OpenRaiser/Intern-Atlas huggingface dataset:
Exploiting Explainable Metrics for Augmented SGD
Venue: Conference CVPR 2022
Year: 2022

Explaining the generalization characteristics of deep learning is an emerging topic in advanced machine learning. There are several unanswered questions about how learning under stochastic optimization really works and why certain strategies are better than others. In this paper, we address the following question: \textit{can we probe intermediate layers of a deep neural network to identify and quantify the learning quality of each layer?} With this question in mind, we propose new explainability metrics that measure the redundant information in a network's layers using a low-rank factorization framework and quantify a complexity measure that is highly correlated with the generalization performance of a given optimizer, network, and dataset. We subsequently exploit these metrics to augment the Stochastic Gradient Descent (SGD) optimizer by adaptively adjusting the learning rate in each layer to improve in generalization performance. Our augmented SGD -- dubbed RMSGD -- introduces minimal computational overhead compared to SOTA methods and outperforms them by exhibiting strong generalization characteristics across application, architecture, and dataset.
Improving Neural Implicit Surfaces Geometry With Patch Warping
Venue: Conference CVPR 2022
Year: 2022

Neural implicit surfaces have become an important technique for multi-view 3D reconstruction but their accuracy remains limited. In this paper, we argue that this comes from the difficulty to learn and render high frequency textures with neural networks. We thus propose to add to the standard neural rendering optimization a direct photo-consistency term across the different views. Intuitively, we optimize the implicit geometry so that it warps views on each other in a consistent way. We demonstrate that two elements are key to the success of such an approach: (i) warping entire patches, using the predicted occupancy and normals of the 3D points along each ray, and measuring their similarity with a robust structural similarity (SSIM); (ii) handling visibility and occlusion in such a way that incorrect warps are not given too much importance while encouraging a reconstruction as complete as possible. We evaluate our approach, dubbed NeuralWarp, on the standard DTU and EPFL benchmarks and show it outperforms state of the art unsupervised implicit surfaces reconstructions by over 20% on both datasets.
CaDeX: Learning Canonical Deformation Coordinate Space for Dynamic Surface Representation via Neural Homeomorphism
Venue: Conference CVPR 2022
Year: 2022

While neural representations for static 3D shapes are widely studied, representations for deformable surfaces are limited to be template-dependent or lack efficiency. We introduce Canonical Deformation Coordinate Space (CaDeX), a unified representation of both shape and nonrigid motion. Our key insight is the factorization of the deformation between frames by continuous bijective canonical maps (homeomorphisms) and their inverses that go through a learned canonical shape. Our novel deformation representation and its implementation are simple, efficient, and guarantee cycle consistency, topology preservation, and, if needed, volume conservation. Our modelling of the learned canonical shapes provides a flexible and stable space for shape prior learning. We demonstrate state-of-the-art performance in modelling a wide range of deformable geometries: human bodies, animal bodies, and articulated objects.
Layer-Wised Model Aggregation for Personalized Federated Learning
Venue: Conference CVPR 2022
Year: 2022

Personalized Federated Learning (pFL) not only can capture the common priors from broad range of distributed data, but also support customized models for heterogeneous clients. Researches over the past few years have applied the weighted aggregation manner to produce personalized models, where the weights are determined by calibrating the distance of the entire model parameters or loss values, and have yet to consider the layer-level impacts to the aggregation process, leading to lagged model convergence and inadequate personalization over non-IID datasets. In this paper, we propose a novel pFL training framework dubbed Layer-wised Personalized Federated learning (pFedLA) that can discern the importance of each layer from different clients, and thus is able to optimize the personalized model aggregation for clients with heterogeneous data. Specifically, we employ a dedicated hypernetwork per client on the server side, which is trained to identify the mutual contribution factors at layer granularity. Meanwhile, a parameterized mechanism is introduced to update the layer-wised aggregation weights to progressively exploit the inter-user similarity and realize accurate model personalization. Extensive experiments are conducted over different models and learning tasks, and we show that the proposed methods achieve significantly higher performance than state-of-the-art pFL methods.
A Unified Query-Based Paradigm for Point Cloud Understanding
Venue: Conference CVPR 2022
Year: 2022

3D point cloud understanding is an important component in autonomous driving and robotics. In this paper, we present a novel Embedding-Querying paradigm (EQ- Paradigm) for 3D understanding tasks including detection, segmentation, and classification. EQ-Paradigm is a unified paradigm that enables the combination of any existing 3D backbone architectures with different task heads. Under the EQ-Paradigm, the input is firstly encoded in the embedding stage with an arbitrary feature extraction architecture, which is independent of tasks and heads. Then, the querying stage enables the encoded features to be applicable for diverse task heads. This is achieved by introducing an intermediate representation, i.e., Q-representation, in the querying stage to serve as a bridge between the embedding stage and task heads. We design a novel Q- Net as the querying stage network. Extensive experimental results on various 3D tasks, including object detection, semantic segmentation and shape classification, show that EQ-Paradigm in tandem with Q-Net is a general and effective pipeline, which enables a flexible collaboration of backbones and heads, and further boosts the performance of the state-of-the-art methods. Codes and models are available at https://github.com/dvlab-research/DeepVision3D.
REGTR: End-to-End Point Cloud Correspondences With Transformers
Venue: Conference CVPR 2022
Year: 2022

Despite recent success in incorporating learning into point cloud registration, many works focus on learning feature descriptors and continue to rely on nearest-neighbor feature matching and outlier filtering through RANSAC to obtain the final set of correspondences for pose estimation. In this work, we conjecture that attention mechanisms can replace the role of explicit feature matching and RANSAC, and thus propose an end-to-end framework to directly predict the final set of correspondences. We use a network architecture consisting primarily of transformer layers containing self and cross attentions, and train it to predict the probability each point lies in the overlapping region and its corresponding position in the other point cloud. The required rigid transformation can then be estimated directly from the predicted correspondences without further post-processing. Despite its simplicity, our approach achieves state-of-the-art performance on 3DMatch and ModelNet benchmarks. Our source code can be found at https://github.com/yewzijian/RegTR .
Neural 3D Scene Reconstruction With the Manhattan-World Assumption
Venue: Conference CVPR 2022
Year: 2022

This paper addresses the challenge of reconstructing 3D indoor scenes from multi-view images. Many previous works have shown impressive reconstruction results on textured objects, but they still have difficulty in handling low-textured planar regions, which are common in indoor scenes. An approach to solving this issue is to incorporate planer constraints into the depth map estimation in multi-view stereo-based methods, but the per-view plane estimation and depth optimization lack both efficiency and multi-view consistency. In this work, we show that the planar constraints can be conveniently integrated into the recent implicit neural representation-based reconstruction methods. Specifically, we use an MLP network to represent the signed distance function as the scene geometry. Based on the Manhattan-world assumption, planar constraints are employed to regularize the geometry in floor and wall regions predicted by a 2D semantic segmentation network. To resolve the inaccurate segmentation, we encode the semantics of 3D points with another MLP and design a novel loss that jointly optimizes the scene geometry and semantics in 3D space. Experiments on ScanNet and 7-Scenes datasets show that the proposed method outperforms previous methods by a large margin on 3D reconstruction quality. The code is available at https://zju3dv.github.io/manhattan_sdf.
IDEA-Net: Dynamic 3D Point Cloud Interpolation via Deep Embedding Alignment
Venue: Conference CVPR 2022
Year: 2022

This paper investigates the problem of temporally interpolating dynamic 3D point clouds with large non-rigid deformation. We formulate the problem as estimation of point-wise trajectories (i.e., smooth curves) and further reason that temporal irregularity and under-sampling are two major challenges. To tackle the challenges, we propose IDEA-Net, an end-to-end deep learning framework, which disentangles the problem under the assistance of the explicitly learned temporal consistency. Specifically, we propose a temporal consistency learning module to align two consecutive point cloud frames point-wisely, based on which we can employ linear interpolation to obtain coarse trajectories/in-between frames. To compensate the high-order nonlinear components of trajectories, we apply aligned feature embeddings that encode local geometry properties to regress point-wise increments, which are combined with the coarse estimations. We demonstrate the effectiveness of our method on various point cloud sequences and observe large improvement over state-of-the-art methods both quantitatively and visually. Our framework can bring benefits to 3D motion data acquisition. The source code is publicly available at https://github.com/ZENGYIMING-EAMON/IDEA-Net.git.
UniCon: Combating Label Noise Through Uniform Selection and Contrastive Learning
Venue: Conference CVPR 2022
Year: 2022

Supervised deep learning methods require a large repository of annotated data; hence, label noise is inevitable. Training with such noisy data negatively impacts the generalization performance of deep neural networks. To combat label noise, recent state-of-the-art methods employ some sort of sample selection mechanism to select a possibly clean subset of data. Next, an off-the-shelf semi-supervised learning method is used for training where rejected samples are treated as unlabeled data. Our comprehensive analysis shows that current selection methods disproportionately select samples from easy (fast learnable) classes while rejecting those from relatively harder ones. This creates class imbalance in the selected clean set and in turn, deteriorates performance under high label noise. In this work, we propose UNICON, a simple yet effective sample selection method which is robust to high label noise. To address the disproportionate selection of easy and hard samples, we introduce a Jensen-Shannon divergence based uniform selection mechanism which does not require any probabilistic modeling and hyperparameter tuning. We complement our selection method with contrastive learning to further combat the memorization of noisy labels. Extensive experimentation on multiple benchmark datasets demonstrates the effectiveness of UNICON; we obtain an 11.4% improvement over the current state-of-the-art on CIFAR100 dataset with a 90% noise rate. Our code is publicly available
Towards Robust Rain Removal Against Adversarial Attacks: A Comprehensive Benchmark Analysis and Beyond
Venue: Conference CVPR 2022
Year: 2022

Rain removal aims to remove rain streaks from images/videos and reduce the disruptive effects caused by rain. It not only enhances image/video visibility but also allows many computer vision algorithms to function properly. This paper makes the first attempt to conduct a comprehensive study on the robustness of deep learning-based rain removal methods against adversarial attacks. Our study shows that, when the image/video is highly degraded, rain removal methods are more vulnerable to the adversarial attacks as small distortions/perturbations become less noticeable or detectable. In this paper, we first present a comprehensive empirical evaluation of various methods at different levels of attacks and with various losses/targets to generate the perturbations from the perspective of human perception and machine analysis tasks. A systematic evaluation of key modules in existing methods is performed in terms of their robustness against adversarial attacks. From the insights of our analysis, we construct a more robust deraining method by integrating these effective modules. Finally, we examine various types of adversarial attacks that are specific to deraining problems and their effects on both human and machine vision tasks, including 1) rain region attacks, adding perturbations only in the rain regions to make the perturbations in the attacked rain images less visible; 2) object-sensitive attacks, adding perturbations only in regions near the given objects. Code is available at https://github.com/yuyi-sd/Robust_Rain_Removal.
AziNorm: Exploiting the Radial Symmetry of Point Cloud for Azimuth-Normalized 3D Perception
Venue: Conference CVPR 2022
Year: 2022

Studying the inherent symmetry of data is of great importance in machine learning. Point cloud, the most important data format for 3D environmental perception, is naturally endowed with strong radial symmetry. In this work, we exploit this radial symmetry via a divide-and-conquer strategy to boost 3D perception performance and ease optimization. We propose Azimuth Normalization (AziNorm), which normalizes the point clouds along the radial direction and eliminates the variability brought by the difference of azimuth. AziNorm can be flexibly incorporated into most LiDAR-based perception methods. To validate its effectiveness and generalization ability, we apply AziNorm in both object detection and semantic segmentation. For detection, we integrate AziNorm into two representative detection methods, the one-stage SECOND detector and the state-of-the-art two-stage PV-RCNN detector. Experiments on Waymo Open Dataset demonstrate that AziNorm improves SECOND and PV-RCNN by 7.03 mAPH and 3.01 mAPH respectively. For segmentation, we integrate AziNorm into KPConv. On SemanticKitti dataset, AziNorm improves KPConv by 1.6/1.1 mIoU on val/test set. Besides, AziNorm remarkably improves data efficiency and accelerates convergence, reducing the requirement of data amounts or training epochs by an order of magnitude. SECOND w/ AziNorm can significantly outperform fully trained vanilla SECOND, even trained with only 10% data or 10% epochs. Code and models are available at https://github.com/hustvl/AziNorm.
Surface Reconstruction From Point Clouds by Learning Predictive Context Priors
Venue: Conference CVPR 2022
Year: 2022

Surface reconstruction from point clouds is vital for 3D computer vision. State-of-the-art methods leverage large datasets to first learn local context priors that are represented as neural network-based signed distance functions (SDFs) with some parameters encoding the local contexts. To reconstruct a surface at a specific query location at inference time, these methods then match the local reconstruction target by searching for the best match in the local prior space (by optimizing the parameters encoding the local context) at the given query location. However, this requires the local context prior to generalize to a wide variety of unseen target regions, which is hard to achieve. To resolve this issue, we introduce Predictive Context Priors by learning Predictive Queries for each specific point cloud at inference time. Specifically, we first train a local context prior using a large point cloud dataset similar to previous techniques. For surface reconstruction at inference time, however, we specialize the local context prior into our Predictive Context Prior by learning Predictive Queries, which predict adjusted spatial query locations as displacements of the original locations. This leads to a global SDF that fits the specific point cloud the best. Intuitively, the query prediction enables us to flexibly search the learned local context prior over the entire prior space, rather than being restricted to the fixed query locations, and this improves the generalizability. Our method does not require ground truth signed distances, normals, or any additional procedure of signed distance fusion across overlapping regions. Our experimental results in surface reconstruction for single shapes or complex scenes show significant improvements over the state-of-the-art under widely used benchmarks.
BatchFormer: Learning To Explore Sample Relationships for Robust Representation Learning
Venue: Conference CVPR 2022
Year: 2022

Despite the success of deep neural networks, there are still many challenges in deep representation learning due to the data scarcity issues such as data imbalance, unseen distribution, and domain shift. To address the above-mentioned issues, a variety of methods have been devised to explore the sample relationships in a vanilla way (i.e., from the perspectives of either the input or the loss function), failing to explore the internal structure of deep neural networks for learning with sample relationships. Inspired by this, we propose to enable deep neural networks themselves with the ability to learn the sample relationships from each mini-batch. Specifically, we introduce a batch transformer module or BatchFormer, which is then applied into the batch dimension of each mini-batch to implicitly explore sample relationships during training. By doing this, the proposed method enables the collaboration of different samples, e.g., the head-class samples can also contribute to the learning of the tail classes for long-tailed recognition. Furthermore, to mitigate the gap between training and testing, we share the classifier between with or without the BatchFormer during training, which can thus be removed during testing. We perform extensive experiments on over ten datasets and the proposed method achieves significant improvements on different data scarcity applications without any bells and whistles, including the tasks of long-tailed recognition, compositional zero-shot learning, domain generalization, and contrastive learning. Code will be made publicly available at https://github.com/zhihou7/BatchFormer.
Learning Multi-View Aggregation in the Wild for Large-Scale 3D Semantic Segmentation
Venue: Conference CVPR 2022
Year: 2022

Recent works on 3D semantic segmentation propose to exploit the synergy between images and point clouds by processing each modality with a dedicated network and projecting learned 2D features onto 3D points. Merging large-scale point clouds and images raises several challenges, such as constructing a mapping between points and pixels, and aggregating features between multiple views. Current methods require mesh reconstruction or specialized sensors to recover occlusions, and use heuristics to select and aggregate available images. In contrast, we propose an end-to-end trainable multi-view aggregation model leveraging the viewing conditions of 3D points to merge features from images taken at arbitrary positions. Our method can combine standard 2D and 3D networks and outperforms both 3D models operating on colorized point clouds and hybrid 2D/3D networks without requiring colorization, meshing, or true depth maps. We set a new state-of-the-art for large-scale indoor/outdoor semantic segmentation on S3DIS (74.7 mIoU 6-Fold) and on KITTI-360 (58.3 mIoU). Our full pipeline is accessible at https://github.com/drprojects/DeepViewAgg, and only requires raw 3D scans and a set of images and poses.
Representation Compensation Networks for Continual Semantic Segmentation
Venue: Conference CVPR 2022
Year: 2022

In this work, we study the continual semantic segmentation problem, where the deep neural networks are required to incorporate new classes continually without catastrophic forgetting. We propose to use a structural re-parameterization mechanism, named representation compensation (RC) module, to decouple the representation learning of both old and new knowledge. The RC module consists of two dynamically evolved branches with one frozen and one trainable. Besides, we design a pooled cube knowledge distillation strategy on both spatial and channel dimensions to further enhance the plasticity and stability of the model. We conduct experiments on two challenging continual semantic segmentation scenarios, continual class segmentation and continual domain segmentation. Without any extra computational overhead and parameters during inference, our method outperforms state-of-the-art performance. The code is available at \url{https://github.com/zhangchbin/RCIL}.
Non-Generative Generalized Zero-Shot Learning via Task-Correlated Disentanglement and Controllable Samples Synthesis
Venue: Conference CVPR 2022
Year: 2022

Synthesizing pseudo samples is currently the most effective way to solve the Generalized Zero-Shot Learning (GZSL) problem. Most models achieve competitive performance but still suffer from two problems: (1) Feature confounding, the overall representations confound task-correlated and task-independent features, and existing models disentangle them in a generative way, but they are unreasonable to synthesize reliable pseudo samples with limited samples; (2) Distribution uncertainty, that massive data is needed when existing models synthesize samples from the uncertain distribution, which causes poor performance in limited samples of seen classes. In this paper, we propose a non-generative model to address these problems correspondingly in two modules: (1) Task-correlated feature disentanglement, to exclude the task-correlated features from task-independent ones by adversarial learning of domain adaption towards reasonable synthesis; (2) Controllable pseudo sample synthesis, to synthesize edge-pseudo and center-pseudo samples with certain characteristics towards more diversity generated and intuitive transfer. In addation, to describe the new scene that is the limit seen class samples in the training process, we further formulate a new ZSL task named the 'Few-shot Seen class and Zero-shot Unseen class learning' (FSZU). Extensive experiments on four benchmarks verify that the proposed method is competitive in the GZSL and the FSZU tasks.