mtybilly/Instruct2DS huggingface dataset:
Commonsense Prototype for Outdoor Unsupervised 3D Object Detection
Authors: Hai Wu, Shijia Zhao, Xun Huang, Chenglu Wen, Xin Li, Cheng Wang
Published in: IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2024 (Main Conference Track), 2024

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

Abstract: Vision-and-language navigation (VLN) enables the agent to navigate to a remote location following the natural language instruction in 3D environments. At each navigation step the agent selects from possible candidate locations and then makes the move. For better navigation planning the lookahead exploration strategy aims to effectively evaluate the agent's next action by accurately anticipating the future environment of candidate locations. To this end some existing works predict RGB images for future environments while this strategy suffers from image distortion and high computational cost. To address these issues we propose the pre-trained hierarchical neural radiance representation model (HNR) to produce multi-level semantic features for future environments which are more robust and efficient than pixel-wise RGB reconstruction. Furthermore with the predicted future environmental representations our lookahead VLN model is able to construct the navigable future path tree and select the optimal path via efficient parallel evaluation. Extensive experiments on the VLN-CE datasets confirm the effectiveness of our method.
Clustering Propagation for Universal Medical Image Segmentation
Authors: Yuhang Ding, Liulei Li, Wenguan Wang, Yi Yang
Published in: IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2024 (Main Conference Track), 2024

Abstract: Prominent solutions for medical image segmentation are typically tailored for automatic or interactive setups posing challenges in facilitating progress achieved in one task to another. This also necessitates separate models for each task duplicating both training time and parameters. To address above issues we introduce S2VNet a universal framework that leverages Slice-to-Volume propagation to unify automatic/interactive segmentation within a single model and one training session. Inspired by clustering-based segmentation techniques S2VNet makes full use of the slice-wise structure of volumetric data by initializing cluster centers from the cluster results of previous slice. This enables knowledge acquired from prior slices to assist in the segmentation of the current slice further efficiently bridging the communication between remote slices using mere 2D networks. Moreover such a framework readily accommodates inter- active segmentation with no architectural change simply by initializing centroids from user inputs. S2VNet distinguishes itself by swift inference speeds and reduced memory consumption compared to prevailing 3D solutions. It can also handle multi-class interactions with each of them serving to initialize different centroids. Experiments on three benchmarks demonstrate S2VNet surpasses task-specified solutions on both automatic/interactive setups.
MoPE-CLIP: Structured Pruning for Efficient Vision-Language Models with Module-wise Pruning Error Metric
Authors: Haokun Lin, Haoli Bai, Zhili Liu, Lu Hou, Muyi Sun, Linqi Song, Ying Wei, Zhenan Sun
Published in: IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2024 (Main Conference Track), 2024

Abstract: Vision-language pre-trained models have achieved impressive performance on various downstream tasks. However their large model sizes hinder their utilization on platforms with limited computational resources. We find that directly using smaller pre-trained models and applying magnitude-based pruning on CLIP models leads to inflexibility and inferior performance. Recent efforts for VLP compression either adopt uni-modal compression metrics resulting in limited performance or involve costly mask-search processes with learnable masks. In this paper we first propose the Module-wise Pruning Error (MoPE) metric accurately assessing CLIP module importance by performance decline on cross-modal tasks. Using the MoPE metric we introduce a unified pruning framework applicable to both pre-training and task-specific fine-tuning compression stages. For pre-training MoPE-CLIP effectively leverages knowledge from the teacher model significantly reducing pre-training costs while maintaining strong zero-shot capabilities. For fine-tuning consecutive pruning from width to depth yields highly competitive task-specific models. Extensive experiments in two stages demonstrate the effectiveness of the MoPE metric and MoPE-CLIP outperforms previous state-of-the-art VLP compression methods.
Learning Vision from Models Rivals Learning Vision from Data
Authors: Yonglong Tian, Lijie Fan, Kaifeng Chen, Dina Katabi, Dilip Krishnan, Phillip Isola
Published in: IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2024 (Main Conference Track), 2024

Abstract: We introduce SynCLR a novel approach for learning visual representations exclusively from synthetic images without any real data. We synthesize a large dataset of image captions using LLMs then use an off-the-shelf text-to-image model to generate multiple images corresponding to each synthetic caption. We perform visual representation learning on these synthetic images via contrastive learning treating images sharing the same caption as positive pairs. The resulting representations demonstrate remarkable transferability competing favorably with other general-purpose visual representation learners such as CLIP and DINO v2 in image classification tasks. Furthermore in dense prediction tasks such as semantic segmentation SynCLR outperforms previous self-supervised methods by a significant margin e.g. improving over MAE and iBOT by 5.0 and 3.1 mIoU on ADE20k for ViT-B/16.
Leveraging Frame Affinity for sRGB-to-RAW Video De-rendering
Authors: Chen Zhang, Wencheng Han, Yang Zhou, Jianbing Shen, Cheng-zhong Xu, Wentao Liu
Published in: IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2024 (Main Conference Track), 2024

Abstract: Unprocessed RAW video has shown distinct advantages over sRGB video in video editing and computer vision tasks. However capturing RAW video is challenging due to limitations in bandwidth and storage. Various methods have been proposed to address similar issues in single image RAW capture through de-rendering. These methods utilize both the metadata and the sRGB image to perform sRGB-to-RAW de-rendering and recover high-quality single-frame RAW data. However metadata-based methods always require additional computation for online metadata generation imposing severe burden on mobile camera device for high frame rate RAW video capture. To address this issue we propose a framework that utilizes frame affinity to achieve high-quality sRGB-to-RAW video reconstruction. Our approach consists of two main steps. The first step temporal affinity prior extraction uses motion information between adjacent frames to obtain a reference RAW image. The second step spatial feature fusion and mapping learns a pixel-level mapping function using scene-specific and position-specific features provided by the previous frame. Our method can be easily applied to current mobile camera equipment without complicated adaptations or added burden. To demonstrate the effectiveness of our approach we introduce the first RAW Video De-rendering Benchmark. In this benchmark our method outperforms state-of-the-art RAW image reconstruction methods even without image-level metadata.
Adapting Short-Term Transformers for Action Detection in Untrimmed Videos
Authors: Min Yang, Huan Gao, Ping Guo, Limin Wang
Published in: IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2024 (Main Conference Track), 2024

Abstract: Vision Transformer (ViT) has shown high potential in video recognition owing to its flexible design adaptable self-attention mechanisms and the efficacy of masked pre-training. Yet it remains unclear how to adapt these pre-trained short-term ViTs for temporal action detection (TAD) in untrimmed videos. The existing works treat them as off-the-shelf feature extractors for each short-trimmed snippet without capturing the fine-grained relation among different snippets in a broader temporal context. To mitigate this issue this paper focuses on designing a new mechanism for adapting these pre-trained ViT models as a unified long-form video transformer to fully unleash its modeling power in capturing inter-snippet relation while still keeping low computation overhead and memory consumption for efficient TAD. To this end we design effective cross-snippet propagation modules to gradually exchange short-term video information among different snippets from two levels. For inner-backbone information propagation we introduce a cross-snippet propagation strategy to enable multi-snippet temporal feature interaction inside the backbone. For post-backbone information propagation we propose temporal transformer layers for further clip-level modeling. With the plain ViT-B pre-trained with VideoMAE our end-to-end temporal action detector (ViT-TAD) yields a very competitive performance to previous temporal action detectors riching up to 69.5 average mAP on THUMOS14 37.40 average mAP on ActivityNet-1.3 and 17.20 average mAP on FineAction.
The Mirrored Influence Hypothesis: Efficient Data Influence Estimation by Harnessing Forward Passes
Authors: Myeongseob Ko, Feiyang Kang, Weiyan Shi, Ming Jin, Zhou Yu, Ruoxi Jia
Published in: IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2024 (Main Conference Track), 2024

Abstract: Large-scale black-box models have become ubiquitous across numerous applications. Understanding the influence of individual training data sources on predictions made by these models is crucial for improving their trustworthiness. Current influence estimation techniques involve computing gradients for every training point or repeated training on different subsets. These approaches face obvious computational challenges when scaled up to large datasets and models. In this paper we introduce and explore the Mirrored Influence Hypothesis highlighting a reciprocal nature of influence between training and test data. Specifically it suggests that evaluating the influence of training data on test predictions can be reformulated as an equivalent yet inverse problem: assessing how the predictions for training samples would be altered if the model were trained on specific test samples. Through both empirical and theoretical validations we demonstrate the wide applicability of our hypothesis. Inspired by this we introduce a new method for estimating the influence of training data which requires calculating gradients for specific test samples paired with a forward pass for each training point. This approach can capitalize on the common asymmetry in scenarios where the number of test samples under concurrent examination is much smaller than the scale of the training dataset thus gaining a significant improvement in efficiency compared to existing approaches. We demonstrate the applicability of our method across a range of scenarios including data attribution in diffusion models data leakage detection analysis of memorization mislabeled data detection and tracing behavior in language models.
SOAC: Spatio-Temporal Overlap-Aware Multi-Sensor Calibration using Neural Radiance Fields
Authors: Quentin Herau, Nathan Piasco, Moussab Bennehar, Luis Roldao, Dzmitry Tsishkou, Cyrille Migniot, Pascal Vasseur, Cédric Demonceaux
Published in: IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2024 (Main Conference Track), 2024

Abstract: In rapidly-evolving domains such as autonomous driving the use of multiple sensors with different modalities is crucial to ensure high operational precision and stability. To correctly exploit the provided information by each sensor in a single common frame it is essential for these sensors to be accurately calibrated. In this paper we leverage the ability of Neural Radiance Fields (NeRF) to represent different sensors modalities in a common volumetric representation to achieve robust and accurate spatio-temporal sensor calibration. By designing a partitioning approach based on the visible part of the scene for each sensor we formulate the calibration problem using only the overlapping areas. This strategy results in a more robust and accurate calibration that is less prone to failure. We demonstrate that our approach works on outdoor urban scenes by validating it on multiple established driving datasets. Results show that our method is able to get better accuracy and robustness compared to existing methods.
G^3-LQ: Marrying Hyperbolic Alignment with Explicit Semantic-Geometric Modeling for 3D Visual Grounding
Authors: Yuan Wang, Yali Li, Shengjin Wang
Published in: IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2024 (Main Conference Track), 2024

Abstract: Grounding referred objects in 3D scenes is a burgeoning vision-language task pivotal for propelling Embodied AI as it endeavors to connect the 3D physical world with free-form descriptions. Compared to the 2D counterparts challenges posed by the variability of 3D visual grounding remain relatively unsolved in existing studies: 1) the underlying geometric and complex spatial relationships in 3D scene. 2) the inherent complexity of 3D grounded language. 3) the inconsistencies between text and geometric features. To tackle these issues we propose G^3-LQ a DEtection TRansformer-based model tailored for 3D visual grounding task. G^3-LQ explicitly models Geometric-aware visual representations and Generates fine-Grained Language-guided object Queries in an overarching framework which comprises two dedicated modules. Specifically the Position Adaptive Geometric Exploring (PAGE) unearths underlying information of 3D objects in the geometric details and spatial relationships perspectives. The Fine-grained Language-guided Query Selection (Flan-QS) delves into syntactic structure of texts and generates object queries that exhibit higher relevance towards fine-grained text features. Finally a pioneering Poincare Semantic Alignment (PSA) loss establishes semantic-geometry consistencies by modeling non-linear vision-text feature mappings and aligning them on a hyperbolic prototype--Poincare ball. Extensive experiments verify the superiority of our G^3-LQ method trumping the state-of-the-arts by a considerable margin.
Garment Recovery with Shape and Deformation Priors
Authors: Ren Li, Corentin Dumery, Benoît Guillard, Pascal Fua
Published in: IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2024 (Main Conference Track), 2024

Abstract: While modeling people wearing tight-fitting clothing has made great strides in recent years loose-fitting clothing remains a challenge. We propose a method that delivers realistic garment models from real-world images regardless of garment shape or deformation. To this end we introduce a fitting approach that utilizes shape and deformation priors learned from synthetic data to accurately capture garment shapes and deformations including large ones. Not only does our approach recover the garment geometry accurately it also yields models that can be directly used by downstream applications such as animation and simulation.
Psychometry: An Omnifit Model for Image Reconstruction from Human Brain Activity
Authors: Ruijie Quan, Wenguan Wang, Zhibo Tian, Fan Ma, Yi Yang
Published in: IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2024 (Main Conference Track), 2024

Abstract: Reconstructing the viewed images from human brain activity bridges human and computer vision through the Brain-Computer Interface. The inherent variability in brain function between individuals leads existing literature to focus on acquiring separate models for each individual using their respective brain signal data ignoring commonalities between these data. In this article we devise Psychometry an omnifit model for reconstructing images from functional Magnetic Resonance Imaging (fMRI) obtained from different subjects. Psychometry incorporates an omni mixture-of-experts (Omni MoE) module where all the experts work together to capture the inter-subject commonalities while each expert associated with subject-specific parameters copes with the individual differences. Moreover Psychometry is equipped with a retrieval-enhanced inference strategy termed Ecphory which aims to enhance the learned fMRI representation via retrieving from prestored subject-specific memories. These designs collectively render Psychometry omnifit and efficient enabling it to capture both inter-subject commonality and individual specificity across subjects. As a result the enhanced fMRI representations serve as conditional signals to guide a generation model to reconstruct high-quality and realistic images establishing Psychometry as state-of-the-art in terms of both high-level and low-level metrics.
Exploring Regional Clues in CLIP for Zero-Shot Semantic Segmentation
Authors: Yi Zhang, Meng-Hao Guo, Miao Wang, Shi-Min Hu
Published in: IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2024 (Main Conference Track), 2024

Abstract: CLIP has demonstrated marked progress in visual recognition due to its powerful pre-training on large-scale image-text pairs. However it still remains a critical challenge: how to transfer image-level knowledge into pixel-level understanding tasks such as semantic segmentation. In this paper to solve the mentioned challenge we analyze the gap between the capability of the CLIP model and the requirement of the zero-shot semantic segmentation task. Based on our analysis and observations we propose a novel method for zero-shot semantic segmentation dubbed CLIP-RC (CLIP with Regional Clues) bringing two main insights. On the one hand a region-level bridge is necessary to provide fine-grained semantics. On the other hand overfitting should be mitigated during the training stage. Benefiting from the above discoveries CLIP-RC achieves state-of-the-art performance on various zero-shot semantic segmentation benchmarks including PASCAL VOC PASCAL Context and COCO-Stuff 164K. Code will be available at https://github.com/Jittor/JSeg.
Move as You Say Interact as You Can: Language-guided Human Motion Generation with Scene Affordance
Authors: Zan Wang, Yixin Chen, Baoxiong Jia, Puhao Li, Jinlu Zhang, Jingze Zhang, Tengyu Liu, Yixin Zhu, Wei Liang, Siyuan Huang
Published in: IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2024 (Main Conference Track), 2024

Abstract: Despite significant advancements in text-to-motion synthesis generating language-guided human motion within 3D environments poses substantial challenges. These challenges stem primarily from (i) the absence of powerful generative models capable of jointly modeling natural language 3D scenes and human motion and (ii) the generative models' intensive data requirements contrasted with the scarcity of comprehensive high-quality language-scene-motion datasets. To tackle these issues we introduce a novel two-stage framework that employs scene affordance as an intermediate representation effectively linking 3D scene grounding and conditional motion generation. Our framework comprises an Affordance Diffusion Model (ADM) for predicting explicit affordance map and an Affordance-to-Motion Diffusion Model (AMDM) for generating plausible human motions. By leveraging scene affordance maps our method overcomes the difficulty in generating human motion under multimodal condition signals especially when training with limited data lacking extensive language-scene-motion pairs. Our extensive experiments demonstrate that our approach consistently outperforms all baselines on established benchmarks including HumanML3D and HUMANISE. Additionally we validate our model's exceptional generalization capabilities on a specially curated evaluation set featuring previously unseen descriptions and scenes.
Choose What You Need: Disentangled Representation Learning for Scene Text Recognition Removal and Editing
Authors: Boqiang Zhang, Hongtao Xie, Zuan Gao, Yuxin Wang
Published in: IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2024 (Main Conference Track), 2024

Abstract: Scene text images contain not only style information (font background) but also content information (character texture). Different scene text tasks need different information but previous representation learning methods use tightly coupled features for all tasks resulting in sub-optimal performance. We propose a Disentangled Representation Learning framework (DARLING) aimed at disentangling these two types of features for improved adaptability in better addressing various downstream tasks (choose what you really need). Specifically we synthesize a dataset of image pairs with identical style but different content. Based on the dataset we decouple the two types of features by the supervision design. Clearly we directly split the visual representation into style and content features the content features are supervised by a text recognition loss while an alignment loss aligns the style features in the image pairs. Then style features are employed in reconstructing the counterpart image via an image decoder with a prompt that indicates the counterpart's content. Such an operation effectively decouples the features based on their distinctive properties. To the best of our knowledge this is the first time in the field of scene text that disentangles the inherent properties of the text images. Our method achieves state-of-the-art performance in Scene Text Recognition Removal and Editing.
Generalizable Face Landmarking Guided by Conditional Face Warping
Authors: Jiayi Liang, Haotian Liu, Hongteng Xu, Dixin Luo
Published in: IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2024 (Main Conference Track), 2024

Abstract: As a significant step for human face modeling editing and generation face landmarking aims at extracting facial keypoints from images. A generalizable face landmarker is required in practice because real-world facial images e.g. the avatars in animations and games are often stylized in various ways. However achieving generalizable face landmarking is challenging due to the diversity of facial styles and the scarcity of labeled stylized faces. In this study we propose a simple but effective paradigm to learn a generalizable face landmarker based on labeled real human faces and unlabeled stylized faces. Our method learns the face landmarker as the key module of a conditional face warper. Given a pair of real and stylized facial images the conditional face warper predicts a warping field from the real face to the stylized one in which the face landmarker predicts the ending points of the warping field and provides us with high-quality pseudo landmarks for the corresponding stylized facial images. Applying an alternating optimization strategy we learn the face landmarker to minimize i) the discrepancy between the stylized faces and the warped real ones and ii) the prediction errors of both real and pseudo landmarks. Experiments on various datasets show that our method outperforms existing state-of-the-art domain adaptation methods in face landmarking tasks leading to a face landmarker with better generalizability. Code is available at https://plustwo0.github.io/project-face-landmarker.
Sat2Scene: 3D Urban Scene Generation from Satellite Images with Diffusion
Authors: Zuoyue Li, Zhenqiang Li, Zhaopeng Cui, Marc Pollefeys, Martin R. Oswald
Published in: IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2024 (Main Conference Track), 2024

Abstract: Directly generating scenes from satellite imagery offers exciting possibilities for integration into applications like games and map services. However challenges arise from significant view changes and scene scale. Previous efforts mainly focused on image or video generation lacking exploration into the adaptability of scene generation for arbitrary views. Existing 3D generation works either operate at the object level or are difficult to utilize the geometry obtained from satellite imagery. To overcome these limitations we propose a novel architecture for direct 3D scene generation by introducing diffusion models into 3D sparse representations and combining them with neural rendering techniques. Specifically our approach generates texture colors at the point level for a given geometry using a 3D diffusion model first which is then transformed into a scene representation in a feed-forward manner. The representation can be utilized to render arbitrary views which would excel in both single-frame quality and inter-frame consistency. Experiments in two city-scale datasets show that our model demonstrates proficiency in generating photo-realistic street-view image sequences and cross-view urban scenes from satellite imagery.
Control4D: Efficient 4D Portrait Editing with Text
Authors: Ruizhi Shao, Jingxiang Sun, Cheng Peng, Zerong Zheng, Boyao Zhou, Hongwen Zhang, Yebin Liu
Published in: IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2024 (Main Conference Track), 2024

Abstract: We introduce Control4D an innovative framework for editing dynamic 4D portraits using text instructions. Our method addresses the prevalent challenges in 4D editing notably the inefficiencies of existing 4D representations and the inconsistent editing effect caused by diffusion-based editors. We first propose GaussianPlanes a novel 4D representation that makes Gaussian Splatting more structured by applying plane-based decomposition in 3D space and time. This enhances both efficiency and robustness in 4D editing. Furthermore we propose to leverage a 4D generator to learn a more continuous generation space from inconsistent edited images produced by the diffusion-based editor which effectively improves the consistency and quality of 4D editing. Comprehensive evaluation demonstrates the superiority of Control4D including significantly reduced training time high-quality rendering and spatial-temporal consistency in 4D portrait editing.
Symphonize 3D Semantic Scene Completion with Contextual Instance Queries
Authors: Haoyi Jiang, Tianheng Cheng, Naiyu Gao, Haoyang Zhang, Tianwei Lin, Wenyu Liu, Xinggang Wang
Published in: IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2024 (Main Conference Track), 2024

Abstract: 3D Semantic Scene Completion (SSC) has emerged as a nascent and pivotal undertaking in autonomous driving aiming to predict the voxel occupancy within volumetric scenes. However prevailing methodologies primarily focus on voxel-wise feature aggregation while neglecting instance semantics and scene context. In this paper we present a novel paradigm termed Symphonies (Scene-from-Insts) that delves into the integration of instance queries to orchestrate 2D-to-3D reconstruction and 3D scene modeling. Leveraging our proposed Serial Instance-Propagated Attentions Symphonies dynamically encodes instance-centric semantics facilitating intricate interactions between the image and volumetric domains. Simultaneously Symphonies fosters holistic scene comprehension by capturing context through the efficient fusion of instance queries alleviating geometric ambiguities such as occlusion and perspective errors through contextual scene reasoning. Experimental results demonstrate that Symphonies achieves state-of-the-art performance on the challenging SemanticKITTI and SSCBench-KITTI-360 benchmarks yielding remarkable mIoU scores of 15.04 and 18.58 respectively. These results showcase the promising advancements of our paradigm. The code for our method is available at https://github.com/hustvl/Symphonies.
Loopy-SLAM: Dense Neural SLAM with Loop Closures
Authors: Lorenzo Liso, Erik Sandström, Vladimir Yugay, Luc Van Gool, Martin R. Oswald
Published in: IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2024 (Main Conference Track), 2024

Abstract: Neural RGBD SLAM techniques have shown promise in dense Simultaneous Localization And Mapping (SLAM) yet face challenges such as error accumulation during camera tracking resulting in distorted maps. In response we introduce Loopy-SLAM that globally optimizes poses and the dense 3D model. We use frame-to-model tracking using a data-driven point-based submap generation method and trigger loop closures online by performing global place recognition. Robust pose graph optimization is used to rigidly align the local submaps. As our representation is point based map corrections can be performed efficiently without the need to store the entire history of input frames used for mapping as typically required by methods employing a grid based mapping structure. Evaluation on the synthetic Replica and real-world TUM-RGBD and ScanNet datasets demonstrate competitive or superior performance in tracking mapping and rendering accuracy when compared to existing dense neural RGBD SLAM methods. Project page: notchla.github.io/Loopy-SLAM.
CLIPtone: Unsupervised Learning for Text-based Image Tone Adjustment
Authors: Hyeongmin Lee, Kyoungkook Kang, Jungseul Ok, Sunghyun Cho
Published in: IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2024 (Main Conference Track), 2024

Abstract: Recent image tone adjustment (or enhancement) approaches have predominantly adopted supervised learning for learning human-centric perceptual assessment. However these approaches are constrained by intrinsic challenges of supervised learning. Primarily the requirement for expertly-curated or retouched images escalates the data acquisition expenses. Moreover their coverage of target styles is confined to stylistic variants inferred from the training data. To surmount the above challenges we propose an unsupervised learning-based approach for text-based image tone adjustment CLIPtone that extends an existing image enhancement method to accommodate natural language descriptions. Specifically we design a hyper-network to adaptively modulate the pretrained parameters of a backbone model based on a text description. To assess whether an adjusted image aligns with its text description without a ground-truth image we utilize CLIP which is trained on a vast set of language-image pairs and thus encompasses the knowledge of human perception. The major advantages of our approach are threefold: (i) minimal data collection expenses (ii) support for a range of adjustments and (iii) the ability to handle novel text descriptions unseen in training. The efficacy of the proposed method is demonstrated through comprehensive experiments including a user study.
ToonerGAN: Reinforcing GANs for Obfuscating Automated Facial Indexing
Authors: Kartik Thakral, Shashikant Prasad, Stuti Aswani, Mayank Vatsa, Richa Singh
Published in: IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2024 (Main Conference Track), 2024

Abstract: The rapid evolution of automatic facial indexing tech- nologies increases the risk of compromising personal and sensitive information. To address the issue we propose cre- ating cartoon avatars or 'toon avatars' designed to effec- tively obscure identity features. The primary objective is to deceive current AI systems preventing them from accu- rately identifying individuals while making minimal modi- fications to their facial features. Moreover we aim to en- sure that a human observer can still recognize the person depicted in these altered avatar images. To achieve this we introduce 'ToonerGAN' a novel approach that utilizes Generative Adversarial Networks (GANs) to craft person- alized cartoon avatars. The ToonerGAN framework con- sists of a style module and a de-identification module that work together to produce high-resolution realistic cartoon images. For the efficient training of our network we have developed an extensive dataset named 'ToonSet' compris- ing approximately 23000 facial images and their cartoon renditions. Through comprehensive experiments and bench- marking against existing datasets including CelebA-HQ our method demonstrates superior performance in obfus- cating identity while preserving the utility of data. Addi- tionally a user-centric study to explore the effectiveness of ToonerGAN has yielded some compelling observations.
Content-Adaptive Non-Local Convolution for Remote Sensing Pansharpening
Authors: Yule Duan, Xiao Wu, Haoyu Deng, Liang-Jian Deng
Published in: IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2024 (Main Conference Track), 2024

Abstract: Currently machine learning-based methods for remote sensing pansharpening have progressed rapidly. However existing pansharpening methods often do not fully exploit differentiating regional information in non-local spaces thereby limiting the effectiveness of the methods and resulting in redundant learning parameters. In this paper we introduce a so-called content-adaptive non-local convolution (CANConv) a novel method tailored for remote sensing image pansharpening. Specifically CANConv employs adaptive convolution ensuring spatial adaptability and incorporates non-local self-similarity through the similarity relationship partition (SRP) and the partition-wise adaptive convolution (PWAC) sub-modules. Furthermore we also propose a corresponding network architecture called CANNet which mainly utilizes the multi-scale self-similarity. Extensive experiments demonstrate the superior performance of CANConv compared with recent promising fusion methods. Besides we substantiate the method's effectiveness through visualization ablation experiments and comparison with existing methods on multiple test sets. The source code is publicly available at https://github.com/duanyll/CANConv.
Codebook Transfer with Part-of-Speech for Vector-Quantized Image Modeling
Authors: Baoquan Zhang, Huaibin Wang, Chuyao Luo, Xutao Li, Guotao Liang, Yunming Ye, Xiaochen Qi, Yao He
Published in: IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2024 (Main Conference Track), 2024

Abstract: Vector-Quantized Image Modeling (VQIM) is a fundamental research problem in image synthesis which aims to represent an image with a discrete token sequence. Existing studies effectively address this problem by learning a discrete codebook from scratch and in a code-independent manner to quantize continuous representations into discrete tokens. However learning a codebook from scratch and in a code-independent manner is highly challenging which may be a key reason causing codebook collapse i.e. some code vectors can rarely be optimized without regard to the relationship between codes and good codebook priors such that die off finally. In this paper inspired by pretrained language models we find that these language models have actually pretrained a superior codebook via a large number of text corpus but such information is rarely exploited in VQIM. To this end we propose a novel codebook transfer framework with part-of-speech called VQCT which aims to transfer a well-trained codebook from pretrained language models to VQIM for robust codebook learning. Specifically we first introduce a pretrained codebook from language models and part-of-speech knowledge as priors. Then we construct a vision-related codebook with these priors for achieving codebook transfer. Finally a novel codebook transfer network is designed to exploit abundant semantic relationships between codes contained in pretrained codebooks for robust VQIM codebook learning. Experimental results on four datasets show that our VQCT method achieves superior VQIM performance over previous state-of-the-art methods.
Learning Inclusion Matching for Animation Paint Bucket Colorization
Authors: Yuekun Dai, Shangchen Zhou, Qinyue Li, Chongyi Li, Chen Change Loy
Published in: IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2024 (Main Conference Track), 2024

Abstract: Colorizing line art is a pivotal task in the production of hand-drawn cel animation. This typically involves digital painters using a paint bucket tool to manually color each segment enclosed by lines based on RGB values predetermined by a color designer. This frame-by-frame process is both arduous and time-intensive. Current automated methods mainly focus on segment matching. This technique migrates colors from a reference to the target frame by aligning features within line-enclosed segments across frames. However issues like occlusion and wrinkles in animations often disrupt these direct correspondences leading to mismatches. In this work we introduce a new learning-based inclusion matching pipeline which directs the network to comprehend the inclusion relationships between segments rather than relying solely on direct visual correspondences. Our method features a two-stage pipeline that integrates a coarse color warping module with an inclusion matching module enabling more nuanced and accurate colorization. To facilitate the training of our network we also develope a unique dataset referred to as PaintBucket-Character. This dataset includes rendered line arts alongside their colorized counterparts featuring various 3D characters. Extensive experiments demonstrate the effectiveness and superiority of our method over existing techniques.
Editable Scene Simulation for Autonomous Driving via Collaborative LLM-Agents
Authors: Yuxi Wei, Zi Wang, Yifan Lu, Chenxin Xu, Changxing Liu, Hao Zhao, Siheng Chen, Yanfeng Wang
Published in: IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2024 (Main Conference Track), 2024

Abstract: Scene simulation in autonomous driving has gained significant attention because of its huge potential for generating customized data. However existing editable scene simulation approaches face limitations in terms of user interaction efficiency multi-camera photo-realistic rendering and external digital assets integration. To address these challenges this paper introduces ChatSim the first system that enables editable photo-realistic 3D driving scene simulations via natural language commands with external digital assets. To enable editing with high command flexibility ChatSim leverages a large language model (LLM) agent collaboration framework. To generate photo-realistic outcomes ChatSim employs a novel multi-camera neural radiance field method. Furthermore to unleash the potential of extensive high-quality digital assets ChatSim employs a novel multi-camera lighting estimation method to achieve scene-consistent assets' rendering. Our experiments on Waymo Open Dataset demonstrate that ChatSim can handle complex language commands and generate corresponding photo-realistic scene videos. Code can be accessed at: https://github.com/yifanlu0227/ChatSim.
SAM-6D: Segment Anything Model Meets Zero-Shot 6D Object Pose Estimation
Authors: Jiehong Lin, Lihua Liu, Dekun Lu, Kui Jia
Published in: IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2024 (Main Conference Track), 2024

Abstract: Zero-shot 6D object pose estimation involves the detection of novel objects with their 6D poses in cluttered scenes presenting significant challenges for model generalizability. Fortunately the recent Segment Anything Model (SAM) has showcased remarkable zero-shot transfer performance which provides a promising solution to tackle this task. Motivated by this we introduce SAM-6D a novel framework designed to realize the task through two steps including instance segmentation and pose estimation. Given the target objects SAM-6D employs two dedicated sub-networks namely Instance Segmentation Model (ISM) and Pose Estimation Model (PEM) to perform these steps on cluttered RGB-D images. ISM takes SAM as an advanced starting point to generate all possible object proposals and selectively preserves valid ones through meticulously crafted object matching scores in terms of semantics appearance and geometry. By treating pose estimation as a partial-to-partial point matching problem PEM performs a two-stage point matching process featuring a novel design of background tokens to construct dense 3D-3D correspondence ultimately yielding the pose estimates. Without bells and whistles SAM-6D outperforms the existing methods on the seven core datasets of the BOP Benchmark for both instance segmentation and pose estimation of novel objects.
InceptionNeXt: When Inception Meets ConvNeXt
Authors: Weihao Yu, Pan Zhou, Shuicheng Yan, Xinchao Wang
Published in: IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2024 (Main Conference Track), 2024

Abstract: Inspired by the long-range modeling ability of ViTs large-kernel convolutions are widely studied and adopted recently to enlarge the receptive field and improve model performance like the remarkable work ConvNeXt which employs 7x7 depthwise convolution. Although such depthwise operator only consumes a few FLOPs it largely harms the model efficiency on powerful computing devices due to the high memory access costs. For example ConvNeXt-T has similar FLOPs with ResNet-50 but only achieves  60% throughputs when trained on A100 GPUs with full precision. Although reducing the kernel size of ConvNeXt can improve speed it results in significant performance degradation which poses a challenging problem: How to speed up large-kernel-based CNN models while preserving their performance. To tackle this issue inspired by Inceptions we propose to decompose large-kernel depthwise convolution into four parallel branches along channel dimension i.e. small square kernel two orthogonal band kernels and an identity mapping. With this new Inception depthwise convolution we build a series of networks namely IncepitonNeXt which not only enjoy high throughputs but also maintain competitive performance. For instance InceptionNeXt-T achieves 1.6x higher training throughputs than ConvNeX-T as well as attains 0.2% top-1 accuracy improvement on ImageNet-1K. We anticipate InceptionNeXt can serve as an economical baseline for future architecture design to reduce carbon footprint.
SnAG: Scalable and Accurate Video Grounding
Authors: Fangzhou Mu, Sicheng Mo, Yin Li
Published in: IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2024 (Main Conference Track), 2024

Abstract: Temporal grounding of text descriptions in videos is a central problem in vision-language learning and video understanding. Existing methods often prioritize accuracy over scalability --- they have been optimized for grounding only a few text queries within short videos and fail to scale up to long videos with hundreds of queries. In this paper we study the effect of cross-modal fusion on the scalability of video grounding models. Our analysis establishes late fusion as a more cost-effective fusion scheme for long-form videos with many text queries. Moreover it leads us to a novel video-centric sampling scheme for efficient training. Based on these findings we present SnAG a simple baseline for scalable and accurate video grounding. Without bells and whistles SnAG is 43% more accurate and 1.5x faster than CONE a state of the art for long-form video grounding on the challenging MAD dataset while achieving highly competitive results on short videos.
SPOT: Self-Training with Patch-Order Permutation for Object-Centric Learning with Autoregressive Transformers
Authors: Ioannis Kakogeorgiou, Spyros Gidaris, Konstantinos Karantzalos, Nikos Komodakis
Published in: IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2024 (Main Conference Track), 2024

Abstract: Unsupervised object-centric learning aims to decompose scenes into interpretable object entities termed slots. Slot-based auto-encoders stand out as a prominent method for this task. Within them crucial aspects include guiding the encoder to generate object-specific slots and ensuring the decoder utilizes them during reconstruction. This work introduces two novel techniques (i) an attention-based self-training approach which distills superior slot-based attention masks from the decoder to the encoder enhancing object segmentation and (ii) an innovative patch-order permutation strategy for autoregressive transformers that strengthens the role of slot vectors in reconstruction. The effectiveness of these strategies is showcased experimentally. The combined approach significantly surpasses prior slot-based autoencoder methods in unsupervised object segmentation especially with complex real-world images. We provide the implementation code at https://github.com/gkakogeorgiou/spot .
LiveHPS: LiDAR-based Scene-level Human Pose and Shape Estimation in Free Environment
Authors: Yiming Ren, Xiao Han, Chengfeng Zhao, Jingya Wang, Lan Xu, Jingyi Yu, Yuexin Ma
Published in: IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2024 (Main Conference Track), 2024

Abstract: For human-centric large-scale scenes fine-grained modeling for 3D human global pose and shape is significant for scene understanding and can benefit many real-world applications. In this paper we present LiveHPS a novel single-LiDAR-based approach for scene-level human pose and shape estimation without any limitation of light conditions and wearable devices. In particular we design a distillation mechanism to mitigate the distribution-varying effect of LiDAR point clouds and exploit the temporal-spatial geometric and dynamic information existing in consecutive frames to solve the occlusion and noise disturbance. LiveHPS with its efficient configuration and high-quality output is well-suited for real-world applications. Moreover we propose a huge human motion dataset named FreeMotion which is collected in various scenarios with diverse human poses shapes and translations. It consists of multi-modal and multi-view acquisition data from calibrated and synchronized LiDARs cameras and IMUs. Extensive experiments on our new dataset and other public datasets demonstrate the SOTA performance and robustness of our approach. We will release our code and dataset soon.