OpenRaiser/Intern-Atlas huggingface dataset:
GLiDR: Topologically Regularized Graph Generative Network for Sparse LiDAR Point Clouds
Venue: Conference CVPR 2024
Year: 2024

Sparse LiDAR point clouds cause severe loss of detail of static structures and reduce the density of static points available for navigation. Reduced density can be detrimental to navigation under several scenarios. We observe that despite high sparsity, in most cases, the global topology of LiDAR outlining the static structures can be inferred. We utilize this property to obtain a backbone skeleton of a LiDAR scan in the form of a single connected component that is a proxy to its global topology. We utilize the backbone to augment new points along static structures to overcome sparsity. Newly introduced points could correspond to existing static structures or to static points that were earlier obstructed by dynamic objects. To the best of our knowledge, we are the first to use such a strategy for sparse LiDAR point clouds. Existing solutions close to our approach fail to identify and preserve the global static LiDAR topology and generate sub-optimal points. We propose GLiDR, a Graph Generative network that is topologically regularized using 0-dimensional Persistent Homology ($\mathcal{PH}$) constraints. This enables GLiDR to introduce newer static points along a topologically consistent global static LiDAR backbone. GLiDR generates precise static points using $32\times$ sparser dynamic scans and performs better than the baselines across three datasets. GLiDR generates a valuable byproduct - an accurate binary segmentation mask of static and dynamic objects that are helpful for navigation planning and safety in constrained environments. The newly introduced static points allow GLiDR to outperform LiDAR-based navigation using SLAM in several settings. Source code is available at https://kshitijbhat.github.io/glidr
Commonsense Prototype for Outdoor Unsupervised 3D Object Detection
Venue: Conference CVPR 2024
Year: 2024

The prevalent approaches of unsupervised 3D object detection follow cluster-based pseudo-label generation and iterative self-training processes. However, the challenge arises due to the sparsity of LiDAR scans, which leads to pseudo-labels with erroneous size and position, resulting in subpar detection performance. To tackle this problem, this paper introduces a Commonsense Prototype-based Detector, termed CPD, for unsupervised 3D object detection. CPD first constructs Commonsense Prototype (CProto) characterized by high-quality bounding box and dense points, based on commonsense intuition. Subsequently, CPD refines the low-quality pseudo-labels by leveraging the size prior from CProto. Furthermore, CPD enhances the detection accuracy of sparsely scanned objects by the geometric knowledge from CProto. CPD outperforms state-of-the-art unsupervised 3D detectors on Waymo Open Dataset (WOD), PandaSet, and KITTI datasets by a large margin. Besides, by training CPD on WOD and testing on KITTI, CPD attains 90.85% and 81.01% 3D Average Precision on easy and moderate car classes, respectively. These achievements position CPD in close proximity to fully supervised detectors, highlighting the significance of our method. The code will be available at https://github.com/hailanyi/CPD.
Lookahead Exploration with Neural Radiance Representation for Continuous Vision-Language Navigation
Venue: Conference CVPR 2024
Year: 2024

Vision-and-language navigation (VLN) enables the agent to navigate to a remote location following the natural language instruction in 3D environments. At each navigation step, the agent selects from possible candidate locations and then makes the move. For better navigation planning, the lookahead exploration strategy aims to effectively evaluate the agent's next action by accurately anticipating the future environment of candidate locations. To this end, some existing works predict RGB images for future environments, while this strategy suffers from image distortion and high computational cost. To address these issues, we propose the pre-trained hierarchical neural radiance representation model (HNR) to produce multi-level semantic features for future environments, which are more robust and efficient than pixel-wise RGB reconstruction. Furthermore, with the predicted future environmental representations, our lookahead VLN model is able to construct the navigable future path tree and select the optimal path via efficient parallel evaluation. Extensive experiments on the VLN-CE datasets confirm the effectiveness of our method.
Adapting Short-Term Transformers for Action Detection in Untrimmed Videos
Venue: Conference CVPR 2024
Year: 2024

Vision Transformer (ViT) has shown high potential in video recognition, owing to its flexible design, adaptable self-attention mechanisms, and the efficacy of masked pre-training. Yet, it remains unclear how to adapt these pre-trained short-term ViTs for temporal action detection (TAD) in untrimmed videos. The existing works treat them as off-the-shelf feature extractors for each short-trimmed snippet without capturing the fine-grained relation among different snippets in a broader temporal context. To mitigate this issue, this paper focuses on designing a new mechanism for adapting these pre-trained ViT models as a unified long-form video transformer to fully unleash its modeling power in capturing inter-snippet relation, while still keeping low computation overhead and memory consumption for efficient TAD. To this end, we design effective cross-snippet propagation modules to gradually exchange short-term video information among different snippets from two levels. For inner-backbone information propagation, we introduce a cross-snippet propagation strategy to enable multi-snippet temporal feature interaction inside the backbone.For post-backbone information propagation, we propose temporal transformer layers for further clip-level modeling. With the plain ViT-B pre-trained with VideoMAE, our end-to-end temporal action detector (ViT-TAD) yields a very competitive performance to previous temporal action detectors, riching up to 69.5 average mAP on THUMOS14, 37.40 average mAP on ActivityNet-1.3 and 17.20 average mAP on FineAction.
SOAC: Spatio-Temporal Overlap-Aware Multi-Sensor Calibration using Neural Radiance Fields
Venue: Conference CVPR 2024
Year: 2024

In rapidly-evolving domains such as autonomous driving, the use of multiple sensors with different modalities is crucial to ensure high operational precision and stability. To correctly exploit the provided information by each sensor in a single common frame, it is essential for these sensors to be accurately calibrated. In this paper, we leverage the ability of Neural Radiance Fields (NeRF) to represent different sensors modalities in a common volumetric representation to achieve robust and accurate spatio-temporal sensor calibration. By designing a partitioning approach based on the visible part of the scene for each sensor, we formulate the calibration problem using only the overlapping areas. This strategy results in a more robust and accurate calibration that is less prone to failure. We demonstrate that our approach works on outdoor urban scenes by validating it on multiple established driving datasets. Results show that our method is able to get better accuracy and robustness compared to existing methods.
Editable Scene Simulation for Autonomous Driving via Collaborative LLM-Agents
Venue: Conference CVPR 2024
Year: 2024

Scene simulation in autonomous driving has gained significant attention because of its huge potential for generating customized data. However, existing editable scene simulation approaches face limitations in terms of user interaction efficiency, multi-camera photo-realistic rendering and external digital assets integration. To address these challenges, this paper introduces ChatSim, the first system that enables editable photo-realistic 3D driving scene simulations via natural language commands with external digital assets. To enable editing with high command flexibility,~ChatSim leverages a large language model (LLM) agent collaboration framework. To generate photo-realistic outcomes, ChatSim employs a novel multi-camera neural radiance field method. Furthermore, to unleash the potential of extensive high-quality digital assets, ChatSim employs a novel multi-camera lighting estimation method to achieve scene-consistent assets' rendering. Our experiments on Waymo Open Dataset demonstrate that ChatSim can handle complex language commands and generate corresponding photo-realistic scene videos.
SnAG: Scalable and Accurate Video Grounding
Venue: Conference CVPR 2024
Year: 2024

Temporal grounding of text descriptions in videos is a central problem in vision-language learning and video understanding. Existing methods often prioritize accuracy over scalability -- they have been optimized for grounding only a few text queries within short videos, and fail to scale up to long videos with hundreds of queries. In this paper, we study the effect of cross-modal fusion on the scalability of video grounding models. Our analysis establishes late fusion as a more cost-effective fusion scheme for long-form videos with many text queries. Moreover, it leads us to a novel, video-centric sampling scheme for efficient training. Based on these findings, we present SnAG, a simple baseline for scalable and accurate video grounding. Without bells and whistles, SnAG is 43% more accurate and 1.5x faster than CONE, a state of the art for long-form video grounding on the challenging MAD dataset, while achieving highly competitive results on short videos.
Multiscale Vision Transformers Meet Bipartite Matching for Efficient Single-stage Action Localization
Venue: Conference CVPR 2024
Year: 2024

Action Localization is a challenging problem that combines detection and recognition tasks, which are often addressed separately. State-of-the-art methods rely on off-the-shelf bounding box detections pre-computed at high resolution, and propose transformer models that focus on the classification task alone. Such two-stage solutions are prohibitive for real-time deployment. On the other hand, single-stage methods target both tasks by devoting part of the network (generally the backbone) to sharing the majority of the workload, compromising performance for speed. These methods build on adding a DETR head with learnable queries that after cross- and self-attention can be sent to corresponding MLPs for detecting a person's bounding box and action. However, DETR-like architectures are challenging to train and can incur in big complexity. In this paper, we observe that \textbf{a straight bipartite matching loss can be applied to the output tokens of a vision transformer}. This results in a backbone + MLP architecture that can do both tasks without the need of an extra encoder-decoder head and learnable queries. We show that a single MViTv2-S architecture trained with bipartite matching to perform both tasks surpasses the same MViTv2-S when trained with RoI align on pre-computed bounding boxes. With a careful design of token pooling and the proposed training pipeline, our Bipartite-Matching Vision Transformer model, \textbf{BMViT}, achieves +3 mAP on AVA2.2. w.r.t. the two-stage MViTv2-S counterpart. Code is available at \href{https://github.com/IoannaNti/BMViT}{https://github.com/IoannaNti/BMViT}
Deep Single Image Camera Calibration by Heatmap Regression to Recover Fisheye Images Under Manhattan World Assumption
Venue: Conference CVPR 2024
Year: 2024

A Manhattan world lying along cuboid buildings is useful for camera angle estimation. However, accurate and robust angle estimation from fisheye images in the Manhattan world has remained an open challenge because general scene images tend to lack constraints such as lines, arcs, and vanishing points. To achieve higher accuracy and robustness, we propose a learning-based calibration method that uses heatmap regression, which is similar to pose estimation using keypoints, to detect the directions of labeled image coordinates. Simultaneously, our two estimators recover the rotation and remove fisheye distortion by remapping from a general scene image. Without considering vanishing-point constraints, we find that additional points for learning-based methods can be defined. To compensate for the lack of vanishing points in images, we introduce auxiliary diagonal points that have the optimal 3D arrangement of spatial uniformity. Extensive experiments demonstrated that our method outperforms conventional methods on large-scale datasets and with off-the-shelf cameras.
CSTA: CNN-based Spatiotemporal Attention for Video Summarization
Venue: Conference CVPR 2024
Year: 2024

Video summarization aims to generate a concise representation of a video, capturing its essential content and key moments while reducing its overall length. Although several methods employ attention mechanisms to handle long-term dependencies, they often fail to capture the visual significance inherent in frames. To address this limitation, we propose a CNN-based SpatioTemporal Attention (CSTA) method that stacks each feature of frames from a single video to form image-like frame representations and applies 2D CNN to these frame features. Our methodology relies on CNN to comprehend the inter and intra-frame relations and to find crucial attributes in videos by exploiting its ability to learn absolute positions within images. In contrast to previous work compromising efficiency by designing additional modules to focus on spatial importance, CSTA requires minimal computational overhead as it uses CNN as a sliding window. Extensive experiments on two benchmark datasets (SumMe and TVSum) demonstrate that our proposed approach achieves state-of-the-art performance with fewer MACs compared to previous methods. Codes are available at https://github.com/thswodnjs3/CSTA.
PEM: Prototype-based Efficient MaskFormer for Image Segmentation
Venue: Conference CVPR 2024
Year: 2024

Recent transformer-based architectures have shown impressive results in the field of image segmentation. Thanks to their flexibility, they obtain outstanding performance in multiple segmentation tasks, such as semantic and panoptic, under a single unified framework. To achieve such impressive performance, these architectures employ intensive operations and require substantial computational resources, which are often not available, especially on edge devices. To fill this gap, we propose Prototype-based Efficient MaskFormer (PEM), an efficient transformer-based architecture that can operate in multiple segmentation tasks. PEM proposes a novel prototype-based cross-attention which leverages the redundancy of visual features to restrict the computation and improve the efficiency without harming the performance. In addition, PEM introduces an efficient multi-scale feature pyramid network, capable of extracting features that have high semantic content in an efficient way, thanks to the combination of deformable convolutions and context-based self-modulation. We benchmark the proposed PEM architecture on two tasks, semantic and panoptic segmentation, evaluated on two different datasets, Cityscapes and ADE20K. PEM demonstrates outstanding performance on every task and dataset, outperforming task-specific architectures while being comparable and even better than computationally-expensive baselines.
VicTR: Video-conditioned Text Representations for Activity Recognition
Venue: Conference CVPR 2024
Year: 2024

Vision-Language models (VLMs) have excelled in the image-domain -- especially in zero-shot settings -- thanks to the availability of vast pretraining data (i.e., paired image-text samples). However for videos, such paired data is not as abundant. Therefore, video-VLMs are usually designed by adapting pretrained image-VLMs to the video-domain, instead of training from scratch. All such recipes rely on augmenting visual embeddings with temporal information (i.e., image $\rightarrow$ video), often keeping text embeddings unchanged or even being discarded. In this paper, we argue the contrary, that better video-VLMs can be designed by focusing more on augmenting text, rather than visual information. More specifically, we introduce Video-conditioned Text Representations (VicTR): a form of text embeddings optimized w.r.t. visual embeddings, creating a more-flexible contrastive latent space. Our model can further make use of freely-available semantic information, in the form of visually-grounded auxiliary text (e.g. object or scene information). We evaluate our model on few-shot, zero-shot (HMDB-51, UCF-101), short-form (Kinetics-400) and long-form (Charades) activity recognition benchmarks, showing strong performance among video-VLMs.
6D-Diff: A Keypoint Diffusion Framework for 6D Object Pose Estimation
Venue: Conference CVPR 2024
Year: 2024

Estimating the 6D object pose from a single RGB image often involves noise and indeterminacy due to challenges such as occlusions and cluttered backgrounds. Meanwhile, diffusion models have shown appealing performance in generating high-quality images from random noise with high indeterminacy through step-by-step denoising. Inspired by their denoising capability, we propose a novel diffusion-based framework (6D-Diff) to handle the noise and indeterminacy in object pose estimation for better performance. In our framework, to establish accurate 2D-3D correspondence, we formulate 2D keypoints detection as a reverse diffusion (denoising) process. To facilitate such a denoising process, we design a Mixture-of-Cauchy-based forward diffusion process and condition the reverse process on the object features. Extensive experiments on the LM-O and YCB-V datasets demonstrate the effectiveness of our framework.
Generative Region-Language Pretraining for Open-Ended Object Detection
Venue: Conference CVPR 2024
Year: 2024

In recent research, significant attention has been devoted to the open-vocabulary object detection task, aiming to generalize beyond the limited number of classes labeled during training and detect objects described by arbitrary category names at inference. Compared with conventional object detection, open vocabulary object detection largely extends the object detection categories. However, it relies on calculating the similarity between image regions and a set of arbitrary category names with a pretrained vision-and-language model. This implies that, despite its open-set nature, the task still needs the predefined object categories during the inference stage. This raises the question: What if we do not have exact knowledge of object categories during inference? In this paper, we call such a new setting as generative open-ended object detection, which is a more general and practical problem. To address it, we formulate object detection as a generative problem and propose a simple framework named GenerateU, which can detect dense objects and generate their names in a free-form way. Particularly, we employ Deformable DETR as a region proposal generator with a language model translating visual regions to object names. To assess the free-form object detection task, we introduce an evaluation method designed to quantitatively measure the performance of generative outcomes. Extensive experiments demonstrate strong zero-shot detection performance of our GenerateU. For example, on the LVIS dataset, our GenerateU achieves comparable results to the open-vocabulary object detection method GLIP, even though the category names are not seen by GenerateU during inference. Code is available at: https:// github.com/FoundationVision/GenerateU .
Enhancing Visual Document Understanding with Contrastive Learning in Large Visual-Language Models
Venue: Conference CVPR 2024
Year: 2024

Recently, the advent of Large Visual-Language Models (LVLMs) has received increasing attention across various domains, particularly in the field of visual document understanding (VDU). Different from conventional vision-language tasks, VDU is specifically concerned with text-rich scenarios containing abundant document elements. Nevertheless, the importance of fine-grained features remains largely unexplored within the community of LVLMs, leading to suboptimal performance in text-rich scenarios. In this paper, we abbreviate it as the fine-grained feature collapse issue. With the aim of filling this gap, we propose a contrastive learning framework, termed Document Object COntrastive learning (DoCo), specifically tailored for the downstream tasks of VDU. DoCo leverages an auxiliary multimodal encoder to obtain the features of document objects and align them to the visual features generated by the vision encoder of LVLM, which enhances visual representation in text-rich scenarios. It can represent that the contrastive learning between the visual holistic representations and the multimodal fine-grained features of document objects can assist the vision encoder in acquiring more effective visual cues, thereby enhancing the comprehension of text-rich documents in LVLMs. We also demonstrate that the proposed DoCo serves as a plug-and-play pre-training method, which can be employed in the pre-training of various LVLMs without inducing any increase in computational complexity during the inference process. Extensive experimental results on multiple benchmarks of VDU reveal that LVLMs equipped with our proposed DoCo can achieve superior performance and mitigate the gap between VDU and generic vision-language tasks.
Data Valuation and Detections in Federated Learning
Venue: Conference CVPR 2024
Year: 2024

Federated Learning (FL) enables collaborative model training while preserving the privacy of raw data. A challenge in this framework is the fair and efficient valuation of data, which is crucial for incentivizing clients to contribute high-quality data in the FL task. In scenarios involving numerous data clients within FL, it is often the case that only a subset of clients and datasets are pertinent to a specific learning task, while others might have either a negative or negligible impact on the model training process. This paper introduces a novel privacy-preserving method for evaluating client contributions and selecting relevant datasets without a pre-specified training algorithm in an FL task. Our proposed approach FedBary, utilizes Wasserstein distance within the federated context, offering a new solution for data valuation in the FL framework. This method ensures transparent data valuation and efficient computation of the Wasserstein barycenter and reduces the dependence on validation datasets. Through extensive empirical experiments and theoretical analyses, we demonstrate the potential of this data valuation method as a promising avenue for FL research.
Joint Reconstruction of 3D Human and Object via Contact-Based Refinement Transformer
Venue: Conference CVPR 2024
Year: 2024

Human-object contact serves as a strong cue to understand how humans physically interact with objects. Nevertheless, it is not widely explored to utilize human-object contact information for the joint reconstruction of 3D human and object from a single image. In this work, we present a novel joint 3D human-object reconstruction method (CONTHO) that effectively exploits contact information between humans and objects. There are two core designs in our system: 1) 3D-guided contact estimation and 2) contact-based 3D human and object refinement. First, for accurate human-object contact estimation, CONTHO initially reconstructs 3D humans and objects and utilizes them as explicit 3D guidance for contact estimation. Second, to refine the initial reconstructions of 3D human and object, we propose a novel contact-based refinement Transformer that effectively aggregates human features and object features based on the estimated human-object contact. The proposed contact-based refinement prevents the learning of erroneous correlation between human and object, which enables accurate 3D reconstruction. As a result, our CONTHO achieves state-of-the-art performance in both human-object contact estimation and joint reconstruction of 3D human and object. The code is publicly available at https://github.com/dqj5182/CONTHO_RELEASE.