Online dense mapping of urban scenes is of paramount importance for scene understanding of autonomous navigation. Traditional online dense mapping methods fuse sensor measurements (vision, lidar, etc.) across time and space via explicit geometric correspondence. Recently, NeRF-based methods have proved the superiority of neural implicit representations by high-fidelity reconstruction of large-scale city scenes. However, it remains an open problem how to integrate powerful neural implicit representations into online dense mapping. Existing methods are restricted to constrained indoor environments and are too computationally expensive to meet online requirements. To this end, we propose Swift-Mapping, an online neural implicit dense mapping framework in urban scenes. We introduce a novel neural implicit octomap (NIO) structure that provides efficient neural representation for large and dynamic urban scenes while retaining online update capability. Based on that, we propose an online neural dense mapping framework that effectively manages and updates neural octree voxel features. Our approach achieves SOTA reconstruction accuracy while being more than 10x faster in reconstruction speed, demonstrating the superior performance of our method in both accuracy and efficiency.
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Pedestrian Attribute Recognition (PAR) involves identifying the attributes of individuals in person images. Existing PAR methods typically rely on CNNs as the backbone network to extract pedestrian features. However, CNNs process only one adjacent region at a time, leading to the loss of long-range inter-relations between different attribute-specific regions. To address this limitation, we leverage the Vision Transformer (ViT) instead of CNNs as the backbone for PAR, aiming to model long-range relations and extract more robust features. However, PAR suffers from an inherent attribute imbalance issue, causing ViT to naturally focus more on attributes that appear frequently in the training set and ignore some pedestrian attributes that appear less. The native features extracted by ViT are not able to tolerate the imbalance attribute distribution issue. To tackle this issue, we propose two novel components: the Selective Feature Activation Method (SFAM) and the Orthogonal Feature Activation Loss. SFAM smartly suppresses the more informative attribute-specific features, compelling the PAR model to capture discriminative features from regions that are easily overlooked. The proposed loss enforces an orthogonal constraint on the original feature extracted by ViT and the suppressed features from SFAM, promoting the complementarity of features in space. We conduct experiments on several benchmark PAR datasets, including PETA, PA100K, RAPv1, and RAPv2, demonstrating the effectiveness of our method. Specifically, our method outperforms existing state-of-the-art approaches by GRL, IAA-Caps, ALM, and SSC in terms of mA on the four datasets, respectively.
The Diffusion Probabilistic Model (DPM) has recently gained popularity in the field of computer vision, thanks to its image generation applications, such as Imagen, Latent Diffusion Models, and Stable Diffusion, which have demonstrated impressive capabilities and sparked much discussion within the community. Recent investigations have further unveiled the utility of DPM in the domain of medical image analysis, as underscored by the commendable performance exhibited by the medical image segmentation model across various tasks. Although these models were originally underpinned by a UNet architecture, there exists a potential avenue for enhancing their performance through the integration of vision transformer mechanisms. However, we discovered that simply combining these two models resulted in subpar performance. To effectively integrate these two cutting-edge techniques for the Medical image segmentation, we propose a novel Transformer-based Diffusion framework, called MedSegDiff-V2. We verify its effectiveness on 20 medical image segmentation tasks with different image modalities. Through comprehensive evaluation, our approach demonstrates superiority over prior state-of-the-art (SOTA) methodologies. Code is released at https://github.com/KidsWithTokens/MedSegDiff.
Image inpainting is in full bloom accompanied by the progress of convolutional neural networks (CNNs) and transformers, revolutionizing the practical management of abnormity disposal, image editing, etc. However, due to the ever-mounting image resolutions and missing areas, the challenges of distorted long-range dependencies from cluttered background distributions and reduced reference information in image domain inevitably rise, which further cause severe performance degradation. To address the challenges, we propose a novel large-portion image inpainting approach, namely the Structure-Guided Synergism Transformer (SyFormer), to rectify the discrepancies in feature representation and enrich the structural cues from limited reference. Specifically, we devise a dual-routing filtering module that employs a progressive filtering strategy to eliminate invalid noise interference and establish global-level texture correlations. Simultaneously, the structurally compact perception module maps an affinity matrix within the introduced structural priors from a structure-aware generator, assisting in matching and filling the corresponding patches of large-proportionally damaged images. Moreover, we carefully assemble the aforementioned modules to achieve feature complementarity. Finally, a feature decoding alignment scheme is introduced in the decoding process, which meticulously achieves texture amalgamation across hierarchical features. Extensive experiments are conducted on two publicly available datasets, i.e., CelebA-HQ and Places2, to qualitatively and quantitatively demonstrate the superiority of our model over state-of-the-arts.
Cross-Domain Few-Shot Learning (CD-FSL) aims at recognizing samples in novel classes from unseen domains that are vastly different from training classes, with few labeled samples. However, the large domain gap between training and novel classes makes previous FSL methods perform poorly. To address this issue, we propose MetaPrompt, a Task-adaptive Prompted Transformer model for CD-FSL, by jointly exploiting prompt learning and the parameter generation framework. The proposed MetaPrompt enjoys several merits. First, a task-conditioned prompt generator is established upon attention mechanisms. It can flexibly produce a task-adaptive prompt with arbitrary length for unseen tasks, by selectively gathering task characteristics from the contextualized support embeddings. Second, the task-adaptive prompt is attached to Vision Transformer to facilitate fast task adaptation, steering the task-agnostic representation to incorporate task knowledge. To our best knowledge, this is the first work to exploit a prompt-based parameter generation mechanism for CD-FSL. Extensive experimental results on the Meta-Dataset benchmark demonstrate that our method achieves superior results against state-of-the-art methods.
Vision-Language models (VLMs) pre-trained on large corpora have demonstrated notable success across a range of downstream tasks. In light of the rapidly increasing size of pre-trained VLMs, parameter-efficient transfer learning (PETL) has garnered attention as a viable alternative to full fine-tuning. One such approach is the adapter, which introduces a few trainable parameters into the pre-trained models while preserving the original parameters during adaptation. In this paper, we present a novel modeling framework that recasts adapter tuning after attention as a graph message passing process on attention graphs, where the projected query and value features and attention matrix constitute the node features and the graph adjacency matrix, respectively. Within this framework, tuning adapters in VLMs necessitates handling heterophilic graphs, owing to the disparity between the projected query and value space. To address this challenge, we propose a new adapter architecture, p-adapter, which employs p-Laplacian message passing in Graph Neural Networks (GNNs). Specifically, the attention weights are re-normalized based on the features, and the features are then aggregated using the calibrated attention matrix, enabling the dynamic exploitation of information with varying frequencies in the heterophilic attention graphs. We conduct extensive experiments on different pre-trained VLMs and multi-modal tasks, including visual question answering, visual entailment, and image captioning. The experimental results validate our method's significant superiority over other PETL methods. Our code is available at https://github.com/wuhy68/p-Adapter/.
Neural growth is the process of growing a small neural network to a large network and has been utilized to accelerate the training of deep neural networks. One crucial aspect of neural growth is determining the optimal growth timing. However, few studies investigate this systematically. Our study reveals that neural growth inherently exhibits a regularization effect, whose intensity is influenced by the chosen policy for growth timing. While this regularization effect may mitigate the overfitting risk of the model, it may lead to a notable accuracy drop when the model underfits. Yet, current approaches have not addressed this issue due to their lack of consideration of the regularization effect from neural growth. Motivated by these findings, we propose an under/over fitting risk-aware growth timing policy, which automatically adjusts the growth timing informed by the level of potential under/overfitting risks to address both risks. Comprehensive experiments conducted using CIFAR-10/100 and ImageNet datasets show that the proposed policy achieves accuracy improvements of up to 1.3% in models prone to underfitting while achieving similar accuracies in models suffering from overfitting compared to the existing methods.
Hybrid-Supervised Dual-Search: Leveraging Automatic Learning for Loss-Free Multi-Exposure Image Fusion
PDF ↗Multi-exposure image fusion (MEF) has emerged as a prominent solution to address the limitations of digital imaging in representing varied exposure levels. Despite its advancements, the field grapples with challenges, notably the reliance on manual designs for network structures and loss functions, and the constraints of utilizing simulated reference images as ground truths. Consequently, current methodologies often suffer from color distortions and exposure artifacts, further complicating the quest for authentic image representation. In addressing these challenges, this paper presents a Hybrid-Supervised Dual-Search approach for MEF, dubbed HSDS-MEF, which introduces a bi-level optimization search scheme for automatic design of both network structures and loss functions. More specifically, we harness a unique dual research mechanism rooted in a novel weighted structure refinement architecture search. Besides, a hybrid supervised contrast constraint seamlessly guides and integrates with searching process, facilitating a more adaptive and comprehensive search for optimal loss functions. We realize the state-of-the-art performance in comparison to various competitive schemes, yielding a 10.61% and 4.38% improvement in Visual Information Fidelity (VIF) for general and no-reference scenarios, respectively, while providing results with high contrast, rich details and colors. The code is available at https://github.com/RollingPlain/HSDS_MEF.
Contrastive learning has emerged as a prevailing paradigm for high-level vision tasks, which, by introducing properly negative samples, has also been exploited for low-level vision tasks to achieve a compact optimization space to account for their ill-posed nature. However, existing methods rely on manually predefined and task-oriented negatives, which often exhibit pronounced task-specific biases. To address this challenge, our paper introduces an innovative method termed 'learning from history', which dynamically generates negative samples from the target model itself. Our approach, named Model Contrastive Learning for Image Restoration (MCLIR), rejuvenates latency models as negative models, making it compatible with diverse image restoration tasks. We propose the Self-Prior guided Negative loss (SPN) to enable it. This approach significantly enhances existing models when retrained with the proposed model contrastive paradigm. The results show significant improvements in image restoration across various tasks and architectures. For example, models retrained with SPN outperform the original FFANet and DehazeFormer by 3.41 and 0.57 dB on the RESIDE indoor dataset for image dehazing. Similarly, they achieve notable improvements of 0.47 dB on SPA-Data over IDT for image deraining and 0.12 dB on Manga109 for a 4x scale super-resolution over lightweight SwinIR, respectively. Code and retrained models are available at https://github.com/Aitical/MCLIR.
Multiscale Low-Frequency Memory Network for Improved Feature Extraction in Convolutional Neural Networks
PDF ↗Deep learning and Convolutional Neural Networks (CNNs) have driven major transformations in diverse research areas. However, their limitations in handling low-frequency in-formation present obstacles in certain tasks like interpreting global structures or managing smooth transition images. Despite the promising performance of transformer struc-tures in numerous tasks, their intricate optimization com-plexities highlight the persistent need for refined CNN en-hancements using limited resources. Responding to these complexities, we introduce a novel framework, the Mul-tiscale Low-Frequency Memory (MLFM) Network, with the goal to harness the full potential of CNNs while keep-ing their complexity unchanged. The MLFM efficiently preserves low-frequency information, enhancing perfor-mance in targeted computer vision tasks. Central to our MLFM is the Low-Frequency Memory Unit (LFMU), which stores various low-frequency data and forms a parallel channel to the core network. A key advantage of MLFM is its seamless compatibility with various prevalent networks, requiring no alterations to their original core structure. Testing on ImageNet demonstrated substantial accuracy improvements in multiple 2D CNNs, including ResNet, MobileNet, EfficientNet, and ConvNeXt. Furthermore, we showcase MLFM's versatility beyond traditional image classification by successfully integrating it into image-to-image translation tasks, specifically in semantic segmenta-tion networks like FCN and U-Net. In conclusion, our work signifies a pivotal stride in the journey of optimizing the ef-ficacy and efficiency of CNNs with limited resources. This research builds upon the existing CNN foundations and paves the way for future advancements in computer vision. Our codes are available at https://github.com/AlphaWuSeu/MLFM.
G-NAS: Generalizable Neural Architecture Search for Single Domain Generalization Object Detection
PDF ↗In this paper, we focus on a realistic yet challenging task, Single Domain Generalization Object Detection (S-DGOD), where only one source domain's data can be used for training object detectors, but have to generalize multiple distinct target domains. In S-DGOD, both high-capacity fitting and generalization abilities are needed due to the task's complexity. Differentiable Neural Architecture Search (NAS) is known for its high capacity for complex data fitting and we propose to leverage Differentiable NAS to solve S-DGOD. However, it may confront severe over-fitting issues due to the feature imbalance phenomenon, where parameters optimized by gradient descent are biased to learn from the easy-to-learn features, which are usually non-causal and spuriously correlated to ground truth labels, such as the features of background in object detection data. Consequently, this leads to serious performance degradation, especially in generalizing to unseen target domains with huge domain gaps between the source domain and target domains. To address this issue, we propose the Generalizable loss (G-loss), which is an OoD-aware objective, preventing NAS from over-fitting by using gradient descent to optimize parameters not only on a subset of easy-to-learn features but also the remaining predictive features for generalization, and the overall framework is named G-NAS. Experimental results on the S-DGOD urban-scene datasets demonstrate that the proposed G-NAS achieves SOTA performance compared to baseline methods. Codes are available at https://github.com/wufan-cse/G-NAS.
SCD-Net: Spatiotemporal Clues Disentanglement Network for Self-Supervised Skeleton-Based Action Recognition
PDF ↗Contrastive learning has achieved great success in skeleton-based action recognition. However, most existing approaches encode the skeleton sequences as entangled spatiotemporal representations and confine the contrasts to the same level of representation. Instead, this paper introduces a novel contrastive learning framework, namely Spatiotemporal Clues Disentanglement Network (SCD-Net). Specifically, we integrate the decoupling module with a feature extractor to derive explicit clues from spatial and temporal domains respectively. As for the training of SCD-Net, with a constructed global anchor, we encourage the interaction between the anchor and extracted clues. Further, we propose a new masking strategy with structural constraints to strengthen the contextual associations, leveraging the latest development from masked image modelling into the proposed SCD-Net. We conduct extensive evaluations on the NTU-RGB+D (60&120) and PKU-MMD (I&II) datasets, covering various downstream tasks such as action recognition, action retrieval, transfer learning, and semi-supervised learning. The experimental results demonstrate the effectiveness of our method, which outperforms the existing state-of-the-art (SOTA) approaches significantly. Our code and supplementary material can be found at https://github.com/cong-wu/SCD-Net.
3D-STMN: Dependency-Driven Superpoint-Text Matching Network for End-to-End 3D Referring Expression Segmentation
PDF ↗In 3D Referring Expression Segmentation (3D-RES), the earlier approach adopts a two-stage paradigm, extracting segmentation proposals and then matching them with referring expressions. However, this conventional paradigm encounters significant challenges, most notably in terms of the generation of lackluster initial proposals and a pronounced deceleration in inference speed. Recognizing these limitations, we introduce an innovative end-to-end Superpoint-Text Matching Network (3D-STMN) that is enriched by dependency-driven insights. One of the keystones of our model is the Superpoint-Text Matching (STM) mechanism. Unlike traditional methods that navigate through instance proposals, STM directly correlates linguistic indications with their respective superpoints, clusters of semantically related points. This architectural decision empowers our model to efficiently harness cross-modal semantic relationships, primarily leveraging densely annotated superpoint-text pairs, as opposed to the more sparse instance-text pairs. In pursuit of enhancing the role of text in guiding the segmentation process, we further incorporate the Dependency-Driven Interaction (DDI) module to deepen the network's semantic comprehension of referring expressions. Using the dependency trees as a beacon, this module discerns the intricate relationships between primary terms and their associated descriptors in expressions, thereby elevating both the localization and segmentation capacities. Comprehensive experiments on the ScanRefer benchmark reveal that our model not only sets new performance standards, registering an mIoU gain of 11.7 points but also achieves a staggering enhancement in inference speed, surpassing traditional methods by 95.7 times. The code and models are available at https://github.com/sosppxo/3D-STMN.
Unsupervised disentangled representation learning aims to recover semantically meaningful factors from real-world data without supervision, which is significant for model generalization and interpretability. Current methods mainly rely on assumptions of independence or informativeness of factors, regardless of interpretability. Intuitively, visually interpretable concepts better align with human-defined factors. However, exploiting visual interpretability as inductive bias is still under-explored. Inspired by the observation that most explanatory image factors can be represented by ``content + mask'', we propose a content-mask factorization network (CMFNet) to decompose an image into different groups of content codes and masks, which are further combined as content masks to represent different visual concepts. To ensure informativeness of the representations, the CMFNet is jointly learned with a generator conditioned on the content masks for reconstructing the input image. The conditional generator employs a diffusion model to leverage its robust distribution modeling capability. Our model is called the Factorized Diffusion Autoencoder (FDAE). To enhance disentanglement of visual concepts, we propose a content decorrelation loss and a mask entropy loss to decorrelate content masks in latent space and spatial space, respectively. Experiments on Shapes3d, MPI3D and Cars3d show that our method achieves advanced performance and can generate visually interpretable concept-specific masks. Source code and supplementary materials are available at https://github.com/wuancong/FDAE.
Keep the Faith: Faithful Explanations in Convolutional Neural Networks for Case-Based Reasoning
PDF ↗Explaining predictions of black-box neural networks is crucial when applied to decision-critical tasks. Thus, attribution maps are commonly used to identify important image regions, despite prior work showing that humans prefer explanations based on similar examples. To this end, ProtoPNet learns a set of class-representative feature vectors (prototypes) for case-based reasoning. During inference, similarities of latent features to prototypes are linearly classified to form predictions and attribution maps are provided to explain the similarity. In this work, we evaluate whether architectures for case-based reasoning fulfill established axioms required for faithful explanations using the example of ProtoPNet. We show that such architectures allow the extraction of faithful explanations. However, we prove that the attribution maps used to explain the similarities violate the axioms. We propose a new procedure to extract explanations for trained ProtoPNets, named ProtoPFaith. Conceptually, these explanations are Shapley values, calculated on the similarity scores of each prototype. They allow to faithfully answer which prototypes are present in an unseen image and quantify each pixel’s contribution to that presence, thereby complying with all axioms. The theoretical violations of ProtoPNet manifest in our experiments on three datasets (CUB-200-2011, Stanford Dogs, RSNA) and five architectures (ConvNet, ResNet, ResNet50, WideResNet50, ResNeXt50). Our experiments show a qualitative difference between the explanations given by ProtoPNet and ProtoPFaith. Additionally, we quantify the explanations with the Area Over the Perturbation Curve, on which ProtoPFaith outperforms ProtoPNet on all experiments by a factor >10^3.
Mean Teacher DETR with Masked Feature Alignment: A Robust Domain Adaptive Detection Transformer Framework
PDF ↗Unsupervised domain adaptation object detection(UDAOD) research on Detection Transformer(DETR) mainly focuses on feature alignment and existing methods can be divided into two kinds, each of which has its unresolved issues. One-stage feature alignment methods can easily lead to performance fluctuation and training stagnation. Two-stage feature alignment method based on mean teacher comprises a pretraining stage followed by a self-training stage, each facing problems in obtaining reliable pretrained model and achieving consistent performance gains. Methods mentioned above have not yet explore how to utilize the third related domain such as target-like domain to assist adaptation. To address these issues, we propose a two-stage framework named MTM, i.e. Mean Teacher-DETR with Masked Feature Alignment. In the pretraining stage, we utilize labeled target-like images produced by image style transfer to avoid performance fluctuation. In the self-training stage, we leverage unlabeled target images by pseudo labels based on mean teacher and propose a module called Object Queries Knowledge Transfer(OQKT) to ensure consistent performance gains of the student model. Most importantly, we propose masked feature alignment methods including Masked Domain Query-based Feature Alignment(MDQFA) and Masked Token-wise Feature Alignment(MTWFA) to alleviate domain shift in a more robust way, which not only prevent training stagnation and lead to a robust pretrained model in the pretraining stage, but also enhance the model's target performance in the self-training stage. Experiments on three challenging scenarios and a theoretical analysis verify the effectiveness of MTM.
RetouchFormer: Semi-supervised High-Quality Face Retouching Transformer with Prior-Based Selective Self-Attention
PDF ↗Face retouching is to beautify a face image, while preserving the image content as much as possible. It is a promising yet challenging task to remove face imperfections and fill with normal skin. Generic image enhancement methods are hampered by the lack of imperfection localization, which often results in incomplete removal of blemishes at large scales. To address this issue, we propose a transformer-based approach, RetouchFormer, which simultaneously identify imperfections and synthesize realistic content in the corresponding regions. Specifically, we learn a latent dictionary to capture the clean face priors, and predict the imperfection regions via a reconstruction-oriented localization module. Also based on this, we can realize face retouching by explicitly suppressing imperfections in our selective self-attention computation, such that local content will be synthesized from normal skin. On the other hand, multi-scale feature tokens lead to increased flexibility in dealing with the imperfections at various scales. The design elements bring greater effectiveness and efficiency. RetouchFormer outperforms the advanced face retouching methods and synthesizes clean face images with high fidelity in our list of extensive experiments performed.
WeakPCSOD: Overcoming the Bias of Box Annotations for Weakly Supervised Point Cloud Salient Object Detection
PDF ↗Point cloud salient object detection (PCSOD) is a newly proposed task in 3D dense segmentation. However, the acquisition of accurate 3D dense annotations comes at a high cost, severely limiting the progress of PCSOD. To address this issue, we propose the first weakly supervised PCSOD (named WeakPCSOD) model, which relies solely on cheap 3D bounding box annotations. In WeakPCSOD, we extract noise-free supervision from coarse 3D bounding boxes while mitigating shape biases inherent in box annotations. To achieve this, we introduce a novel mask-to-box (M2B) transformation and a color consistency (CC) loss. The M2B transformation, from a shape perspective, disentangles predictions from labels, enabling the extraction of noiseless supervision from labels while preserving object shapes independently of the box bias. From an appearance perspective, we further introduce the CC loss to provide dense supervision, which mitigates the non-unique predictions stemming from weak supervision and substantially reduces prediction variability. Furthermore, we employ a self-training (ST) strategy to enhance performance by utilizing high-confidence pseudo labels. Notably, the M2B transformation, CC loss, and ST strategy are seamlessly integrated into any model and incur no computational costs for inference. Extensive experiments demonstrate the effectiveness of our WeakPCSOD model, even comparable to fully supervised models utilizing dense annotations.
Image as a Language: Revisiting Scene Text Recognition via Balanced, Unified and Synchronized Vision-Language Reasoning Network
PDF ↗Scene text recognition is inherently a vision-language task. However, previous works have predominantly focused either on extracting more robust visual features or designing better language modeling. How to effectively and jointly model vision and language to mitigate heavy reliance on a single modality remains a problem. In this paper, aiming to enhance vision-language reasoning in scene text recognition, we present a balanced, unified and synchronized vision-language reasoning network (BUSNet). Firstly, revisiting the image as a language by balanced concatenation along length dimension alleviates the issue of over-reliance on vision or language. Secondly, BUSNet learns an ensemble of unified external and internal vision-language model with shared weight by masked modality modeling (MMM). Thirdly, a novel vision-language reasoning module (VLRM) with synchronized vision-language decoding capacity is proposed. Additionally, BUSNet achieves improved performance through iterative reasoning, which utilizes the vision-language prediction as a new language input. Extensive experiments indicate that BUSNet achieves state-of-the-art performance on several mainstream benchmark datasets and more challenge datasets for both synthetic and real training data compared to recent outstanding methods. Code and dataset will be available at https://github.com/jjwei66/BUSNet.
The emergence of text-driven motion synthesis technique provides animators with great potential to create efficiently. However, in most cases, textual expressions only contain general and qualitative motion descriptions, while lack fine depiction and sufficient intensity, leading to the synthesized motions that either (a) semantically compliant but uncontrollable over specific pose details, or (b) even deviates from the provided descriptions, bringing animators with undesired cases. In this paper, we propose DiffKFC, a conditional diffusion model for text-driven motion synthesis with KeyFrames Collaborated, enabling realistic generation with collaborative and efficient dual-level control: coarse guidance at semantic level, with only few keyframes for direct and fine-grained depiction down to body posture level. Unlike existing inference-editing diffusion models that incorporate conditions without training, our conditional diffusion model is explicitly trained and can fully exploit correlations among texts, keyframes and the diffused target frames. To preserve the control capability of discrete and sparse keyframes, we customize dilated mask attention modules where only partial valid tokens participate in local-to-global attention, indicated by the dilated keyframe mask. Additionally, we develop a simple yet effective smoothness prior, which steers the generated frames towards seamless keyframe transitions at inference. Extensive experiments show that our model not only achieves state-of-the-art performance in terms of semantic fidelity, but more importantly, is able to satisfy animator requirements through fine-grained guidance without tedious labor.