A Survey on Occupancy Perception for Autonomous Driving: The Information Fusion Perspective

arXiv:2405.05173v2 Announce Type: replace
Abstract: 3D occupancy perception technology aims to observe and understand dense 3D environments for autonomous vehicles. Owing to its comprehensive perception capability, this technology is emerging as a trend in autonomous driving perception systems, and is attracting significant attention from both industry and academia. Similar to traditional bird's-eye view (BEV) perception, 3D occupancy perception has the nature of multi-source input and the necessity for information fusion. However, the difference is that it captures vertical structures that are ignored by 2D BEV. In this survey, we review the most recent works on 3D occupancy perception, and provide in-depth analyses of methodologies with various input modalities. Specifically, we summarize general network pipelines, highlight information fusion techniques, and discuss effective network training. We evaluate and analyze the occupancy perception performance of the state-of-the-art on the most popular datasets. Furthermore, challenges and future research directions are discussed. We hope this paper will inspire the community and encourage more research work on 3D occupancy perception. A comprehensive list of studies in this survey is publicly available in an active repository that continuously collects the latest work: https://github.com/HuaiyuanXu/3D-Occupancy-Perception.


PCLMix: Weakly Supervised Medical Image Segmentation via Pixel-Level Contrastive Learning and Dynamic Mix Augmentation

arXiv:2405.06288v3 Announce Type: replace
Abstract: In weakly supervised medical image segmentation, the absence of structural priors and the discreteness of class feature distribution present a challenge, i.e., how to accurately propagate supervision signals from local to global regions without excessively spreading them to other irrelevant regions? To address this, we propose a novel weakly supervised medical image segmentation framework named PCLMix, comprising dynamic mix augmentation, pixel-level contrastive learning, and consistency regularization strategies. Specifically, PCLMix is built upon a heterogeneous dual-decoder backbone, addressing the absence of structural priors through a strategy of dynamic mix augmentation during training. To handle the discrete distribution of class features, PCLMix incorporates pixel-level contrastive learning based on prediction uncertainty, effectively enhancing the model's ability to differentiate inter-class pixel differences and intra-class consistency. Furthermore, to reinforce segmentation consistency and robustness, PCLMix employs an auxiliary decoder for dual consistency regularization. In the inference phase, the auxiliary decoder will be dropped and no computation complexity is increased. Extensive experiments on the ACDC dataset demonstrate that PCLMix appropriately propagates local supervision signals to the global scale, further narrowing the gap between weakly supervised and fully supervised segmentation methods. Our code is available at https://github.com/Torpedo2648/PCLMix.


Deep Learning-Based Object Pose Estimation: A Comprehensive Survey

arXiv:2405.07801v2 Announce Type: replace
Abstract: Object pose estimation is a fundamental computer vision problem with broad applications in augmented reality and robotics. Over the past decade, deep learning models, due to their superior accuracy and robustness, have increasingly supplanted conventional algorithms reliant on engineered point pair features. Nevertheless, several challenges persist in contemporary methods, including their dependency on labeled training data, model compactness, robustness under challenging conditions, and their ability to generalize to novel unseen objects. A recent survey discussing the progress made on different aspects of this area, outstanding challenges, and promising future directions, is missing. To fill this gap, we discuss the recent advances in deep learning-based object pose estimation, covering all three formulations of the problem, i.e., instance-level, category-level, and unseen object pose estimation. Our survey also covers multiple input data modalities, degrees-of-freedom of output poses, object properties, and downstream tasks, providing readers with a holistic understanding of this field. Additionally, it discusses training paradigms of different domains, inference modes, application areas, evaluation metrics, and benchmark datasets, as well as reports the performance of current state-of-the-art methods on these benchmarks, thereby facilitating readers in selecting the most suitable method for their application. Finally, the survey identifies key challenges, reviews prevailing trends along with their pros and cons, and identifies promising directions for future research. We also keep tracing the latest works at https://github.com/CNJianLiu/Awesome-Object-Pose-Estimation.


MambaOut: Do We Really Need Mamba for Vision?

arXiv:2405.07992v3 Announce Type: replace
Abstract: Mamba, an architecture with RNN-like token mixer of state space model (SSM), was recently introduced to address the quadratic complexity of the attention mechanism and subsequently applied to vision tasks. Nevertheless, the performance of Mamba for vision is often underwhelming when compared with convolutional and attention-based models. In this paper, we delve into the essence of Mamba, and conceptually conclude that Mamba is ideally suited for tasks with long-sequence and autoregressive characteristics. For vision tasks, as image classification does not align with either characteristic, we hypothesize that Mamba is not necessary for this task; Detection and segmentation tasks are also not autoregressive, yet they adhere to the long-sequence characteristic, so we believe it is still worthwhile to explore Mamba's potential for these tasks. To empirically verify our hypotheses, we construct a series of models named MambaOut through stacking Mamba blocks while removing their core token mixer, SSM. Experimental results strongly support our hypotheses. Specifically, our MambaOut model surpasses all visual Mamba models on ImageNet image classification, indicating that Mamba is indeed unnecessary for this task. As for detection and segmentation, MambaOut cannot match the performance of state-of-the-art visual Mamba models, demonstrating the potential of Mamba for long-sequence visual tasks. The code is available at https://github.com/yuweihao/MambaOut


Scalable Image Coding for Humans and Machines Using Feature Fusion Network

arXiv:2405.09152v2 Announce Type: replace
Abstract: As image recognition models become more prevalent, scalable coding methods for machines and humans gain more importance. Applications of image recognition models include traffic monitoring and farm management. In these use cases, the scalable coding method proves effective because the tasks require occasional image checking by humans. Existing image compression methods for humans and machines meet these requirements to some extent. However, these compression methods are effective solely for specific image recognition models. We propose a learning-based scalable image coding method for humans and machines that is compatible with numerous image recognition models. We combine an image compression model for machines with a compression model, providing additional information to facilitate image decoding for humans. The features in these compression models are fused using a feature fusion network to achieve efficient image compression. Our method's additional information compression model is adjusted to reduce the number of parameters by enabling combinations of features of different sizes in the feature fusion network. Our approach confirms that the feature fusion network efficiently combines image compression models while reducing the number of parameters. Furthermore, we demonstrate the effectiveness of the proposed scalable coding method by evaluating the image compression performance in terms of decoded image quality and bitrate.


PillarNeXt: Improving the 3D detector by introducing Voxel2Pillar feature encoding and extracting multi-scale features

arXiv:2405.09828v2 Announce Type: replace
Abstract: The multi-line LiDAR is widely used in autonomous vehicles, so point cloud-based 3D detectors are essential for autonomous driving. Extracting rich multi-scale features is crucial for point cloud-based 3D detectors in autonomous driving due to significant differences in the size of different types of objects. However, because of the real-time requirements, large-size convolution kernels are rarely used to extract large-scale features in the backbone. Current 3D detectors commonly use feature pyramid networks to obtain large-scale features; however, some objects containing fewer point clouds are further lost during down-sampling, resulting in degraded performance. Since pillar-based schemes require much less computation than voxel-based schemes, they are more suitable for constructing real-time 3D detectors. Hence, we propose the PillarNeXt, a pillar-based scheme. We redesigned the feature encoding, the backbone, and the neck of the 3D detector. We propose the Voxel2Pillar feature encoding, which uses a sparse convolution constructor to construct pillars with richer point cloud features, especially height features. The Voxel2Pillar adds more learnable parameters to the feature encoding, enabling the initial pillars to have higher performance ability. We extract multi-scale and large-scale features in the proposed fully sparse backbone, which does not utilize large-size convolutional kernels; the backbone consists of the proposed multi-scale feature extraction module. The neck consists of the proposed sparse ConvNeXt, whose simple structure significantly improves the performance. We validate the effectiveness of the proposed PillarNeXt on the Waymo Open Dataset, and the object detection accuracy for vehicles, pedestrians, and cyclists is improved. We also verify the effectiveness of each proposed module in detail through ablation studies.


RoScenes: A Large-scale Multi-view 3D Dataset for Roadside Perception

arXiv:2405.09883v3 Announce Type: replace
Abstract: We introduce RoScenes, the largest multi-view roadside perception dataset, which aims to shed light on the development of vision-centric Bird's Eye View (BEV) approaches for more challenging traffic scenes. The highlights of RoScenes include significantly large perception area, full scene coverage and crowded traffic. More specifically, our dataset achieves surprising 21.13M 3D annotations within 64,000 $m^2$. To relieve the expensive costs of roadside 3D labeling, we present a novel BEV-to-3D joint annotation pipeline to efficiently collect such a large volume of data. After that, we organize a comprehensive study for current BEV methods on RoScenes in terms of effectiveness and efficiency. Tested methods suffer from the vast perception area and variation of sensor layout across scenes, resulting in performance levels falling below expectations. To this end, we propose RoBEV that incorporates feature-guided position embedding for effective 2D-3D feature assignment. With its help, our method outperforms state-of-the-art by a large margin without extra computational overhead on validation set. Our dataset and devkit will be made available at https://github.com/xiaosu-zhu/RoScenes.


FPDIoU Loss: A Loss Function for Efficient Bounding Box Regression of Rotated Object Detection

arXiv:2405.09942v2 Announce Type: replace
Abstract: Bounding box regression is one of the important steps of object detection. However, rotation detectors often involve a more complicated loss based on SkewIoU which is unfriendly to gradient-based training. Most of the existing loss functions for rotated object detection calculate the difference between two bounding boxes only focus on the deviation of area or each points distance (e.g., $\mathcal{L}_{Smooth-\ell 1}$, $\mathcal{L}_{RotatedIoU}$ and $\mathcal{L}_{PIoU}$). The calculation process of some loss functions is extremely complex (e.g. $\mathcal{L}_{KFIoU}$). In order to improve the efficiency and accuracy of bounding box regression for rotated object detection, we proposed a novel metric for arbitrary shapes comparison based on minimum points distance, which takes most of the factors from existing loss functions for rotated object detection into account, i.e., the overlap or nonoverlapping area, the central points distance and the rotation angle. We also proposed a loss function called $\mathcal{L}_{FPDIoU}$ based on four points distance for accurate bounding box regression focusing on faster and high quality anchor boxes. In the experiments, $FPDIoU$ loss has been applied to state-of-the-art rotated object detection (e.g., RTMDET, H2RBox) models training with three popular benchmarks of rotated object detection including DOTA, DIOR, HRSC2016 and two benchmarks of arbitrary orientation scene text detection including ICDAR 2017 RRC-MLT and ICDAR 2019 RRC-MLT, which achieves better performance than existing loss functions.


Text-to-Vector Generation with Neural Path Representation

arXiv:2405.10317v2 Announce Type: replace
Abstract: Vector graphics are widely used in digital art and highly favored by designers due to their scalability and layer-wise properties. However, the process of creating and editing vector graphics requires creativity and design expertise, making it a time-consuming task. Recent advancements in text-to-vector (T2V) generation have aimed to make this process more accessible. However, existing T2V methods directly optimize control points of vector graphics paths, often resulting in intersecting or jagged paths due to the lack of geometry constraints. To overcome these limitations, we propose a novel neural path representation by designing a dual-branch Variational Autoencoder (VAE) that learns the path latent space from both sequence and image modalities. By optimizing the combination of neural paths, we can incorporate geometric constraints while preserving expressivity in generated SVGs. Furthermore, we introduce a two-stage path optimization method to improve the visual and topological quality of generated SVGs. In the first stage, a pre-trained text-to-image diffusion model guides the initial generation of complex vector graphics through the Variational Score Distillation (VSD) process. In the second stage, we refine the graphics using a layer-wise image vectorization strategy to achieve clearer elements and structure. We demonstrate the effectiveness of our method through extensive experiments and showcase various applications. The project page is https://intchous.github.io/T2V-NPR.


CoLeaF: A Contrastive-Collaborative Learning Framework for Weakly Supervised Audio-Visual Video Parsing

arXiv:2405.10690v2 Announce Type: replace
Abstract: Weakly supervised audio-visual video parsing (AVVP) methods aim to detect audible-only, visible-only, and audible-visible events using only video-level labels. Existing approaches tackle this by leveraging unimodal and cross-modal contexts. However, we argue that while cross-modal learning is beneficial for detecting audible-visible events, in the weakly supervised scenario, it negatively impacts unaligned audible or visible events by introducing irrelevant modality information. In this paper, we propose CoLeaF, a novel learning framework that optimizes the integration of cross-modal context in the embedding space such that the network explicitly learns to combine cross-modal information for audible-visible events while filtering them out for unaligned events. Additionally, as videos often involve complex class relationships, modelling them improves performance. However, this introduces extra computational costs into the network. Our framework is designed to leverage cross-class relationships during training without incurring additional computations at inference. Furthermore, we propose new metrics to better evaluate a method's capabilities in performing AVVP. Our extensive experiments demonstrate that CoLeaF significantly improves the state-of-the-art results by an average of 1.9% and 2.4% F-score on the LLP and UnAV-100 datasets, respectively.


Surrogate-based cross-correlation for particle image velocimetry

arXiv:2112.05303v2 Announce Type: replace-cross
Abstract: This paper presents a novel surrogate-based cross-correlation (SBCC) framework to improve the correlation performance for practical particle image velocimetry~(PIV). The basic idea is that an optimized surrogate filter/image, replacing one raw image, will produce a more accurate and robust correlation signal. Specifically, the surrogate image is encouraged to generate perfect Gaussian-shaped correlation map to tracking particles (PIV image pair) while producing zero responses to image noise (context images). And the problem is formularized with an objective function composed of surrogate loss and consistency loss. As a result, the closed-form solution provides an efficient multivariate operator that could consider other negative context images. Compared with the state-of-the-art baseline methods (background subtraction, robust phase correlation, etc.), our SBCC method exhibits significant performance improvement (accuracy and robustness) on the synthetic dataset and several challenging experimental PIV cases. Besides, our implementation with experimental details (\url{https://github.com/yongleex/SBCC}) is also available for interested researchers.


Improving Diffusion Models for Inverse Problems using Manifold Constraints

arXiv:2206.00941v3 Announce Type: replace-cross
Abstract: Recently, diffusion models have been used to solve various inverse problems in an unsupervised manner with appropriate modifications to the sampling process. However, the current solvers, which recursively apply a reverse diffusion step followed by a projection-based measurement consistency step, often produce suboptimal results. By studying the generative sampling path, here we show that current solvers throw the sample path off the data manifold, and hence the error accumulates. To address this, we propose an additional correction term inspired by the manifold constraint, which can be used synergistically with the previous solvers to make the iterations close to the manifold. The proposed manifold constraint is straightforward to implement within a few lines of code, yet boosts the performance by a surprisingly large margin. With extensive experiments, we show that our method is superior to the previous methods both theoretically and empirically, producing promising results in many applications such as image inpainting, colorization, and sparse-view computed tomography. Code available https://github.com/HJ-harry/MCG_diffusion


Robust Self-Tuning Data Association for Geo-Referencing Using Lane Markings

arXiv:2207.14042v2 Announce Type: replace-cross
Abstract: Localization in aerial imagery-based maps offers many advantages, such as global consistency, geo-referenced maps, and the availability of publicly accessible data. However, the landmarks that can be observed from both aerial imagery and on-board sensors is limited. This leads to ambiguities or aliasing during the data association.
  Building upon a highly informative representation (that allows efficient data association), this paper presents a complete pipeline for resolving these ambiguities. Its core is a robust self-tuning data association that adapts the search area depending on the entropy of the measurements. Additionally, to smooth the final result, we adjust the information matrix for the associated data as a function of the relative transform produced by the data association process.
  We evaluate our method on real data from urban and rural scenarios around the city of Karlsruhe in Germany. We compare state-of-the-art outlier mitigation methods with our self-tuning approach, demonstrating a considerable improvement, especially for outer-urban scenarios.


Diffusion Posterior Sampling for General Noisy Inverse Problems

arXiv:2209.14687v4 Announce Type: replace-cross
Abstract: Diffusion models have been recently studied as powerful generative inverse problem solvers, owing to their high quality reconstructions and the ease of combining existing iterative solvers. However, most works focus on solving simple linear inverse problems in noiseless settings, which significantly under-represents the complexity of real-world problems. In this work, we extend diffusion solvers to efficiently handle general noisy (non)linear inverse problems via approximation of the posterior sampling. Interestingly, the resulting posterior sampling scheme is a blended version of diffusion sampling with the manifold constrained gradient without a strict measurement consistency projection step, yielding a more desirable generative path in noisy settings compared to the previous studies. Our method demonstrates that diffusion models can incorporate various measurement noise statistics such as Gaussian and Poisson, and also efficiently handle noisy nonlinear inverse problems such as Fourier phase retrieval and non-uniform deblurring. Code available at https://github.com/DPS2022/diffusion-posterior-sampling


Multimodal Chain-of-Thought Reasoning in Language Models

arXiv:2302.00923v5 Announce Type: replace-cross
Abstract: Large language models (LLMs) have shown impressive performance on complex reasoning by leveraging chain-of-thought (CoT) prompting to generate intermediate reasoning chains as the rationale to infer the answer. However, existing CoT studies have primarily focused on the language modality. We propose Multimodal-CoT that incorporates language (text) and vision (images) modalities into a two-stage framework that separates rationale generation and answer inference. In this way, answer inference can leverage better generated rationales that are based on multimodal information. Experimental results on ScienceQA and A-OKVQA benchmark datasets show the effectiveness of our proposed approach. With Multimodal-CoT, our model under 1 billion parameters achieves state-of-the-art performance on the ScienceQA benchmark. Our analysis indicates that Multimodal-CoT offers the advantages of mitigating hallucination and enhancing convergence speed. Code is publicly available at https://github.com/amazon-science/mm-cot.


OccupancyDETR: Using DETR for Mixed Dense-sparse 3D Occupancy Prediction

arXiv:2309.08504v3 Announce Type: replace-cross
Abstract: Visual-based 3D semantic occupancy perception is a key technology for robotics, including autonomous vehicles, offering an enhanced understanding of the environment by 3D. This approach, however, typically requires more computational resources than BEV or 2D methods. We propose a novel 3D semantic occupancy perception method, OccupancyDETR, which utilizes a DETR-like object detection, a mixed dense-sparse 3D occupancy decoder. Our approach distinguishes between foreground and background within a scene. Initially, foreground objects are detected using the DETR-like object detection. Subsequently, queries for both foreground and background objects are fed into the mixed dense-sparse 3D occupancy decoder, performing upsampling in dense and sparse methods, respectively. Finally, a MaskFormer is utilized to infer the semantics of the background voxels. Our approach strikes a balance between efficiency and accuracy, achieving faster inference times, lower resource consumption, and improved performance for small object detection. We demonstrate the effectiveness of our proposed method on the SemanticKITTI dataset, showcasing an mIoU of 14 and a processing speed of 10 FPS, thereby presenting a promising solution for real-time 3D semantic occupancy perception.


Adaptive Landmark Color for AUV Docking in Visually Dynamic Environments

arXiv:2310.02944v2 Announce Type: replace-cross
Abstract: Autonomous Underwater Vehicles (AUVs) conduct missions underwater without the need for human intervention. A docking station (DS) can extend mission times of an AUV by providing a location for the AUV to recharge its batteries and receive updated mission information. Various methods for locating and tracking a DS exist, but most rely on expensive acoustic sensors, or are vision-based, which is significantly affected by water quality. In this \doctype, we present a vision-based method that utilizes adaptive color LED markers and dynamic color filtering to maximize landmark visibility in varying water conditions. Both AUV and DS utilize cameras to determine the water background color in order to calculate the desired marker color. No communication between AUV and DS is needed to determine marker color. Experiments conducted in a pool and lake show our method performs 10 times better than static color thresholding methods as background color varies. DS detection is possible at a range of 5 meters in clear water with minimal false positives.


KI-PMF: Knowledge Integrated Plausible Motion Forecasting

arXiv:2310.12007v2 Announce Type: replace-cross
Abstract: Accurately forecasting the motion of traffic actors is crucial for the deployment of autonomous vehicles at a large scale. Current trajectory forecasting approaches primarily concentrate on optimizing a loss function with a specific metric, which can result in predictions that do not adhere to physical laws or violate external constraints. Our objective is to incorporate explicit knowledge priors that allow a network to forecast future trajectories in compliance with both the kinematic constraints of a vehicle and the geometry of the driving environment. To achieve this, we introduce a non-parametric pruning layer and attention layers to integrate the defined knowledge priors. Our proposed method is designed to ensure reachability guarantees for traffic actors in both complex and dynamic situations. By conditioning the network to follow physical laws, we can obtain accurate and safe predictions, essential for maintaining autonomous vehicles' safety and efficiency in real-world settings.In summary, this paper presents concepts that prevent off-road predictions for safe and reliable motion forecasting by incorporating knowledge priors into the training process.


The Perception-Robustness Tradeoff in Deterministic Image Restoration

arXiv:2311.09253v3 Announce Type: replace-cross
Abstract: We study the behavior of deterministic methods for solving inverse problems in imaging. These methods are commonly designed to achieve two goals: (1) attaining high perceptual quality, and (2) generating reconstructions that are consistent with the measurements. We provide a rigorous proof that the better a predictor satisfies these two requirements, the larger its Lipschitz constant must be, regardless of the nature of the degradation involved. In particular, to approach perfect perceptual quality and perfect consistency, the Lipschitz constant of the model must grow to infinity. This implies that such methods are necessarily more susceptible to adversarial attacks. We demonstrate our theory on single image super-resolution algorithms, addressing both noisy and noiseless settings. We also show how this undesired behavior can be leveraged to explore the posterior distribution, thereby allowing the deterministic model to imitate stochastic methods.


Continual Learning of Diffusion Models with Generative Distillation

arXiv:2311.14028v2 Announce Type: replace-cross
Abstract: Diffusion models are powerful generative models that achieve state-of-the-art performance in image synthesis. However, training them demands substantial amounts of data and computational resources. Continual learning would allow for incrementally learning new tasks and accumulating knowledge, thus enabling the reuse of trained models for further learning. One potentially suitable continual learning approach is generative replay, where a copy of a generative model trained on previous tasks produces synthetic data that are interleaved with data from the current task. However, standard generative replay applied to diffusion models results in a catastrophic loss in denoising capabilities. In this paper, we propose generative distillation, an approach that distils the entire reverse process of a diffusion model. We demonstrate that our approach substantially improves the continual learning performance of generative replay with only a modest increase in the computational costs.


DIRECT: Deep Active Learning under Imbalance and Label Noise

arXiv:2312.09196v3 Announce Type: replace-cross
Abstract: Class imbalance is a prevalent issue in real world machine learning applications, often leading to poor performance in rare and minority classes. With an abundance of wild unlabeled data, active learning is perhaps the most effective technique in solving the problem at its root -- collecting a more balanced and informative set of labeled examples during annotation. Label noise is another common issue in data annotation jobs, which is especially challenging for active learning methods. In this work, we conduct the first study of active learning under both class imbalance and label noise. We propose a novel algorithm that robustly identifies the class separation threshold and annotates the most uncertain examples that are closest from it. Through a novel reduction to one-dimensional active learning, our algorithm DIRECT is able to leverage the classic active learning literature to address issues such as batch labeling and tolerance towards label noise. We present extensive experiments on imbalanced datasets with and without label noise. Our results demonstrate that DIRECT can save more than 60% of the annotation budget compared to state-of-art active learning algorithms and more than 80% of annotation budget compared to random sampling.


M3-VRD: Multimodal Multi-task Multi-teacher Visually-Rich Form Document Understanding

arXiv:2402.17983v2 Announce Type: replace-cross
Abstract: This paper presents a groundbreaking multimodal, multi-task, multi-teacher joint-grained knowledge distillation model for visually-rich form document understanding. The model is designed to leverage insights from both fine-grained and coarse-grained levels by facilitating a nuanced correlation between token and entity representations, addressing the complexities inherent in form documents. Additionally, we introduce new inter-grained and cross-grained loss functions to further refine diverse multi-teacher knowledge distillation transfer process, presenting distribution gaps and a harmonised understanding of form documents. Through a comprehensive evaluation across publicly available form document understanding datasets, our proposed model consistently outperforms existing baselines, showcasing its efficacy in handling the intricate structures and content of visually complex form documents.


Real-time 3D semantic occupancy prediction for autonomous vehicles using memory-efficient sparse convolution

arXiv:2403.08748v3 Announce Type: replace-cross
Abstract: In autonomous vehicles, understanding the surrounding 3D environment of the ego vehicle in real-time is essential. A compact way to represent scenes while encoding geometric distances and semantic object information is via 3D semantic occupancy maps. State of the art 3D mapping methods leverage transformers with cross-attention mechanisms to elevate 2D vision-centric camera features into the 3D domain. However, these methods encounter significant challenges in real-time applications due to their high computational demands during inference. This limitation is particularly problematic in autonomous vehicles, where GPU resources must be shared with other tasks such as localization and planning. In this paper, we introduce an approach that extracts features from front-view 2D camera images and LiDAR scans, then employs a sparse convolution network (Minkowski Engine), for 3D semantic occupancy prediction. Given that outdoor scenes in autonomous driving scenarios are inherently sparse, the utilization of sparse convolution is particularly apt. By jointly solving the problems of 3D scene completion of sparse scenes and 3D semantic segmentation, we provide a more efficient learning framework suitable for real-time applications in autonomous vehicles. We also demonstrate competitive accuracy on the nuScenes dataset.


View-Consistent 3D Editing with Gaussian Splatting

arXiv:2403.11868v4 Announce Type: replace-cross
Abstract: The advent of 3D Gaussian Splatting (3DGS) has revolutionized 3D editing, offering efficient, high-fidelity rendering and enabling precise local manipulations. Currently, diffusion-based 2D editing models are harnessed to modify multi-view rendered images, which then guide the editing of 3DGS models. However, this approach faces a critical issue of multi-view inconsistency, where the guidance images exhibit significant discrepancies across views, leading to mode collapse and visual artifacts of 3DGS. To this end, we introduce View-consistent Editing (VcEdit), a novel framework that seamlessly incorporates 3DGS into image editing processes, ensuring multi-view consistency in edited guidance images and effectively mitigating mode collapse issues. VcEdit employs two innovative consistency modules: the Cross-attention Consistency Module and the Editing Consistency Module, both designed to reduce inconsistencies in edited images. By incorporating these consistency modules into an iterative pattern, VcEdit proficiently resolves the issue of multi-view inconsistency, facilitating high-quality 3DGS editing across a diverse range of scenes.


Super-High-Fidelity Image Compression via Hierarchical-ROI and Adaptive Quantization

arXiv:2403.13030v2 Announce Type: replace-cross
Abstract: Learned Image Compression (LIC) has achieved dramatic progress regarding objective and subjective metrics. MSE-based models aim to improve objective metrics while generative models are leveraged to improve visual quality measured by subjective metrics. However, they all suffer from blurring or deformation at low bit rates, especially at below $0.2bpp$. Besides, deformation on human faces and text is unacceptable for visual quality assessment, and the problem becomes more prominent on small faces and text. To solve this problem, we combine the advantage of MSE-based models and generative models by utilizing region of interest (ROI). We propose Hierarchical-ROI (H-ROI), to split images into several foreground regions and one background region to improve the reconstruction of regions containing faces, text, and complex textures. Further, we propose adaptive quantization by non-linear mapping within the channel dimension to constrain the bit rate while maintaining the visual quality. Exhaustive experiments demonstrate that our methods achieve better visual quality on small faces and text with lower bit rates, e.g., $0.7X$ bits of HiFiC and $0.5X$ bits of BPG.


Detoxifying Large Language Models via Knowledge Editing

arXiv:2403.14472v4 Announce Type: replace-cross
Abstract: This paper investigates using knowledge editing techniques to detoxify Large Language Models (LLMs). We construct a benchmark, SafeEdit, which covers nine unsafe categories with various powerful attack prompts and equips comprehensive metrics for systematic evaluation. We conduct experiments with several knowledge editing approaches, indicating that knowledge editing has the potential to detoxify LLMs with a limited impact on general performance efficiently. Then, we propose a simple yet effective baseline, dubbed Detoxifying with Intraoperative Neural Monitoring (DINM), to diminish the toxicity of LLMs within a few tuning steps via only one instance. We further provide an in-depth analysis of the internal mechanism for various detoxifying approaches, demonstrating that previous methods like SFT and DPO may merely suppress the activations of toxic parameters, while DINM mitigates the toxicity of the toxic parameters to a certain extent, making permanent adjustments. We hope that these insights could shed light on future work of developing detoxifying approaches and the underlying knowledge mechanisms of LLMs. Code and benchmark are available at https://github.com/zjunlp/EasyEdit.


An image speaks a thousand words, but can everyone listen? On image transcreation for cultural relevance

arXiv:2404.01247v2 Announce Type: replace-cross
Abstract: Given the rise of multimedia content, human translators increasingly focus on culturally adapting not only words but also other modalities such as images to convey the same meaning. While several applications stand to benefit from this, machine translation systems remain confined to dealing with language in speech and text. In this work, we take a first step towards translating images to make them culturally relevant. First, we build three pipelines comprising state-of-the-art generative models to do the task. Next, we build a two-part evaluation dataset: i) concept: comprising 600 images that are cross-culturally coherent, focusing on a single concept per image, and ii) application: comprising 100 images curated from real-world applications. We conduct a multi-faceted human evaluation of translated images to assess for cultural relevance and meaning preservation. We find that as of today, image-editing models fail at this task, but can be improved by leveraging LLMs and retrievers in the loop. Best pipelines can only translate 5% of images for some countries in the easier concept dataset and no translation is successful for some countries in the application dataset, highlighting the challenging nature of the task. Our code and data is released here: https://github.com/simran-khanuja/image-transcreation.


Contextual Embedding Learning to Enhance 2D Networks for Volumetric Image Segmentation

arXiv:2404.01723v2 Announce Type: replace-cross
Abstract: The segmentation of organs in volumetric medical images plays an important role in computer-aided diagnosis and treatment/surgery planning. Conventional 2D convolutional neural networks (CNNs) can hardly exploit the spatial correlation of volumetric data. Current 3D CNNs have the advantage to extract more powerful volumetric representations but they usually suffer from occupying excessive memory and computation nevertheless. In this study we aim to enhance the 2D networks with contextual information for better volumetric image segmentation. Accordingly, we propose a contextual embedding learning approach to facilitate 2D CNNs capturing spatial information properly. Our approach leverages the learned embedding and the slice-wisely neighboring matching as a soft cue to guide the network. In such a way, the contextual information can be transferred slice-by-slice thus boosting the volumetric representation of the network. Experiments on challenging prostate MRI dataset (PROMISE12) and abdominal CT dataset (CHAOS) show that our contextual embedding learning can effectively leverage the inter-slice context and improve segmentation performance. The proposed approach is a plug-and-play, and memory-efficient solution to enhance the 2D networks for volumetric segmentation. Our code is publicly available at https://github.com/JuliusWang-7/CE_Block.


Raster Forge: Interactive Raster Manipulation Library and GUI for Python

arXiv:2404.06389v2 Announce Type: replace-cross
Abstract: Raster Forge is a Python library and graphical user interface for raster data manipulation and analysis. The tool is focused on remote sensing applications, particularly in wildfire management. It allows users to import, visualize, and process raster layers for tasks such as image compositing or topographical analysis. For wildfire management, it generates fuel maps using predefined models. Its impact extends from disaster management to hydrological modeling, agriculture, and environmental monitoring. Raster Forge can be a valuable asset for geoscientists and researchers who rely on raster data analysis, enhancing geospatial data processing and visualization across various disciplines.


Deep Learning for Melt Pool Depth Contour Prediction From Surface Thermal Images via Vision Transformers

arXiv:2404.17699v3 Announce Type: replace-cross
Abstract: Insufficient overlap between the melt pools produced during Laser Powder Bed Fusion (L-PBF) can lead to lack-of-fusion defects and deteriorated mechanical and fatigue performance. In-situ monitoring of the melt pool subsurface morphology requires specialized equipment that may not be readily accessible or scalable. Therefore, we introduce a machine learning framework to correlate in-situ two-color thermal images observed via high-speed color imaging to the two-dimensional profile of the melt pool cross-section. Specifically, we employ a hybrid CNN-Transformer architecture to establish a correlation between single bead off-axis thermal image sequences and melt pool cross-section contours measured via optical microscopy. In this architecture, a ResNet model embeds the spatial information contained within the thermal images to a latent vector, while a Transformer model correlates the sequence of embedded vectors to extract temporal information. Our framework is able to model the curvature of the subsurface melt pool structure, with improved performance in high energy density regimes compared to analytical melt pool models. The performance of this model is evaluated through dimensional and geometric comparisons to the corresponding experimental melt pool observations.


Efficient Data-driven Scene Simulation using Robotic Surgery Videos via Physics-embedded 3D Gaussians

arXiv:2405.00956v2 Announce Type: replace-cross
Abstract: Surgical scene simulation plays a crucial role in surgical education and simulator-based robot learning. Traditional approaches for creating these environments with surgical scene involve a labor-intensive process where designers hand-craft tissues models with textures and geometries for soft body simulations. This manual approach is not only time-consuming but also limited in the scalability and realism. In contrast, data-driven simulation offers a compelling alternative. It has the potential to automatically reconstruct 3D surgical scenes from real-world surgical video data, followed by the application of soft body physics. This area, however, is relatively uncharted. In our research, we introduce 3D Gaussian as a learnable representation for surgical scene, which is learned from stereo endoscopic video. To prevent over-fitting and ensure the geometrical correctness of these scenes, we incorporate depth supervision and anisotropy regularization into the Gaussian learning process. Furthermore, we apply the Material Point Method, which is integrated with physical properties, to the 3D Gaussians to achieve realistic scene deformations. Our method was evaluated on our collected in-house and public surgical videos datasets. Results show that it can reconstruct and simulate surgical scenes from endoscopic videos efficiently-taking only a few minutes to reconstruct the surgical scene-and produce both visually and physically plausible deformations at a speed approaching real-time. The results demonstrate great potential of our proposed method to enhance the efficiency and variety of simulations available for surgical education and robot learning.


DisBeaNet: A Deep Neural Network to augment Unmanned Surface Vessels for maritime situational awareness

arXiv:2405.06149v2 Announce Type: replace-cross
Abstract: Intelligent detection and tracking of the vessels on the sea play a significant role in conducting traffic avoidance in unmanned surface vessels(USV). Current traffic avoidance software relies mainly on Automated Identification System (AIS) and radar to track other vessels to avoid collisions and acts as a typical perception system to detect targets. However, in a contested environment, emitting radar energy also presents the vulnerability to detection by adversaries. Deactivating these Radiofrequency transmitting sources will increase the threat of detection and degrade the USV's ability to monitor shipping traffic in the vicinity. Therefore, an intelligent visual perception system based on an onboard camera with passive sensing capabilities that aims to assist USV in addressing this problem is presented in this paper. This paper will present a novel low-cost vision perception system for detecting and tracking vessels in the maritime environment. This novel low-cost vision perception system is introduced using the deep learning framework. A neural network, DisBeaNet, can detect vessels, track, and estimate the vessel's distance and bearing from the monocular camera. The outputs obtained from this neural network are used to determine the latitude and longitude of the identified vessel.


Perception Without Vision for Trajectory Prediction: Ego Vehicle Dynamics as Scene Representation for Efficient Active Learning in Autonomous Driving

arXiv:2405.09049v2 Announce Type: replace-cross
Abstract: This study investigates the use of trajectory and dynamic state information for efficient data curation in autonomous driving machine learning tasks. We propose methods for clustering trajectory-states and sampling strategies in an active learning framework, aiming to reduce annotation and data costs while maintaining model performance. Our approach leverages trajectory information to guide data selection, promoting diversity in the training data. We demonstrate the effectiveness of our methods on the trajectory prediction task using the nuScenes dataset, showing consistent performance gains over random sampling across different data pool sizes, and even reaching sub-baseline displacement errors at just 50% of the data cost. Our results suggest that sampling typical data initially helps overcome the ''cold start problem,'' while introducing novelty becomes more beneficial as the training pool size increases. By integrating trajectory-state-informed active learning, we demonstrate that more efficient and robust autonomous driving systems are possible and practical using low-cost data curation strategies.


Unveiling Hallucination in Text, Image, Video, and Audio Foundation Models: A Comprehensive Survey

arXiv:2405.09589v2 Announce Type: replace-cross
Abstract: The rapid advancement of foundation models (FMs) across language, image, audio, and video domains has shown remarkable capabilities in diverse tasks. However, the proliferation of FMs brings forth a critical challenge: the potential to generate hallucinated outputs, particularly in high-stakes applications. The tendency of foundation models to produce hallucinated content arguably represents the biggest hindrance to their widespread adoption in real-world scenarios, especially in domains where reliability and accuracy are paramount. This survey paper presents a comprehensive overview of recent developments that aim to identify and mitigate the problem of hallucination in FMs, spanning text, image, video, and audio modalities. By synthesizing recent advancements in detecting and mitigating hallucination across various modalities, the paper aims to provide valuable insights for researchers, developers, and practitioners. Essentially, it establishes a clear framework encompassing definition, taxonomy, and detection strategies for addressing hallucination in multimodal foundation models, laying the foundation for future research in this pivotal area.


Infrared Image Super-Resolution via Lightweight Information Split Network

arXiv:2405.10561v2 Announce Type: replace-cross
Abstract: Single image super-resolution (SR) is an established pixel-level vision task aimed at reconstructing a high-resolution image from its degraded low-resolution counterpart. Despite the notable advancements achieved by leveraging deep neural networks for SR, most existing deep learning architectures feature an extensive number of layers, leading to high computational complexity and substantial memory demands. These issues become particularly pronounced in the context of infrared image SR, where infrared devices often have stringent storage and computational constraints. To mitigate these challenges, we introduce a novel, efficient, and precise single infrared image SR model, termed the Lightweight Information Split Network (LISN). The LISN comprises four main components: shallow feature extraction, deep feature extraction, dense feature fusion, and high-resolution infrared image reconstruction. A key innovation within this model is the introduction of the Lightweight Information Split Block (LISB) for deep feature extraction. The LISB employs a sequential process to extract hierarchical features, which are then aggregated based on the relevance of the features under consideration. By integrating channel splitting and shift operations, the LISB successfully strikes an optimal balance between enhanced SR performance and a lightweight framework. Comprehensive experimental evaluations reveal that the proposed LISN achieves superior performance over contemporary state-of-the-art methods in terms of both SR quality and model complexity, affirming its efficacy for practical deployment in resource-constrained infrared imaging applications.


Why technology has not transformed building (bbc.co.uk)


Diamond-lattice photonic crystals assembled from DNA origami – Science (science.org)


Voice Misappropriation in California: Midler, Waits, and Grandma Burger (mcpherson-llp.com)


Artificial Intelligence Act (wikipedia.org)


Data Mechanics Delight is shutting down in a week (May 31st) (datamechanics.co)


Apify Meets AI: Crafting AI with Apify for Robust NL Web Scraping (medium.com/stefanopochet)


By 2028 EU to Mandate "Right to Talk to a Human" Predicts Gartner (cxtoday.com)


The Great Linux Opportunity (devpapa.bearblog.dev)


Kabosu, the dog behind the 'doge' internet meme, has died (nbcnews.com)


Unpacking Elixir – Embedded Linux with Nerves (underjord.io)


FAA reveals flaw in Boeing 777 that could result in fuel tank exploding (nypost.com)


Test Functions for Global Optimization (sfu.ca)


Voxel Displacement Renderer – Modernizing the Retro 3D Aesthetic (danielschroeder.me)


Top500 Supers: Nvidia Utterly Dominates Those Shiny New Machines (nextplatform.com)


The Workings of the Spirit (nybooks.com)


Common Lisp Is Not a Single Language, It Is Lots (aartaka.me)


Willow Sideloading Protocol (willowprotocol.org)


Show HN: BigHN, DarkHN, NoHN Userscripts (github.com/susam)


Age of Digital Darwinism and SEO (itsbariscan.substack.com)


More Nuclear Energy Means Less Mining (thebreakthrough.org)


Converting a Cisco 7609 into a beer tap (2021) (jonasbengtson.se)


Kabosu, the Dog Behind the 'Doge' Meme, Has Died (ign.com)


Shiba Inu which inspired the 'doge' meme and became face of Dogecoin has died (sky.com)


SolidStart 1.0: The Shape of Frameworks to Come (solidjs.com)


European utilities cut renewable targets as high costs and low power prices bite (ft.com)


.NET for NES Game Console on 6502 Microprocessors (github.com/jonathanpeppers)


DataFrames at Scale Comparison: TPC-H [Spark, Dask, DuckDB, Polars] (coiled.io)


Avoid the Long Parameter List (googleblog.com)


Managing extreme AI risks amid rapid progress (science.org)


Angular 18 is now available (angular.dev)