Large steps in inverse rendering of geometry

Abstract

Inverse reconstruction from images is a central problem in many scientific and engineering disciplines. Recent progress on differentiable rendering has led to methods that can efficiently differentiate the full process of image formation with respect to millions of parameters to solve such problems via gradient-based optimization. At the same time, the availability of cheap derivatives does not necessarily make an inverse problem easy to solve. Mesh-based representations remain a particular source of irritation: an adverse gradient step involving vertex positions could turn parts of the mesh inside-out, introduce numerous local self-intersections, or lead to inadequate usage of the vertex budget due to distortion. These types of issues are often irrecoverable in the sense that subsequent optimization steps will further exacerbate them. In other words, the optimization lacks robustness due to an objective function with substantial non-convexity. Such robustness issues are commonly mitigated by imposing additional regularization, typically in the form of Laplacian energies that quantify and improve the smoothness of the current iterate. However, regularization introduces its own set of problems: solutions must now compromise between solving the problem and being smooth. Furthermore, gradient steps involving a Laplacian energy resemble Jacobi's iterative method for solving linear equations that is known for its exceptionally slow convergence. We propose a simple and practical alternative that casts differentiable rendering into the framework of preconditioned gradient descent. Our pre-conditioner biases gradient steps towards smooth solutions without requiring the final solution to be smooth. In contrast to Jacobi-style iteration, each gradient step propagates information among all variables, enabling convergence using fewer and larger steps. Our method is not restricted to meshes and can also accelerate the reconstruction of other representations, where smooth solutions are generally expected. We demonstrate its superior performance in the context of geometric optimization and texture reconstruction.