov
Amount: -34.53°

Distorted parameter(s): hfov
Amount: 45.41°

Distorted parameter(s): pitch, roll, hfov
Amount: 12.71°, 15.61°, 18.20°

Distorted parameter(s): pitch, roll
Amount: 15.63°, 6.16°

Distorted parameter(s): hfov
Amount: -28.76°

Distorted parameter(s): roll, hfov
Amount: -2.67°, -52.32°

Distorted parameter(s): hfov
Amount: -6.39°

Distorted parameter(s): roll, hfov
Amount: -10.17°, -48.35°

Distorted parameter(s): roll, hfov
Amount: 11.01°, 57.68°

Distorted parameter(s): pitch, roll
Amount: 4.75°, 16.13°

Distorted parameter(s): pitch
Amount: -15.75°

Distorted parameter(s): hfov
Amount: -35.50°

Distorted parameter(s): roll, hfov
Amount: 6.34°, 57.68°

Distorted parameter(s): roll
Amount: -19.93°

Distorted parameter(s): pitch, roll, hfov
Amount: -12.22°, -9.73°, -17.10°

Distorted parameter(s): pitch, roll
Amount: 6.65°, 6.39°

Distorted parameter(s): roll, hfov
Amount: 1.68°, 7.08°

Distorted parameter(s): roll, hfov
Amount: 15.54°, 35.04°

Distorted parameter(s): pitch, hfov
Amount: 2.13°, 35.04°

Distorted parameter(s): roll, hfov
Amount: -11.24°, -14.60°

Distorted parameter(s): hfov
Amount: 35.04°

Distorted parameter(s): pitch, hfov
Amount: -16.07°, -46.97°

Distorted parameter(s): hfov
Amount: 34.03°

Distorted parameter(s): pitch
Amount: 15.84°
 

4. User Study Results

In this section, we present additional results from the user study, extending the results shown in fig. 6. Specifically, we show the human sensitivity with respect to errors and values of each parameter against one another.


fig. 4.1: Influence of parameter errors between themselves on human sensitivity to errors. We bin the percentage of people choosing the ground truth per image of the user study. The colors in the plot represents the median over all values in each bin. 100% (yellow) means humans always detect the distortion, 50% (blue) means total confusion, where humans statistically selects the distorted image as often as the ground truth.

fig. 4.2: Influence of parameter errors wrt. other parameter values on human sensitivity to errors.

fig. 4.3: Influence of parameter values wrt. other parameter errors on human sensitivity to errors.

fig. 4.4: Influence of parameter values between themselves on human sensitivity to errors. Note how when the roll parameter has a value very close to 0°, humans could detect distortions more easily, whereas larger roll value (image tilted around the viewing axis) yields lower detection rate by humans.

5. Virtual object insertions

In this section, we present additional virtual object insertions, extending the results shown in fig. 10.

A Perceptual Measure for Deep Single Image Camera Calibration (#2618) — Supplementary Material — CVPR 2018