This is the official code to the paper "SplatPose & Detect: Pose-Agnostic 3D Anomaly Detection" by Mathis Kruse, Marco Rudolph, Dominik Woiwode, and Bodo Rosenhahn which was accepted to the CVPR 2024 Workshop VAND 2.0.
Detecting anomalies in images has become a well-explored problem in both academia and industry. State-of-the-art algorithms are able to detect defects in increasingly difficult settings and data modalities. However, most current methods are not suited to address 3D objects captured from differing poses. While solutions using Neural Radiance Fields (NeRFs) have been proposed, they suffer from excessive computation requirements, which hinder real-world usability. For this reason, we propose the novel 3D Gaussian splatting-based framework SplatPose which, given multi-view images of a 3D object, accurately estimates the pose of unseen views in a differentiable manner, and detects anomalies in them. We achieve state-of-the-art results in both training and inference speed, and detection performance, even when using less training data than competing methods. We thoroughly evaluate our framework using the recently proposed Pose-agnostic Anomaly Detection benchmark and its multi-pose anomaly detection (MAD) data set.
@InProceedings{Kruse_2024_CVPR,
author = {Kruse, Mathis and Rudolph, Marco and Woiwode, Dominik and Rosenhahn, Bodo},
title = {SplatPose \& Detect: Pose-Agnostic 3D Anomaly Detection},
booktitle = {Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) Workshops},
month = {June},
year = {2024},
pages = {3950-3960}
}To reproduce our results, please clone this repository and the respective submodules. We recommend creating a new conda environment and installing all necessary modules. This code has been written and only tested on a Linux machine.
# (1) Cloning the repository and the submodules recursively
git clone git@github.com:m-kruse98/SplatPose.git --recursive
cd SplatPose
# (2) Create the environment with necessary CUDA & PyTorch frameworks
conda env create --file environment.yml
conda activate splatpose
# (3) Install remaining requirements with pip
pip install -r requirements.txtYou will also need the necessary retrieval models from the OmniposeAD codebase, which is also found here, and put them into the "PAD_utils" directory. Alternatively just run the code below to directly download the necessary checkpoints.
# (4) Make sure steps (1)-(3) are completed. Download the model checkpoints from the PAD repository
cd PAD_utils
gdown https://drive.google.com/uc\?id\=16FOwaqQE0NGY-1EpfoNlU0cGlHjATV0V
unzip model.zipTo run the code, we need to download the MAD-Sim data set from the official repository. The data set is ideally placed directly into the repository.
Configure the provided script prepare_lego_ad.py to the correct paths and run it to generate a usable data set.
python prepare_lego_ad.pyWith standard parameters, this will create a new directory called "MAD-Sim_3dgs", which can be fed into the Gaussian Splatting Framework.
Validate that the dataset path in train_and_render.py is pointing towards the previously created directory. To start a run of SplatPose on the first class "01Gorilla" of MAD, simply run
python train_and_render.py -c 01GorillaDifferent options can be found using python train_and_render.py --help, and used to tweak the hyperparameters.
Analogously, the experiments for the pose estimation can also be repeated. First construct a suitably formatted pose estimation data set using prepare_subset_lego_ad.py.
The pose estimation is validated using the corresponding script train_and_pose_est.py, for which several options are again available. Other suitably formatted data sets, such as the NeRF synthetic scenes (available here), can also be used for this script.
The Gaussian Splatting code is based on the official repository. The MAD-Sim data set, as well as select parts of their codebase, have been taken from their GitHub repository as well.
The gaussian-splatting module is licensed under the respective "Gaussian-Splatting License" found in LICENSE.md.
This work was supported by the Federal Ministry of Education and Research (BMBF), Germany under the AI service center KISSKI (grant no. 01IS22093C), the Lower Saxony Ministry of Science and Culture (MWK) through the zukunft.niedersachsen program of the Volkswagen Foundation and the Deutsche Forschungsgemeinschaft (DFG) under Germany’s Excellence Strategy within the Cluster of Excellence PhoenixD (EXC 2122).