We propose a new system for automatic 2D floorplan reconstruction that is enabled by SALVe, our novel pairwise learned alignment verifier. The inputs to our system are sparsely located 360 deg. panoramas, whose semantic features (windows, doors, and openings) are inferred and used to hypothesize pairwise room adjacency or overlap. SALVe initializes a pose graph, which is subsequently optimized using GTSAM. Once the room poses are computed, room layouts are inferred using HorizonNet, and the floorplan is constructed by stitching the most confident layout boundaries. We validate our system qualitatively and quantitatively as well as through ablation studies, showing that it outperforms state-of-the-art SfM systems in completeness by over 200%, without sacrificing accuracy. Our results point to the significance of our work: poses of 81% of panoramas are localized in the first 2 CCs connected components (CCs), and 89% in the first 3 CCs.
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Supervised multi-view stereo (MVS) methods have achieved remarkable progress in terms of reconstruction quality, but suffer from the challenge of collecting large-scale ground-truth depth. In this paper, we propose a novel self-supervised training pipeline for MVS based on knowledge distillation, termed KD-MVS, which mainly consists of self-supervised teacher training and distillation-based student training. Specifically, the teacher model is trained in a self-supervised fashion using both photometric and featuremetric consistency. Then we distill the knowledge of the teacher model to the student model through probabilistic knowledge transferring. With the supervision of validated knowledge, the student model is able to outperform its teacher by a large margin. Extensive experiments performed on multiple datasets show our method can even outperform supervised methods. It ranks 1st among all submitted methods on Tanks and Temples benchmark.
R2L: Distilling Neural Radiance Field to Neural Light Field for Efficient Novel View Synthesis
PDF ↗Recent research explosion on Neural Radiance Field (NeRF) shows the encouraging potential to represent complex scenes with neural networks. One major drawback of NeRF is its prohibitive inference time: Rendering a single pixel requires querying the NeRF network hundreds of times. To resolve it, existing efforts mainly attempt to reduce the number of required sampled points. However, the problem of iterative sampling still exists. On the other hand, Neural \textit{Light} Field (NeLF) presents a more straightforward representation over NeRF in novel view synthesis -- the rendering of a pixel amounts to \textit{one single forward pass} without ray-marching. In this work, we present a \textit{deep residual MLP} network (88 layers) to effectively learn the light field. We show the key to successfully learning such a deep NeLF network is to have sufficient data, for which we transfer the knowledge from a pre-trained NeRF model via data distillation. Extensive experiments on both synthetic and real-world scenes show the merits of our method over other counterpart algorithms. On the synthetic scenes, we achieve $26\sim35\times$ FLOPs reduction (per camera ray) and $28\sim31\times$ runtime speedup, meanwhile delivering \textit{significantly better} ($1.4\sim2.8$ dB average PSNR improvement) rendering quality than NeRF without any customized parallelism requirement.
We describe a data-driven method for inferring the camera viewpoints given multiple images of an arbitrary object. This task is a core component of classic geometric pipelines such as SfM and SLAM, and also serves as a vital pre-processing requirement for contemporary neural approaches (e.g. NeRF) to object reconstruction and view synthesis. In contrast to existing correspondence-driven methods that do not perform well given sparse views, we propose a top-down prediction based approach for estimating camera viewpoints. Our key technical insight is the use of an energy-based formulation for representing distributions over relative camera rotations, thus allowing us to explicitly represent multiple camera modes arising from object symmetries or views. Leveraging these relative predictions, we jointly estimate a consistent set of camera rotations from multiple images. We show that our approach outperforms state-of-the-art SfM and SLAM methods given sparse images on both seen and unseen categories. Further, our probabilistic approach significantly outperforms directly regressing relative poses, suggesting that modeling multimodality is important for coherent joint reconstruction. We demonstrate that our system can be a stepping stone toward in-the-wild reconstruction from multi-view datasets. The project page with code and videos can be found at https://jasonyzhang.com/relpose.
Learning-based Multi-View Stereo (MVS) methods warp source images into the reference camera frustum to form 3D volumes, which are fused as a cost volume to be regularized by subsequent networks. The fusing step plays a vital role in bridging 2D semantics and 3D spatial associations. However, previous methods utilize extra networks to learn 2D information as fusing cues, underusing 3D spatial correlations and bringing additional computation costs. Therefore, we present MVSTER, which leverages the proposed epipolar Transformer to learn both 2D semantics and 3D spatial associations efficiently. Specifically, the epipolar Transformer utilizes a detachable monocular depth estimator to enhance 2D semantics and uses cross-attention to construct data-dependent 3D associations along epipolar line. Additionally, MVSTER is built in a cascade structure, where entropy-regularized optimal transport is leveraged to propagate finer depth estimations in each stage. Extensive experiments show MVSTER achieves state-of-the-art reconstruction performance with significantly higher efficiency: Compared with MVSNet and CasMVSNet, our MVSTER achieves 34% and 14% relative improvements on the DTU benchmark, with 80% and 51% relative reductions in running time. MVSTER also ranks first on Tanks&Temples-Advanced among all published works. Code is available at https://github.com/JeffWang987/MVSTER.
Data augmentation is an important technique to improve data efficiency and to save labeling cost for 3D detection in point clouds. Yet, existing augmentation policies have so far been designed to only utilize labeled data, which limits the data diversity. In this paper, we recognize that pseudo labeling and data augmentation are complementary, thus propose to leverage unlabeled data for data augmentation to enrich the training data. In particular, we design three novel pseudo-label based data augmentation policies (PseudoAugments) to fuse both labeled and pseudo-labeled scenes, including frames (PseudoFrame), objects (PseudoBBox), and background (PseudoBackground). PseudoAugments outperforms pseudo labeling by mitigating pseudo labeling errors and generating diverse fused training scenes. We demonstrate PseudoAugments generalize across point-based and voxel-based architectures, different model capacity and both KITTI and Waymo Open Dataset. To alleviate the cost of hyperparameter tuning and iterative pseudo labeling, we develop a population-based data augmentation framework for 3D detection, named AutoPseudoAugment. Unlike previous works that perform pseudo-labeling offline, our framework performs PseudoAugments and hyperparameter tuning in one shot to reduce computational cost. Experimental results on the large-scale Waymo Open Dataset show our method outperforms state-of-the-art auto data augmentation method (PPBA) and self-training method (pseudo labeling). In particular, AutoPseudoAugment is about 3X and 2X data efficient on vehicle and pedestrian tasks compared to prior arts. Notably, AutoPseudoAugment nearly matches the full dataset training results, with just 10% of the labeled run segments on the vehicle detection task.
The state-of-the-art in discriminative unsupervised surface anomaly detection relies on external datasets for synthesizing anomaly-augmented training images. Such approaches are prone to failure on near-in-distribution anomalies since these are difficult to be synthesized realistically due to their similarity to anomaly-free regions. We propose an architecture based on quantized feature space representation with dual decoders, DSR, that avoids the image-level anomaly synthesis requirement. Without making any assumptions about the visual properties of anomalies, DSR generates the anomalies at the feature level by sampling the learned quantized feature space, which allows a controlled generation of near-in-distribution anomalies. DSR achieves state-of-the-art results on the KSDD2 and MVTec anomaly detection datasets. The experiments on the challenging real-world KSDD2 dataset show that DSR significantly outperforms other unsupervised surface anomaly detection methods, improving the previous top-performing methods by 10% AP in anomaly detection and 35% AP in anomaly localization.
Self-supervision has emerged as a propitious method for visual representation learning after the recent paradigm shift from handcrafted pretext tasks to instance-similarity based approaches. Most state-of-the-art methods enforce similarity between various augmentations of a given image, while some methods additionally use contrastive approaches to explicitly ensure diverse representations. While these approaches have indeed shown promising direction, they require a significantly larger number of training iterations when compared to the supervised counterparts. In this work, we explore reasons for the slow convergence of these methods, and further propose to strengthen them using well-posed auxiliary tasks that converge significantly faster, and are also useful for representation learning. The proposed method utilizes the task of rotation prediction to improve the efficiency of existing state-of-the-art methods. We demonstrate significant gains in performance using the proposed method on multiple datasets, specifically for lower training epochs.
The ubiquity of camera-enabled mobile devices has lead to large amounts of unlabelled video data being produced at the edge. Although various self-supervised learning (SSL) methods have been proposed to harvest their latent spatio-temporal representations for task-specific training, practical challenges including privacy concerns and communication costs prevent SSL from being deployed at large scales. To mitigate these issues, we propose the use of Federated Learning (FL) to the task of video SSL. In this work, we evaluate the performance of current state-of-the-art (SOTA) video-SSL techniques and identify their shortcomings when integrated into the large-scale FL setting simulated with kinetics-400 dataset. We follow by proposing a novel federated SSL framework for video, dubbed FedVSSL, that integrates different aggregation strategies and partial weight updating. Extensive experiments demonstrate the effectiveness and significance of FedVSSL as it outperforms the centralized SOTA for the downstream retrieval task by 6.66% on UCF-101 and 5.13% on HMDB-51.
Contrastive methods have led a recent surge in the performance of self-supervised representation learning (SSL). Recent methods like BYOL or SimSiam purportedly distill these contrastive methods down to their essence, removing bells and whistles, including the negative examples, that do not contribute to downstream performance. These “non-contrastive” methods surprisingly work well without using negatives even though the global minimum lies at trivial collapse. We empirically analyze these non-contrastive methods and find that SimSiam is extraordinarily sensitive to model size. In particular, SimSiam representations undergo partial dimensional collapse if the model is too small relative to the dataset size. We propose a metric to measure the degree of this collapse and show that it can be used to forecast the downstream task performance without any fine-tuning or labels. We further analyze architectural design choices and their effect on the downstream performance. Finally, we demonstrate that shifting to a continual learning setting acts as a regularizer and prevents collapse, and a hybrid between continual and multi-epoch training can improve linear probe accuracy by as many as 18 percentage points using ResNet-18 on ImageNet.
We introduce a simple and intuitive self-supervision task, Natural Synthetic Anomalies (NSA), for training an end-to-end model for anomaly detection and localization using only normal training data. NSA integrates Poisson image editing to seamlessly blend scaled patches of various sizes from separate images. This creates a wide range of synthetic anomalies which are more similar to natural sub-image irregularities than previous data-augmentation strategies for self-supervised anomaly detection. We evaluate the proposed method using natural and medical images. Our experiments with the MVTec AD dataset show that a model trained to localize NSA anomalies generalizes well to detecting real-world a priori unknown types of manufacturing defects. Our method achieves an overall detection AUROC of 97.2 outperforming all previous methods that learn without the use of additional datasets. Code available at https://github.com/hmsch/natural-synthetic-anomalies.
We propose Masked Siamese Networks (MSN), a self-supervised learning framework for learning image representations. Our approach matches the representation of an image view containing randomly masked patches to the representation of the original unmasked image. This self-supervised pre-training strategy is particularly scalable when applied to Vision Transformers since only the unmasked patches are processed by the network. As a result, MSNs improve the scalability of joint-embedding architectures, while producing representations of a high semantic level that perform competitively on low-shot image classification. For instance, on ImageNet-1K, with only 5,000 annotated images, our large MSN models achieves 72.1% top-1 accuracy, and with 1% of ImageNet-1K labels, we achieve 75.1% top-1 accuracy, setting a new state-of-the-art for self-supervised learning on this benchmark. Our code is publicly available at https://github.com/facebookresearch/msn.
Deep learning is pushing the state-of-the-art in many computer vision applications. However, it relies on large annotated data repositories, and capturing the unconstrained nature of the real-world data is yet to be solved. Semi-supervised learning (SSL) complements the annotated training data with a large corpus of unlabeled data to reduce annotation cost. The standard SSL approach assumes unlabeled data are from the same distribution as annotated data. Recently, a more realistic SSL problem, called open-world SSL, is introduced, where the unannotated data might contain samples from unknown classes. In this paper, we propose a novel pseudo-label based approach to tackle SSL in open-world setting. At the core of our method, we utilize sample uncertainty and incorporate prior knowledge about class distribution to generate reliable class-distribution-aware pseudo-labels for unlabeled data belonging to both known and unknown classes. Our extensive experimentation showcases the effectiveness of our approach on several benchmark datasets, where it substantially outperforms the existing state-of-the-art on seven diverse datasets including CIFAR-100 ( 17%), ImageNet-100 ( 5%), and Tiny ImageNet ( 9%). We also highlight the flexibility of our approach in solving novel class discovery task, demonstrate its stability in dealing with imbalanced data, and complement our approach with a technique to estimate the number of novel classes.
Most few-shot image classification methods are trained based on tasks. Usually, tasks are built on base classes with a large number of labeled images, which consumes large effort. Unsupervised few-shot image classification methods do not need labeled images, because they require tasks to be built on unlabeled images. In order to efficiently build tasks with unlabeled images, we propose a novel single-stage clustering method: Learning Features into Clustering Space (LF2CS), which first set a separable clustering space by fixing the clustering centers and then use a learnable model to learn features into the clustering space. Based on our LF2CS, we put forward an image sampling and c-way k-shot task building method. With this, we propose a novel unsupervised few-shot image classification method, which jointly learns the learnable model, clustering and few-shot image classification. Experiments and visualization show that our LF2CS has a strong ability to generalize to the novel categories. From the perspective of image sampling, we implement four baselines according to how to build tasks. We conduct experiments on the Omniglot, miniImageNet, tieredImageNet and CIFARFS datasets based on the Conv-4 and ResNet-12 backbones. Experimental results show that ours outperform the state-of-the-art methods.
Embedding Contrastive Unsupervised Features to Cluster in- and Out-of-Distribution Noise in Corrupted Image Datasets
PDF ↗Using search engines for web image retrieval is a tempting alternative to manual curation when creating an image dataset, but their main drawback remains the proportion of incorrect (noisy) samples retrieved. These noisy samples have been evidenced by previous works to be a mixture of in-distribution (ID) samples, assigned to the incorrect category but presenting similar visual semantics to other classes in the dataset, and out-of-distribution (OOD) images, which share no semantic correlation with any category from the dataset. The latter are, in practice, the dominant type of noisy images retrieved. To tackle this noise duality, we propose a two stage algorithm starting with a detection step where we use unsupervised contrastive feature learning to represent images in a feature space. We find that the alignment and uniformity principles of contrastive learning allow OOD samples to be linearly separated from ID samples on the unit hypersphere. We then spectrally embed the unsupervised representations using a fixed neighborhood size and apply an outlier sensitive clustering at the class level to detect the clean and OOD clusters as well as ID noisy outliers. We finally train a noise robust neural network that corrects ID noise to the correct category and utilizes OOD samples in a guided contrastive objective, clustering them to improve low-level features. Our algorithm improves the state-of-the-art results on synthetic noise image datasets as well as real-world web-crawled data. Our work is fully reproducible github.com/PaulAlbert31/SNCF.
Semi-supervised learning (SSL) is one of the dominant approaches to address the annotation bottleneck of supervised learning. Recent SSL methods can effectively leverage a large repository of unlabeled data to improve performance while relying on a small set of labeled data. One common assumption in most SSL methods is that the labeled and unlabeled data are from the same data distribution. However, this is hardly the case in many real-world scenarios, which limits their applicability. In this work, instead, we attempt to solve the challenging open-world SSL problem that does not make such an assumption. In the open-world SSL problem, the objective is to recognize samples of known classes, and simultaneously detect and cluster samples belonging to novel classes present in unlabeled data. This work introduces OpenLDN that utilizes a pairwise similarity loss to discover novel classes. Using a bi-level optimization rule this pairwise similarity loss exploits the information available in the labeled set to implicitly cluster novel class samples, while simultaneously recognizing samples from known classes. After discovering novel classes, OpenLDN transforms the open-world SSL problem into a standard SSL problem to achieve additional performance gains using existing SSL methods. Our extensive experiments demonstrate that OpenLDN outperforms the current state-of-the-art methods on multiple popular classification benchmarks while providing a better accuracy/training time trade-off.
Semi-supervised learning (SSL) leverages both labeled and unlabeled data to train machine learning (ML) models. State-of-the-art SSL methods can achieve comparable performance to supervised learning by leveraging much fewer labeled data. However, most existing works focus on improving the performance of SSL. In this work, we take a different angle by studying the training data privacy of SSL. Specifically, we propose the first data augmentation-based membership inference attacks against ML models trained by SSL. Given a data sample and the black-box access to a model, the goal of membership inference attack is to determine whether the data sample belongs to the training dataset of the model. Our evaluation shows that the proposed attack can consistently outperform existing membership inference attacks and achieves the best performance against the model trained by SSL. Moreover, we uncover that the reason for membership leakage in SSL is different from the commonly believed one in supervised learning, i.e., overfitting (the gap between training and testing accuracy). We observe that the SSL model is well generalized to the testing data (with almost 0 overfitting) but memorizes the training data by giving a more confident prediction regardless of its correctness. We also explore early stopping as a countermeasure to prevent membership inference attacks against SSL. The results show that early stopping can mitigate the membership inference attack, but with the cost of model’s utility degradation.
Deformable image registration is one of the fundamental tasks in medical imaging. Classical registration algorithms usually require a high computational cost for iterative optimizations. Although deep-learning-based methods have been developed for fast image registration, it is still challenging to obtain realistic continuous deformations from a moving image to a fixed image with less topological folding problem. To address this, here we present a novel diffusion-model-based image registration method, called DiffuseMorph. DiffuseMorph not only generates synthetic deformed images through reverse diffusion but also allows image registration by deformation fields. Specifically, the deformation fields are generated by the conditional score function of the deformation between the moving and fixed images, so that the registration can be performed from continuous deformation by simply scaling the latent feature of the score. Experimental results on 2D facial and 3D medical image registration tasks demonstrate that our method provides flexible deformations with topology preservation capability.
Stochastic Consensus: Enhancing Semi-Supervised Learning with Consistency of Stochastic Classifiers
PDF ↗Semi-supervised learning (SSL) has achieved new progress recently with the emerging framework of self-training deep networks, where the criteria for selection of unlabeled samples with pseudo labels play a key role in the empirical success. In this work, we propose such a new criterion based on consistency among multiple, stochastic classifiers, termed Stochastic Consensus (STOCO). Specifically, we model parameters of the classifiers as a Gaussian distribution whose mean and standard deviation are jointly optimized during training. Due to the scarcity of labels in SSL, modeling classifiers as a distribution itself provides additional regularization that mitigates overfitting to the labeled samples. We technically generate pseudo labels using a simple but flexible framework of deep discriminative clustering, which benefits from the overall structure of data distribution. We also provide theoretical analysis of our criterion by connecting with the theory of learning from noisy data. Our proposed criterion can be readily applied to self-training based SSL frameworks. By choosing the representative FixMatch as the baseline, our method with multiple stochastic classifiers achieves the state of the art on popular SSL benchmarks, especially in label-scarce cases.
Weakly Supervised Object Detection (WSOD) is a task that detects objects in an image using a model trained only on image-level annotations. Current state-of-the-art models benefit from self-supervised instance-level supervision, but since weak supervision does not include count or location information, the most common “argmax” labeling method often ignores many instances of objects. To alleviate this issue, we propose a novel multiple instance labeling method called object discovery. We further introduce a new contrastive loss under weak supervision where no instance-level information is available for sampling, called weakly supervised contrastive loss (WSCL). WSCL aims to construct a credible similarity threshold for object discovery by leveraging consistent features for embedding vectors in the same class. As a result, we achieve new state-of-the-art results on MS-COCO 2014 and 2017 as well as PASCAL VOC 2012, and competitive results on PASCAL VOC 2007. The code is available at https://github.com/jinhseo/OD-WSCL.