Cylindrical Convolutional Networks for Joint Object Detection and Viewpoint Estimation

Existing techniques to encode spatial invariance within deep convolutional neural networks only model 2D transformation fields. This does not account for the fact that objects in a 2D space are a projection of 3D ones, and thus they have limited ability to severe object viewpoint changes. To overcome this limitation, we introduce a learnable module, cylindrical convolutional networks (CCNs), that exploit cylindrical representation of a convolutional kernel defined in the 3D space. CCNs extract a view-specific feature through a view-specific convolutional kernel to predict object category scores at each viewpoint. With the viewspecific feature, we simultaneously determine objective category and viewpoints using the proposed sinusoidal softargmax module. Our experiments demonstrate the effectiveness of the cylindrical convolutional networks on joint object detection and viewpoint estimation.