OpenRaiser/Intern-Atlas huggingface dataset:
Decoders Matter for Semantic Segmentation: Data-Dependent Decoding Enables Flexible Feature Aggregation
Venue: Conference CVPR 2019
Year: 2019

Recent semantic segmentation methods exploit encoder-decoder architectures to produce the desired pixel-wise segmentation prediction. The last layer of the decoders is typically a bilinear upsampling procedure to recover the final pixel-wise prediction. We empirically show that this oversimple and data-independent bilinear upsampling may lead to sub-optimal results. In this work, we propose a data-dependent upsampling (DUpsampling) to replace bilinear, which takes advantages of the redundancy in the label space of semantic segmentation and is able to recover the pixel-wise prediction from low-resolution outputs of CNNs. The main advantage of the new upsampling layer lies in that with a relatively lower-resolution feature map such as $\frac{1}{16}$ or $\frac{1}{32}$ of the input size, we can achieve even better segmentation accuracy, significantly reducing computation complexity. This is made possible by 1) the new upsampling layer's much improved reconstruction capability; and more importantly 2) the DUpsampling based decoder's flexibility in leveraging almost arbitrary combinations of the CNN encoders' features. Experiments demonstrate that our proposed decoder outperforms the state-of-the-art decoder, with only $\sim$20\% of computation. Finally, without any post-processing, the framework equipped with our proposed decoder achieves new state-of-the-art performance on two datasets: 88.1\% mIOU on PASCAL VOC with 30\% computation of the previously best model; and 52.5\% mIOU on PASCAL Context.
Box-Driven Class-Wise Region Masking and Filling Rate Guided Loss for Weakly Supervised Semantic Segmentation
Venue: Conference CVPR 2019
Year: 2019

Semantic segmentation has achieved huge progress via adopting deep Fully Convolutional Networks (FCN). However, the performance of FCN based models severely rely on the amounts of pixel-level annotations which are expensive and time-consuming. To address this problem, it is a good choice to learn to segment with weak supervision from bounding boxes. How to make full use of the class-level and region-level supervisions from bounding boxes is the critical challenge for the weakly supervised learning task. In this paper, we first introduce a box-driven class-wise masking model (BCM) to remove irrelevant regions of each class. Moreover, based on the pixel-level segment proposal generated from the bounding box supervision, we could calculate the mean filling rates of each class to serve as an important prior cue, then we propose a filling rate guided adaptive loss (FR-Loss) to help the model ignore the wrongly labeled pixels in proposals. Unlike previous methods directly training models with the fixed individual segment proposals, our method can adjust the model learning with global statistical information. Thus it can help reduce the negative impacts from wrongly labeled proposals. We evaluate the proposed method on the challenging PASCAL VOC 2012 benchmark and compare with other methods. Extensive experimental results show that the proposed method is effective and achieves the state-of-the-art results.
Dual Attention Network for Scene Segmentation
Venue: Conference CVPR 2019
Year: 2019

In this paper, we address the scene segmentation task by capturing rich contextual dependencies based on the selfattention mechanism. Unlike previous works that capture contexts by multi-scale features fusion, we propose a Dual Attention Networks (DANet) to adaptively integrate local features with their global dependencies. Specifically, we append two types of attention modules on top of traditional dilated FCN, which model the semantic interdependencies in spatial and channel dimensions respectively. The position attention module selectively aggregates the features at each position by a weighted sum of the features at all positions. Similar features would be related to each other regardless of their distances. Meanwhile, the channel attention module selectively emphasizes interdependent channel maps by integrating associated features among all channel maps. We sum the outputs of the two attention modules to further improve feature representation which contributes to more precise segmentation results. We achieve new state-of-the-art segmentation performance on three challenging scene segmentation datasets, i.e., Cityscapes, PASCAL Context and COCO Stuff dataset. In particular, a Mean IoU score of 81.5% on Cityscapes test set is achieved without using coarse data. We make the code and trained model publicly available at https://github.com/junfu1115/DANet
A Variational Auto-Encoder Model for Stochastic Point Processes
Venue: Conference CVPR 2019
Year: 2019

We propose a novel probabilistic generative model for action sequences. The model is termed the Action Point Process VAE (APP-VAE), a variational auto-encoder that can capture the distribution over the times and categories of action sequences. Modeling the variety of possible action sequences is a challenge, which we show can be addressed via the APP-VAE's use of latent representations and non-linear functions to parameterize distributions over which event is likely to occur next in a sequence and at what time. We empirically validate the efficacy of APP-VAE for modeling action sequences on the MultiTHUMOS and Breakfast datasets.
Unifying Heterogeneous Classifiers With Distillation
Venue: Conference CVPR 2019
Year: 2019

In this paper, we study the problem of unifying knowledge from a set of classifiers with different architectures and target classes into a single classifier, given only a generic set of unlabelled data. We call this problem Unifying Heterogeneous Classifiers (UHC). This problem is motivated by scenarios where data is collected from multiple sources, but the sources cannot share their data, e.g., due to privacy concerns, and only privately trained models can be shared. In addition, each source may not be able to gather data to train all classes due to data availability at each source, and may not be able to train the same classification model due to different computational resources. To tackle this problem, we propose a generalisation of knowledge distillation to merge HCs. We derive a probabilistic relation between the outputs of HCs and the probability over all classes. Based on this relation, we propose two classes of methods based on cross-entropy minimisation and matrix factorisation, which allow us to estimate soft labels over all classes from unlabelled samples and use them in lieu of ground truth labels to train a unified classifier. Our extensive experiments on ImageNet, LSUN, and Places365 datasets show that our approaches significantly outperform a naive extension of distillation and can achieve almost the same accuracy as classifiers that are trained in a centralised, supervised manner.
Assessment of Faster R-CNN in Man-Machine Collaborative Search
Venue: Conference CVPR 2019
Year: 2019

With the advent of modern expert systems driven by deep learning that supplement human experts (e.g. radiologists, dermatologists, surveillance scanners), we analyze how and when do such expert systems enhance human performance in a fine-grained small target visual search task. We set up a 2 session factorial experimental design in which humans visually search for a target with and without a Deep Learning (DL) expert system. We evaluate human changes of target detection performance and eye-movements in the presence of the DL system. We find that performance improvements with the DL system (computed via a Faster R-CNN with a VGG16) interacts with observer's perceptual abilities (e.g., sensitivity). The main results include: 1) The DL system reduces the False Alarm rate per Image on average across observer groups of both high/low sensitivity; 2) Only human observers with high sensitivity perform better than the DL system, while the low sensitivity group does not surpass individual DL system performance, even when aided with the DL system itself; 3) Increases in number of trials and decrease in viewing time were mainly driven by the DL system only for the low sensitivity group. 4) The DL system aids the human observer to fixate at a target by the 3rd fixation. These results provide insights of the benefits and limitations of deep learning systems that are collaborative or competitive with humans.
OK-VQA: A Visual Question Answering Benchmark Requiring External Knowledge
Venue: Conference CVPR 2019
Year: 2019

Visual Question Answering (VQA) in its ideal form lets us study reasoning in the joint space of vision and language and serves as a proxy for the AI task of scene understanding. However, most VQA benchmarks to date are focused on questions such as simple counting, visual attributes, and object detection that do not require reasoning or knowledge beyond what is in the image. In this paper, we address the task of knowledge-based visual question answering and provide a benchmark, called OK-VQA, where the image content is not sufficient to answer the questions, encouraging methods that rely on external knowledge resources. Our new dataset includes more than 14,000 questions that require external knowledge to answer. We show that the performance of the state-of-the-art VQA models degrades drastically in this new setting. Our analysis shows that our knowledge-based VQA task is diverse, difficult, and large compared to previous knowledge-based VQA datasets. We hope that this dataset enables researchers to open up new avenues for research in this domain. See http://okvqa.allenai.org to download and browse the dataset.
NDDR-CNN: Layerwise Feature Fusing in Multi-Task CNNs by Neural Discriminative Dimensionality Reduction
Venue: Conference CVPR 2019
Year: 2019

In this paper, we propose a novel Convolutional Neural Network (CNN) structure for general-purpose multi-task learning (MTL), which enables automatic feature fusing at every layer from different tasks. This is in contrast with the most widely used MTL CNN structures which empirically or heuristically share features on some specific layers (e.g., share all the features except the last convolutional layer). The proposed layerwise feature fusing scheme is formulated by combining existing CNN components in a novel way, with clear mathematical interpretability as discriminative dimensionality reduction, which is referred to as Neural Discriminative Dimensionality Reduction (NDDR). Specifically, we first concatenate features with the same spatial resolution from different tasks according to their channel dimension. Then, we show that the discriminative dimensionality reduction can be fulfilled by 1x1 Convolution, Batch Normalization, and Weight Decay in one CNN. The use of existing CNN components ensures the end-to-end training and the extensibility of the proposed NDDR layer to various state-of-the-art CNN architectures in a "plug-and-play" manner. The detailed ablation analysis shows that the proposed NDDR layer is easy to train and also robust to different hyperparameters. Experiments on different task sets with various base network architectures demonstrate the promising performance and desirable generalizability of our proposed method. The code of our paper is available at https://github.com/ethanygao/NDDR-CNN.
Spectral Metric for Dataset Complexity Assessment
Venue: Conference CVPR 2019
Year: 2019

In this paper, we propose a new measure to gauge the complexity of image classification problems. Given an annotated image dataset, our method computes a complexity measure called the cumulative spectral gradient (CSG) which strongly correlates with the test accuracy of convolutional neural networks (CNN). The CSG measure is derived from the probabilistic divergence between classes in a spectral clustering framework. We show that this metric correlates with the overall separability of the dataset and thus its inherent complexity. As will be shown, our metric can be used for dataset reduction, to assess which classes are more difficult to disentangle, and approximate the accuracy one could expect to get with a CNN. Results obtained on 11 datasets and three CNN models reveal that our method is more accurate and faster than previous complexity measures.
ADCrowdNet: An Attention-Injective Deformable Convolutional Network for Crowd Understanding
Venue: Conference CVPR 2019
Year: 2019

We propose an attention-injective deformable convolutional network called ADCrowdNet for crowd understanding that can address the accuracy degradation problem of highly congested noisy scenes. ADCrowdNet contains two concatenated networks. An attention-aware network called Attention Map Generator (AMG) first detects crowd regions in images and computes the congestion degree of these regions. Based on detected crowd regions and congestion priors, a multi-scale deformable network called Density Map Estimator (DME) then generates high-quality density maps. With the attention-aware training scheme and multi-scale deformable convolutional scheme, the proposed ADCrowdNet achieves the capability of being more effective to capture the crowd features and more resistant to various noises. We have evaluated our method on four popular crowd counting datasets (ShanghaiTech, UCF_CC_50, WorldEXPO'10, and UCSD) and an extra vehicle counting dataset TRANCOS, and our approach beats existing state-of-the-art approaches on all of these datasets.
3D Local Features for Direct Pairwise Registration
Venue: Conference CVPR 2019
Year: 2019

We present a novel, data driven approach for solving the problem of registration of two point cloud scans. Our approach is direct in the sense that a single pair of corresponding local patches already provides the necessary transformation cue for the global registration. To achieve that, we first endow the state of the art PPF-FoldNet auto-encoder (AE) with a pose-variant sibling, where the discrepancy between the two leads to pose-specific descriptors. Based upon this, we introduce RelativeNet, a relative pose estimation network to assign correspondence-specific orientations to the keypoints, eliminating any local reference frame computations. Finally, we devise a simple yet effective hypothesize-and-verify algorithm to quickly use the predictions and align two point sets. Our extensive quantitative and qualitative experiments suggests that our approach outperforms the state of the art in challenging real datasets of pairwise registration and that augmenting the keypoints with local pose information leads to better generalization and a dramatic speed-up.
HPLFlowNet: Hierarchical Permutohedral Lattice FlowNet for Scene Flow Estimation on Large-Scale Point Clouds
Venue: Conference CVPR 2019
Year: 2019

We present a novel deep neural network architecture for end-to-end scene flow estimation that directly operates on large-scale 3D point clouds. Inspired by Bilateral Convolutional Layers (BCL), we propose novel DownBCL, UpBCL, and CorrBCL operations that restore structural information from unstructured point clouds, and fuse information from two consecutive point clouds. Operating on discrete and sparse permutohedral lattice points, our architectural design is parsimonious in computational cost. Our model can efficiently process a pair of point cloud frames at once with a maximum of 86K points per frame. Our approach achieves state-of-the-art performance on the FlyingThings3D and KITTI Scene Flow 2015 datasets. Moreover, trained on synthetic data, our approach shows great generalization ability on real-world data and on different point densities without fine-tuning.
Group-Wise Correlation Stereo Network
Venue: Conference CVPR 2019
Year: 2019

Stereo matching estimates the disparity between a rectified image pair, which is of great importance to depth sensing, autonomous driving, and other related tasks. Previous works built cost volumes with cross-correlation or concatenation of left and right features across all disparity levels, and then a 2D or 3D convolutional neural network is utilized to regress the disparity maps. In this paper, we propose to construct the cost volume by group-wise correlation. The left features and the right features are divided into groups along the channel dimension, and correlation maps are computed among each group to obtain multiple matching cost proposals, which are then packed into a cost volume. Group-wise correlation provides efficient representations for measuring feature similarities and will not lose too much information like full correlation. It also preserves better performance when reducing parameters compared with previous methods. The 3D stacked hourglass network proposed in previous works is improved to boost the performance and decrease the inference computational cost. Experiment results show that our method outperforms previous methods on Scene Flow, KITTI 2012, and KITTI 2015 datasets. The code is available at https://github.com/xy-guo/GwcNet
Understanding the Limitations of CNN-Based Absolute Camera Pose Regression
Venue: Conference CVPR 2019
Year: 2019

Visual localization is the task of accurate camera pose estimation in a known scene. It is a key problem in computer vision and robotics, with applications including self-driving cars, Structure-from-Motion, SLAM, and Mixed Reality. Traditionally, the localization problem has been tackled using 3D geometry. Recently, end-to-end approaches based on convolutional neural networks have become popular. These methods learn to directly regress the camera pose from an input image. However, they do not achieve the same level of pose accuracy as 3D structure-based methods. To understand this behavior, we develop a theoretical model for camera pose regression. We use our model to predict failure cases for pose regression techniques and verify our predictions through experiments. We furthermore use our model to show that pose regression is more closely related to pose approximation via image retrieval than to accurate pose estimation via 3D structure. A key result is that current approaches do not consistently outperform a handcrafted image retrieval baseline. This clearly shows that additional research is needed before pose regression algorithms are ready to compete with structure-based methods.
DeepLiDAR: Deep Surface Normal Guided Depth Prediction for Outdoor Scene From Sparse LiDAR Data and Single Color Image
Venue: Conference CVPR 2019
Year: 2019

In this paper, we propose a deep learning architecture that produces accurate dense depth for the outdoor scene from a single color image and a sparse depth. Inspired by the indoor depth completion, our network estimates surface normals as the intermediate representation to produce dense depth, and can be trained end-to-end. With a modified encoder-decoder structure, our network effectively fuses the dense color image and the sparse LiDAR depth. To address outdoor specific challenges, our network predicts a confidence mask to handle mixed LiDAR signals near foreground boundaries due to occlusion, and combines estimates from the color image and surface normals with learned attention maps to improve the depth accuracy especially for distant areas. Extensive experiments demonstrate that our model improves upon the state-of-the-art performance on KITTI depth completion benchmark. Ablation study shows the positive impact of each model components to the final performance, and comprehensive analysis shows that our model generalizes well to the input with higher sparsity or from indoor scenes.
Modeling Point Clouds With Self-Attention and Gumbel Subset Sampling
Venue: Conference CVPR 2019
Year: 2019

Geometric deep learning is increasingly important thanks to the popularity of 3D sensors. Inspired by the recent advances in NLP domain, the self-attention transformer is introduced to consume the point clouds. We develop Point Attention Transformers (PATs), using a parameter-efficient Group Shuffle Attention (GSA) to replace the costly Multi-Head Attention. We demonstrate its ability to process size-varying inputs, and prove its permutation equivariance. Besides, prior work uses heuristics dependence on the input data (e.g., Furthest Point Sampling) to hierarchically select subsets of input points. Thereby, we for the first time propose an end-to-end learnable and task-agnostic sampling operation, named Gumbel Subset Sampling (GSS), to select a representative subset of input points. Equipped with Gumbel-Softmax, it produces a "soft" continuous subset in training phase, and a "hard" discrete subset in test phase. By selecting representative subsets in a hierarchical fashion, the networks learn a stronger representation of the input sets with lower computation cost. Experiments on classification and segmentation benchmarks show the effectiveness and efficiency of our methods. Furthermore, we propose a novel application, to process event camera stream as point clouds, and achieve a state-of-the-art performance on DVS128 Gesture Dataset.
Learning With Batch-Wise Optimal Transport Loss for 3D Shape Recognition
Venue: Conference CVPR 2019
Year: 2019

Deep metric learning is essential for visual recognition. The widely used pair-wise (or triplet) based loss objectives cannot make full use of semantical information in training samples or give enough attention to those hard samples during optimization. Thus, they often suffer from a slow convergence rate and inferior performance. In this paper, we show how to learn an importance-driven distance metric via optimal transport programming from batches of samples. It can automatically emphasize hard examples and lead to significant improvements in convergence. We propose a new batch-wise optimal transport loss and combine it in an end-to-end deep metric learning manner. We use it to learn the distance metric and deep feature representation jointly for recognition. Empirical results on visual retrieval and classification tasks with six benchmark datasets, i.e., MNIST, CIFAR10, SHREC13, SHREC14, ModelNet10, and ModelNet40, demonstrate the superiority of the proposed method. It can accelerate the convergence rate significantly while achieving a state-of-the-art recognition performance. For example, in 3D shape recognition experiments, we show that our method can achieve better recognition performance within only 5 epochs than what can be obtained by mainstream 3D shape recognition approaches after 200 epochs.
DenseFusion: 6D Object Pose Estimation by Iterative Dense Fusion
Venue: Conference CVPR 2019
Year: 2019

A key technical challenge in performing 6D object pose estimation from RGB-D image is to fully leverage the two complementary data sources. Prior works either extract information from the RGB image and depth separately or use costly post-processing steps, limiting their performances in highly cluttered scenes and real-time applications. In this work, we present DenseFusion, a generic framework for estimating 6D pose of a set of known objects from RGB-D images. DenseFusion is a heterogeneous architecture that processes the two data sources individually and uses a novel dense fusion network to extract pixel-wise dense feature embedding, from which the pose is estimated. Furthermore, we integrate an end-to-end iterative pose refinement procedure that further improves the pose estimation while achieving near real-time inference. Our experiments show that our method outperforms state-of-the-art approaches in two datasets, YCB-Video and LineMOD. We also deploy our proposed method to a real robot to grasp and manipulate objects based on the estimated pose.