pwc-archive/papers-with-abstracts huggingface dataset:
FrameRS: A Video Frame Compression Model Composed by Self supervised Video Frame Reconstructor and Key Frame Selector
Authors: Qiqian Fu, Guanhong Wang, Gaoang Wang
Date: 2023-09-16 00:00:00
Tasks: Computational Efficiency

In this paper, we present frame reconstruction model: FrameRS. It consists self-supervised video frame reconstructor and key frame selector. The frame reconstructor, FrameMAE, is developed by adapting the principles of the Masked Autoencoder for Images (MAE) for video context. The key frame selector, Frame Selector, is built on CNN architecture. By taking the high-level semantic information from the encoder of FrameMAE as its input, it can predicted the key frames with low computation costs. Integrated with our bespoke Frame Selector, FrameMAE can effectively compress a video clip by retaining approximately 30% of its pivotal frames. Performance-wise, our model showcases computational efficiency and competitive accuracy, marking a notable improvement over traditional Key Frame Extract algorithms. The implementation is available on Github
Multi-camera Bird's Eye View Perception for Autonomous Driving
Authors: David Unger, Nikhil Gosala, Varun Ravi Kumar, Shubhankar Borse, Abhinav Valada, Senthil Yogamani
Date: 2023-09-16 00:00:00
Tasks: Autonomous Driving, Sensor Fusion, Spatial Reasoning

Most automated driving systems comprise a diverse sensor set, including several cameras, Radars, and LiDARs, ensuring a complete 360\deg coverage in near and far regions. Unlike Radar and LiDAR, which measure directly in 3D, cameras capture a 2D perspective projection with inherent depth ambiguity. However, it is essential to produce perception outputs in 3D to enable the spatial reasoning of other agents and structures for optimal path planning. The 3D space is typically simplified to the BEV space by omitting the less relevant Z-coordinate, which corresponds to the height dimension.The most basic approach to achieving the desired BEV representation from a camera image is IPM, assuming a flat ground surface. Surround vision systems that are pretty common in new vehicles use the IPM principle to generate a BEV image and to show it on display to the driver. However, this approach is not suited for autonomous driving since there are severe distortions introduced by this too-simplistic transformation method. More recent approaches use deep neural networks to output directly in BEV space. These methods transform camera images into BEV space using geometric constraints implicitly or explicitly in the network. As CNN has more context information and a learnable transformation can be more flexible and adapt to image content, the deep learning-based methods set the new benchmark for BEV transformation and achieve state-of-the-art performance. First, this chapter discusses the contemporary trends of multi-camera-based DNN (deep neural network) models outputting object representations directly in the BEV space. Then, we discuss how this approach can extend to effective sensor fusion and coupling downstream tasks like situation analysis and prediction. Finally, we show challenges and open problems in BEV perception.
Unsupervised Green Object Tracker (GOT) without Offline Pre-training
Authors: Zhiruo Zhou, Suya You, C. -C. Jay Kuo
Date: 2023-09-16 00:00:00
Tasks: Object, Object Tracking

Supervised trackers trained on labeled data dominate the single object tracking field for superior tracking accuracy. The labeling cost and the huge computational complexity hinder their applications on edge devices. Unsupervised learning methods have also been investigated to reduce the labeling cost but their complexity remains high. Aiming at lightweight high-performance tracking, feasibility without offline pre-training, and algorithmic transparency, we propose a new single object tracking method, called the green object tracker (GOT), in this work. GOT conducts an ensemble of three prediction branches for robust box tracking: 1) a global object-based correlator to predict the object location roughly, 2) a local patch-based correlator to build temporal correlations of small spatial units, and 3) a superpixel-based segmentator to exploit the spatial information of the target frame. GOT offers competitive tracking accuracy with state-of-the-art unsupervised trackers, which demand heavy offline pre-training, at a lower computation cost. GOT has a tiny model size (<3k parameters) and low inference complexity (around 58M FLOPs per frame). Since its inference complexity is between 0.1%-10% of DL trackers, it can be easily deployed on mobile and edge devices.
MMST-ViT: Climate Change-aware Crop Yield Prediction via Multi-Modal Spatial-Temporal Vision Transformer
Authors: Fudong Lin, Summer Crawford, Kaleb Guillot, Yihe Zhang, Yan Chen, Xu Yuan, Li Chen, Shelby Williams, Robert Minvielle, Xiangming Xiao, Drew Gholson, Nicolas Ashwell, Tri Setiyono, Brenda Tubana, Lu Peng, Magdy Bayoumi, Nian-Feng Tzeng
Date: 2023-09-16 00:00:00
Proceeding: ICCV 2023 1
Tasks: Contrastive Learning, Crop Yield Prediction, Decision Making

Precise crop yield prediction provides valuable information for agricultural planning and decision-making processes. However, timely predicting crop yields remains challenging as crop growth is sensitive to growing season weather variation and climate change. In this work, we develop a deep learning-based solution, namely Multi-Modal Spatial-Temporal Vision Transformer (MMST-ViT), for predicting crop yields at the county level across the United States, by considering the effects of short-term meteorological variations during the growing season and the long-term climate change on crops. Specifically, our MMST-ViT consists of a Multi-Modal Transformer, a Spatial Transformer, and a Temporal Transformer. The Multi-Modal Transformer leverages both visual remote sensing data and short-term meteorological data for modeling the effect of growing season weather variations on crop growth. The Spatial Transformer learns the high-resolution spatial dependency among counties for accurate agricultural tracking. The Temporal Transformer captures the long-range temporal dependency for learning the impact of long-term climate change on crops. Meanwhile, we also devise a novel multi-modal contrastive learning technique to pre-train our model without extensive human supervision. Hence, our MMST-ViT captures the impacts of both short-term weather variations and long-term climate change on crops by leveraging both satellite images and meteorological data. We have conducted extensive experiments on over 200 counties in the United States, with the experimental results exhibiting that our MMST-ViT outperforms its counterparts under three performance metrics of interest.
Sub-action Prototype Learning for Point-level Weakly-supervised Temporal Action Localization
Authors: Yueyang Li, Yonghong Hou, Wanqing Li
Date: 2023-09-16 00:00:00
Tasks: Action Localization, Pseudo Label, Temporal Action Localization, Weakly-supervised Temporal Action Localization

Point-level weakly-supervised temporal action localization (PWTAL) aims to localize actions with only a single timestamp annotation for each action instance. Existing methods tend to mine dense pseudo labels to alleviate the label sparsity, but overlook the potential sub-action temporal structures, resulting in inferior performance. To tackle this problem, we propose a novel sub-action prototype learning framework (SPL-Loc) which comprises Sub-action Prototype Clustering (SPC) and Ordered Prototype Alignment (OPA). SPC adaptively extracts representative sub-action prototypes which are capable to perceive the temporal scale and spatial content variation of action instances. OPA selects relevant prototypes to provide completeness clue for pseudo label generation by applying a temporal alignment loss. As a result, pseudo labels are derived from alignment results to improve action boundary prediction. Extensive experiments on three popular benchmarks demonstrate that the proposed SPL-Loc significantly outperforms existing SOTA PWTAL methods.
SEPAL: Spatial Gene Expression Prediction from Local Graphs
Authors: Gabriel Mejia, Paula Cárdenas, Daniela Ruiz, Angela Castillo, Pablo Arbeláez
Date: 2023-09-02 00:00:00
Tasks: Graph Neural Network, Prediction

Spatial transcriptomics is an emerging technology that aligns histopathology images with spatially resolved gene expression profiling. It holds the potential for understanding many diseases but faces significant bottlenecks such as specialized equipment and domain expertise. In this work, we present SEPAL, a new model for predicting genetic profiles from visual tissue appearance. Our method exploits the biological biases of the problem by directly supervising relative differences with respect to mean expression, and leverages local visual context at every coordinate to make predictions using a graph neural network. This approach closes the gap between complete locality and complete globality in current methods. In addition, we propose a novel benchmark that aims to better define the task by following current best practices in transcriptomics and restricting the prediction variables to only those with clear spatial patterns. Our extensive evaluation in two different human breast cancer datasets indicates that SEPAL outperforms previous state-of-the-art methods and other mechanisms of including spatial context.
RingMo-lite: A Remote Sensing Multi-task Lightweight Network with CNN-Transformer Hybrid Framework
Authors: Yuelei Wang, Ting Zhang, Liangjin Zhao, Lin Hu, Zhechao Wang, Ziqing Niu, Peirui Cheng, Kaiqiang Chen, Xuan Zeng, Zhirui Wang, Hongqi Wang, Xian Sun
Date: 2023-09-16 00:00:00

In recent years, remote sensing (RS) vision foundation models such as RingMo have emerged and achieved excellent performance in various downstream tasks. However, the high demand for computing resources limits the application of these models on edge devices. It is necessary to design a more lightweight foundation model to support on-orbit RS image interpretation. Existing methods face challenges in achieving lightweight solutions while retaining generalization in RS image interpretation. This is due to the complex high and low-frequency spectral components in RS images, which make traditional single CNN or Vision Transformer methods unsuitable for the task. Therefore, this paper proposes RingMo-lite, an RS multi-task lightweight network with a CNN-Transformer hybrid framework, which effectively exploits the frequency-domain properties of RS to optimize the interpretation process. It is combined by the Transformer module as a low-pass filter to extract global features of RS images through a dual-branch structure, and the CNN module as a stacked high-pass filter to extract fine-grained details effectively. Furthermore, in the pretraining stage, the designed frequency-domain masked image modeling (FD-MIM) combines each image patch's high-frequency and low-frequency characteristics, effectively capturing the latent feature representation in RS data. As shown in Fig. 1, compared with RingMo, the proposed RingMo-lite reduces the parameters over 60% in various RS image interpretation tasks, the average accuracy drops by less than 2% in most of the scenes and achieves SOTA performance compared to models of the similar size. In addition, our work will be integrated into the MindSpore computing platform in the near future.
OmniLRS: A Photorealistic Simulator for Lunar Robotics
Authors: Antoine Richard, Junnosuke Kamohara, Kentaro Uno, Shreya Santra, Dave van der Meer, Miguel Olivares-Mendez, Kazuya Yoshida
Date: 2023-09-16 00:00:00
Tasks: Instance Segmentation, Semantic Segmentation

Developing algorithms for extra-terrestrial robotic exploration has always been challenging. Along with the complexity associated with these environments, one of the main issues remains the evaluation of said algorithms. With the regained interest in lunar exploration, there is also a demand for quality simulators that will enable the development of lunar robots. % In this paper, we explain how we built a Lunar simulator based on Isaac Sim, Nvidia's robotic simulator. In this paper, we propose Omniverse Lunar Robotic-Sim (OmniLRS) that is a photorealistic Lunar simulator based on Nvidia's robotic simulator. This simulation provides fast procedural environment generation, multi-robot capabilities, along with synthetic data pipeline for machine-learning applications. It comes with ROS1 and ROS2 bindings to control not only the robots, but also the environments. This work also performs sim-to-real rock instance segmentation to show the effectiveness of our simulator for image-based perception. Trained on our synthetic data, a yolov8 model achieves performance close to a model trained on real-world data, with 5% performance gap. When finetuned with real data, the model achieves 14% higher average precision than the model trained on real-world data, demonstrating our simulator's photorealism.% to realize sim-to-real. The code is fully open-source, accessible here: https://github.com/AntoineRichard/LunarSim, and comes with demonstrations.
RMP: A Random Mask Pretrain Framework for Motion Prediction
Authors: Yi Yang, Qingwen Zhang, Thomas Gilles, Nazre Batool, John Folkesson
Date: 2023-09-16 00:00:00
Tasks: Autonomous Driving, motion prediction, Prediction, Trajectory Prediction

As the pretraining technique is growing in popularity, little work has been done on pretrained learning-based motion prediction methods in autonomous driving. In this paper, we propose a framework to formalize the pretraining task for trajectory prediction of traffic participants. Within our framework, inspired by the random masked model in natural language processing (NLP) and computer vision (CV), objects' positions at random timesteps are masked and then filled in by the learned neural network (NN). By changing the mask profile, our framework can easily switch among a range of motion-related tasks. We show that our proposed pretraining framework is able to deal with noisy inputs and improves the motion prediction accuracy and miss rate, especially for objects occluded over time by evaluating it on Argoverse and NuScenes datasets.
FF-LOGO: Cross-Modality Point Cloud Registration with Feature Filtering and Local to Global Optimization
Authors: Nan Ma, Mohan Wang, Yiheng Han, Yong-Jin Liu
Date: 2023-09-16 00:00:00
Tasks: Feature Correlation, global-optimization, Point Cloud Registration

Cross-modality point cloud registration is confronted with significant challenges due to inherent differences in modalities between different sensors. We propose a cross-modality point cloud registration framework FF-LOGO: a cross-modality point cloud registration method with feature filtering and local-global optimization. The cross-modality feature correlation filtering module extracts geometric transformation-invariant features from cross-modality point clouds and achieves point selection by feature matching. We also introduce a cross-modality optimization process, including a local adaptive key region aggregation module and a global modality consistency fusion optimization module. Experimental results demonstrate that our two-stage optimization significantly improves the registration accuracy of the feature association and selection module. Our method achieves a substantial increase in recall rate compared to the current state-of-the-art methods on the 3DCSR dataset, improving from 40.59% to 75.74%. Our code will be available at https://github.com/wangmohan17/FFLOGO.
Tightening Classification Boundaries in Open Set Domain Adaptation through Unknown Exploitation
Authors: Lucas Fernando Alvarenga e Silva, Nicu Sebe, Jurandy Almeida
Date: 2023-09-16 00:00:00
Tasks: Data Augmentation, Domain Adaptation

Convolutional Neural Networks (CNNs) have brought revolutionary advances to many research areas due to their capacity of learning from raw data. However, when those methods are applied to non-controllable environments, many different factors can degrade the model's expected performance, such as unlabeled datasets with different levels of domain shift and category shift. Particularly, when both issues occur at the same time, we tackle this challenging setup as Open Set Domain Adaptation (OSDA) problem. In general, existing OSDA approaches focus their efforts only on aligning known classes or, if they already extract possible negative instances, use them as a new category learned with supervision during the course of training. We propose a novel way to improve OSDA approaches by extracting a high-confidence set of unknown instances and using it as a hard constraint to tighten the classification boundaries of OSDA methods. Especially, we adopt a new loss constraint evaluated in three different means, (1) directly with the pristine negative instances; (2) with randomly transformed negatives using data augmentation techniques; and (3) with synthetically generated negatives containing adversarial features. We assessed all approaches in an extensive set of experiments based on OVANet, where we could observe consistent improvements for two public benchmarks, the Office-31 and Office-Home datasets, yielding absolute gains of up to 1.3% for both Accuracy and H-Score on Office-31 and 5.8% for Accuracy and 4.7% for H-Score on Office-Home.
ExBluRF: Efficient Radiance Fields for Extreme Motion Blurred Images
Authors: Dongwoo Lee, Jeongtaek Oh, Jaesung Rim, Sunghyun Cho, Kyoung Mu Lee
Date: 2023-09-16 00:00:00
Proceeding: ICCV 2023 1
Tasks: GPU, Novel View Synthesis

We present ExBluRF, a novel view synthesis method for extreme motion blurred images based on efficient radiance fields optimization. Our approach consists of two main components: 6-DOF camera trajectory-based motion blur formulation and voxel-based radiance fields. From extremely blurred images, we optimize the sharp radiance fields by jointly estimating the camera trajectories that generate the blurry images. In training, multiple rays along the camera trajectory are accumulated to reconstruct single blurry color, which is equivalent to the physical motion blur operation. We minimize the photo-consistency loss on blurred image space and obtain the sharp radiance fields with camera trajectories that explain the blur of all images. The joint optimization on the blurred image space demands painfully increasing computation and resources proportional to the blur size. Our method solves this problem by replacing the MLP-based framework to low-dimensional 6-DOF camera poses and voxel-based radiance fields. Compared with the existing works, our approach restores much sharper 3D scenes from challenging motion blurred views with the order of 10 times less training time and GPU memory consumption.
IntelliBeeHive: An Automated Honey Bee, Pollen, and Varroa Destructor Monitoring System
Authors: Christian I. Narcia-Macias, Joselito Guardado, Jocell Rodriguez, Joanne Rampersad-Ammons, Erik Enriquez, Dong-Chul Kim
Date: 2023-09-16 00:00:00
Tasks: object-detection, Object Detection

Utilizing computer vision and the latest technological advancements, in this study, we developed a honey bee monitoring system that aims to enhance our understanding of Colony Collapse Disorder, honey bee behavior, population decline, and overall hive health. The system is positioned at the hive entrance providing real-time data, enabling beekeepers to closely monitor the hive's activity and health through an account-based website. Using machine learning, our monitoring system can accurately track honey bees, monitor pollen-gathering activity, and detect Varroa mites, all without causing any disruption to the honey bees. Moreover, we have ensured that the development of this monitoring system utilizes cost-effective technology, making it accessible to apiaries of various scales, including hobbyists, commercial beekeeping businesses, and researchers. The inference models used to detect honey bees, pollen, and mites are based on the YOLOv7-tiny architecture trained with our own data. The F1-score for honey bee model recognition is 0.95 and the precision and recall value is 0.981. For our pollen and mite object detection model F1-score is 0.95 and the precision and recall value is 0.821 for pollen and 0.996 for "mite". The overall performance of our IntelliBeeHive system demonstrates its effectiveness in monitoring the honey bee's activity, achieving an accuracy of 96.28 % in tracking and our pollen model achieved a F1-score of 0.831.
Robust Backdoor Attacks on Object Detection in Real World
Authors: Yaguan Qian, Boyuan Ji, Shuke He, Shenhui Huang, Xiang Ling, Bin Wang, Wei Wang
Date: 2023-09-16 00:00:00
Tasks: Backdoor Attack, Object, object-detection, Object Detection

Deep learning models are widely deployed in many applications, such as object detection in various security fields. However, these models are vulnerable to backdoor attacks. Most backdoor attacks were intensively studied on classified models, but little on object detection. Previous works mainly focused on the backdoor attack in the digital world, but neglect the real world. Especially, the backdoor attack's effect in the real world will be easily influenced by physical factors like distance and illumination. In this paper, we proposed a variable-size backdoor trigger to adapt to the different sizes of attacked objects, overcoming the disturbance caused by the distance between the viewing point and attacked object. In addition, we proposed a backdoor training named malicious adversarial training, enabling the backdoor object detector to learn the feature of the trigger with physical noise. The experiment results show this robust backdoor attack (RBA) could enhance the attack success rate in the real world.
Staged Contact-Aware Global Human Motion Forecasting
Authors: Luca Scofano, Alessio Sampieri, Elisabeth Schiele, Edoardo De Matteis, Laura Leal-Taixé, Fabio Galasso
Date: 2023-09-16 00:00:00
Tasks: Human Pose Forecasting, Motion Estimation, Motion Forecasting, Trajectory Forecasting, Trajectory Prediction

Scene-aware global human motion forecasting is critical for manifold applications, including virtual reality, robotics, and sports. The task combines human trajectory and pose forecasting within the provided scene context, which represents a significant challenge. So far, only Mao et al. NeurIPS'22 have addressed scene-aware global motion, cascading the prediction of future scene contact points and the global motion estimation. They perform the latter as the end-to-end forecasting of future trajectories and poses. However, end-to-end contrasts with the coarse-to-fine nature of the task and it results in lower performance, as we demonstrate here empirically. We propose a STAGed contact-aware global human motion forecasting STAG, a novel three-stage pipeline for predicting global human motion in a 3D environment. We first consider the scene and the respective human interaction as contact points. Secondly, we model the human trajectory forecasting within the scene, predicting the coarse motion of the human body as a whole. The third and last stage matches a plausible fine human joint motion to complement the trajectory considering the estimated contacts. Compared to the state-of-the-art (SoA), STAG achieves a 1.8% and 16.2% overall improvement in pose and trajectory prediction, respectively, on the scene-aware GTA-IM dataset. A comprehensive ablation study confirms the advantages of staged modeling over end-to-end approaches. Furthermore, we establish the significance of a newly proposed temporal counter called the "time-to-go", which tells how long it is before reaching scene contact and endpoints. Notably, STAG showcases its ability to generalize to datasets lacking a scene and achieves a new state-of-the-art performance on CMU-Mocap, without leveraging any social cues. Our code is released at: https://github.com/L-Scofano/STAG