pwc-archive/papers-with-abstracts huggingface dataset:
Physics Constrained Motion Prediction with Uncertainty Quantification
Authors: Renukanandan Tumu, Lars Lindemann, Truong Nghiem, Rahul Mangharam
Date: 2023-02-02 00:00:00
Tasks: Autonomous Driving, Autonomous Racing, Conformal Prediction, motion prediction, Prediction, Trajectory Prediction, Uncertainty Quantification

Predicting the motion of dynamic agents is a critical task for guaranteeing the safety of autonomous systems. A particular challenge is that motion prediction algorithms should obey dynamics constraints and quantify prediction uncertainty as a measure of confidence. We present a physics-constrained approach for motion prediction which uses a surrogate dynamical model to ensure that predicted trajectories are dynamically feasible. We propose a two-step integration consisting of intent and trajectory prediction subject to dynamics constraints. We also construct prediction regions that quantify uncertainty and are tailored for autonomous driving by using conformal prediction, a popular statistical tool. Physics Constrained Motion Prediction achieves a 41% better ADE, 56% better FDE, and 19% better IoU over a baseline in experiments using an autonomous racing dataset.
IKOL: Inverse kinematics optimization layer for 3D human pose and shape estimation via Gauss-Newton differentiation
Authors: Juze Zhang, Ye Shi, Yuexin Ma, Lan Xu, Jingyi Yu, Jingya Wang
Date: 2023-02-02 00:00:00
Tasks: 3D human pose and shape estimation, 3D Human Pose Estimation, regression

This paper presents an inverse kinematic optimization layer (IKOL) for 3D human pose and shape estimation that leverages the strength of both optimization- and regression-based methods within an end-to-end framework. IKOL involves a nonconvex optimization that establishes an implicit mapping from an image's 3D keypoints and body shapes to the relative body-part rotations. The 3D keypoints and the body shapes are the inputs and the relative body-part rotations are the solutions. However, this procedure is implicit and hard to make differentiable. So, to overcome this issue, we designed a Gauss-Newton differentiation (GN-Diff) procedure to differentiate IKOL. GN-Diff iteratively linearizes the nonconvex objective function to obtain Gauss-Newton directions with closed form solutions. Then, an automatic differentiation procedure is directly applied to generate a Jacobian matrix for end-to-end training. Notably, the GN-Diff procedure works fast because it does not rely on a time-consuming implicit differentiation procedure. The twist rotation and shape parameters are learned from the neural networks and, as a result, IKOL has a much lower computational overhead than most existing optimization-based methods. Additionally, compared to existing regression-based methods, IKOL provides a more accurate mesh-image correspondence. This is because it iteratively reduces the distance between the keypoints and also enhances the reliability of the pose structures. Extensive experiments demonstrate the superiority of our proposed framework over a wide range of 3D human pose and shape estimation methods.
Paced-Curriculum Distillation with Prediction and Label Uncertainty for Image Segmentation
Authors: Mobarakol Islam, Lalithkumar Seenivasan, S. P. Sharan, V. K. Viekash, Bhavesh Gupta, Ben Glocker, Hongliang Ren
Date: 2023-02-02 00:00:00
Tasks: Image Segmentation, Medical Image Segmentation, Scene Segmentation, Segmentation, Semantic Segmentation, Transfer Learning

Purpose: In curriculum learning, the idea is to train on easier samples first and gradually increase the difficulty, while in self-paced learning, a pacing function defines the speed to adapt the training progress. While both methods heavily rely on the ability to score the difficulty of data samples, an optimal scoring function is still under exploration. Methodology: Distillation is a knowledge transfer approach where a teacher network guides a student network by feeding a sequence of random samples. We argue that guiding student networks with an efficient curriculum strategy can improve model generalization and robustness. For this purpose, we design an uncertainty-based paced curriculum learning in self distillation for medical image segmentation. We fuse the prediction uncertainty and annotation boundary uncertainty to develop a novel paced-curriculum distillation (PCD). We utilize the teacher model to obtain prediction uncertainty and spatially varying label smoothing with Gaussian kernel to generate segmentation boundary uncertainty from the annotation. We also investigate the robustness of our method by applying various types and severity of image perturbation and corruption. Results: The proposed technique is validated on two medical datasets of breast ultrasound image segmentation and robotassisted surgical scene segmentation and achieved significantly better performance in terms of segmentation and robustness. Conclusion: P-CD improves the performance and obtains better generalization and robustness over the dataset shift. While curriculum learning requires extensive tuning of hyper-parameters for pacing function, the level of performance improvement suppresses this limitation.
An Efficient Convex Hull-based Vehicle Pose Estimation Method for 3D LiDAR
Authors: Ningning Ding
Date: 2023-02-02 00:00:00
Tasks: Autonomous Driving, Pose Estimation, Vehicle Pose Estimation

Vehicle pose estimation with LiDAR is essential in the perception technology of autonomous driving. However, due to incomplete observation measurements and sparsity of the LiDAR point cloud, it is challenging to achieve satisfactory pose extraction based on 3D LiDAR with the existing pose estimation methods. In addition, the demand for real-time performance further increases the difficulty of the pose estimation task. In this paper, we propose a novel vehicle pose estimation method based on the convex hull. The extracted 3D cluster is reduced to the convex hull, reducing the subsequent computation burden while preserving essential contour information. Subsequently, a novel criterion based on the minimum occlusion area is developed for the search-based algorithm, enabling accurate pose estimation. Additionally, this criterion renders the proposed algorithm particularly well-suited for obstacle avoidance. The proposed algorithm is validated on the KITTI dataset and a manually labeled dataset acquired at an industrial park. The results demonstrate that our proposed method can achieve better accuracy than the classical pose estimation method while maintaining real-time speed.
FCB-SwinV2 Transformer for Polyp Segmentation
Authors: Kerr Fitzgerald, Bogdan Matuszewski
Date: 2023-02-02 00:00:00
Tasks: Medical Image Segmentation, Segmentation

Polyp segmentation within colonoscopy video frames using deep learning models has the potential to automate the workflow of clinicians. This could help improve the early detection rate and characterization of polyps which could progress to colorectal cancer. Recent state-of-the-art deep learning polyp segmentation models have combined the outputs of Fully Convolutional Network architectures and Transformer Network architectures which work in parallel. In this paper we propose modifications to the current state-of-the-art polyp segmentation model FCBFormer. The transformer architecture of the FCBFormer is replaced with a SwinV2 Transformer-UNET and minor changes to the Fully Convolutional Network architecture are made to create the FCB-SwinV2 Transformer. The performance of the FCB-SwinV2 Transformer is evaluated on the popular colonoscopy segmentation bench-marking datasets Kvasir-SEG and CVC-ClinicDB. Generalizability tests are also conducted. The FCB-SwinV2 Transformer is able to consistently achieve higher mDice scores across all tests conducted and therefore represents new state-of-the-art performance. Issues found with how colonoscopy segmentation model performance is evaluated within literature are also re-ported and discussed. One of the most important issues identified is that when evaluating performance on the CVC-ClinicDB dataset it would be preferable to ensure no data leakage from video sequences occurs during the training/validation/test data partition.
Open-Set Multi-Source Multi-Target Domain Adaptation
Authors: Rohit Lal, Arihant Gaur, Aadhithya Iyer, Muhammed Abdullah Shaikh, Ritik Agrawal
Date: 2023-02-02 00:00:00
Tasks: Domain Adaptation, Graph Attention, Multi-target Domain Adaptation

Single-Source Single-Target Domain Adaptation (1S1T) aims to bridge the gap between a labelled source domain and an unlabelled target domain. Despite 1S1T being a well-researched topic, they are typically not deployed to the real world. Methods like Multi-Source Domain Adaptation and Multi-Target Domain Adaptation have evolved to model real-world problems but still do not generalise well. The fact that most of these methods assume a common label-set between source and target is very restrictive. Recent Open-Set Domain Adaptation methods handle unknown target labels but fail to generalise in multiple domains. To overcome these difficulties, first, we propose a novel generic domain adaptation (DA) setting named Open-Set Multi-Source Multi-Target Domain Adaptation (OS-nSmT), with n and m being number of source and target domains respectively. Next, we propose a graph attention based framework named DEGAA which can capture information from multiple source and target domains without knowing the exact label-set of the target. We argue that our method, though offered for multiple sources and multiple targets, can also be agnostic to various other DA settings. To check the robustness and versatility of DEGAA, we put forward ample experiments and ablation studies.
HaMuCo: Hand Pose Estimation via Multiview Collaborative Self-Supervised Learning
Authors: Xiaozheng Zheng, Chao Wen, Zhou Xue, Pengfei Ren, Jingyu Wang
Date: 2023-02-02 00:00:00
Proceeding: ICCV 2023 1
Tasks: 3D Hand Pose Estimation, Hand Pose Estimation, Pose Estimation, Self-Supervised Learning

Recent advancements in 3D hand pose estimation have shown promising results, but its effectiveness has primarily relied on the availability of large-scale annotated datasets, the creation of which is a laborious and costly process. To alleviate the label-hungry limitation, we propose a self-supervised learning framework, HaMuCo, that learns a single-view hand pose estimator from multi-view pseudo 2D labels. However, one of the main challenges of self-supervised learning is the presence of noisy labels and the ``groupthink'' effect from multiple views. To overcome these issues, we introduce a cross-view interaction network that distills the single-view estimator by utilizing the cross-view correlated features and enforcing multi-view consistency to achieve collaborative learning. Both the single-view estimator and the cross-view interaction network are trained jointly in an end-to-end manner. Extensive experiments show that our method can achieve state-of-the-art performance on multi-view self-supervised hand pose estimation. Furthermore, the proposed cross-view interaction network can also be applied to hand pose estimation from multi-view input and outperforms previous methods under the same settings.
Deep-Learning Tool for Early Identifying Non-Traumatic Intracranial Hemorrhage Etiology based on CT Scan
Authors: Meng Zhao, Yifan Hu, Ruixuan Jiang, Yuanli Zhao, Dong Zhang, Yan Zhang, Rong Wang, Yong Cao, Qian Zhang, Yonggang Ma, Jiaxi Li, Shaochen Yu, Wenjie Li, Ran Zhang, Yefeng Zheng, Shuo Wang, Jizong Zhao
Date: 2023-02-02 00:00:00
Tasks: Deep Learning, Diagnostic, Specificity

Background: To develop an artificial intelligence system that can accurately identify acute non-traumatic intracranial hemorrhage (ICH) etiology based on non-contrast CT (NCCT) scans and investigate whether clinicians can benefit from it in a diagnostic setting. Materials and Methods: The deep learning model was developed with 1868 eligible NCCT scans with non-traumatic ICH collected between January 2011 and April 2018. We tested the model on two independent datasets (TT200 and SD 98) collected after April 2018. The model's diagnostic performance was compared with clinicians's performance. We further designed a simulated study to compare the clinicians's performance with and without the deep learning system augmentation. Results: The proposed deep learning system achieved area under the receiver operating curve of 0.986 (95% CI 0.967-1.000) on aneurysms, 0.952 (0.917-0.987) on hypertensive hemorrhage, 0.950 (0.860-1.000) on arteriovenous malformation (AVM), 0.749 (0.586-0.912) on Moyamoya disease (MMD), 0.837 (0.704-0.969) on cavernous malformation (CM), and 0.839 (0.722-0.959) on other causes in TT200 dataset. Given a 90% specificity level, the sensitivities of our model were 97.1% and 90.9% for aneurysm and AVM diagnosis, respectively. The model also shows an impressive generalizability in an independent dataset SD98. The clinicians achieve significant improvements in the sensitivity, specificity, and accuracy of diagnoses of certain hemorrhage etiologies with proposed system augmentation. Conclusions: The proposed deep learning algorithms can be an effective tool for early identification of hemorrhage etiologies based on NCCT scans. It may also provide more information for clinicians for triage and further imaging examination selection.
An optimization method for out-of-distribution anomaly detection models
Authors: Ji Qiu, Hongmei Shi, Yu Hen Hu, Zujun Yu
Date: 2023-02-02 00:00:00
Tasks: Anomaly Detection, Unsupervised Anomaly Detection

Frequent false alarms impede the promotion of unsupervised anomaly detection algorithms in industrial applications. Potential characteristics of false alarms depending on the trained detector are revealed by investigating density probability distributions of prediction scores in the out-of-distribution anomaly detection tasks. An SVM-based classifier is exploited as a post-processing module to identify false alarms from the anomaly map at the object level. Besides, a sample synthesis strategy is devised to incorporate fuzzy prior knowledge on the specific application in the anomaly-free training dataset. Experimental results illustrate that the proposed method comprehensively improves the performances of two segmentation models at both image and pixel levels on two industrial applications.
Adaptive Siamese Tracking with a Compact Latent Network
Authors: Xingping Dong, Jianbing Shen, Fatih Porikli, Jiebo Luo, Ling Shao
Date: 2023-02-02 00:00:00

In this paper, we provide an intuitive viewing to simplify the Siamese-based trackers by converting the tracking task to a classification. Under this viewing, we perform an in-depth analysis for them through visual simulations and real tracking examples, and find that the failure cases in some challenging situations can be regarded as the issue of missing decisive samples in offline training. Since the samples in the initial (first) frame contain rich sequence-specific information, we can regard them as the decisive samples to represent the whole sequence. To quickly adapt the base model to new scenes, a compact latent network is presented via fully using these decisive samples. Specifically, we present a statistics-based compact latent feature for fast adjustment by efficiently extracting the sequence-specific information. Furthermore, a new diverse sample mining strategy is designed for training to further improve the discrimination ability of the proposed compact latent network. Finally, a conditional updating strategy is proposed to efficiently update the basic models to handle scene variation during the tracking phase. To evaluate the generalization ability and effectiveness and of our method, we apply it to adjust three classical Siamese-based trackers, namely SiamRPN++, SiamFC, and SiamBAN. Extensive experimental results on six recent datasets demonstrate that all three adjusted trackers obtain the superior performance in terms of the accuracy, while having high running speed.
Cooperative Saliency-based Obstacle Detection and AR Rendering for Increased Situational Awareness
Authors: Gerasimos Arvanitis, Nikolaos Stagakis, Evangelia I. Zacharaki, Konstantinos Moustakas
Date: 2023-02-02 00:00:00
Tasks: Autonomous Vehicles

Autonomous vehicles are expected to operate safely in real-life road conditions in the next years. Nevertheless, unanticipated events such as the existence of unexpected objects in the range of the road, can put safety at risk. The advancement of sensing and communication technologies and Internet of Things may facilitate the recognition of hazardous situations and information exchange in a cooperative driving scheme, providing new opportunities for the increase of collaborative situational awareness. Safe and unobtrusive visualization of the obtained information may nowadays be enabled through the adoption of novel Augmented Reality (AR) interfaces in the form of windshields. Motivated by these technological opportunities, we propose in this work a saliency-based distributed, cooperative obstacle detection and rendering scheme for increasing the driver's situational awareness through (i) automated obstacle detection, (ii) AR visualization and (iii) information sharing (upcoming potential dangers) with other connected vehicles or road infrastructure. An extensive evaluation study using a variety of real datasets for pothole detection showed that the proposed method provides favorable results and features compared to other recent and relevant approaches.
Advances and Challenges in Multimodal Remote Sensing Image Registration
Authors: Bai Zhu, Liang Zhou, Simiao Pu, Jianwei Fan, Yuanxin Ye
Date: 2023-02-02 00:00:00
Tasks: Image Registration

Over the past few decades, with the rapid development of global aerospace and aerial remote sensing technology, the types of sensors have evolved from the traditional monomodal sensors (e.g., optical sensors) to the new generation of multimodal sensors [e.g., multispectral, hyperspectral, light detection and ranging (LiDAR) and synthetic aperture radar (SAR) sensors]. These advanced devices can dynamically provide various and abundant multimodal remote sensing images with different spatial, temporal, and spectral resolutions according to different application requirements. Since then, it is of great scientific significance to carry out the research of multimodal remote sensing image registration, which is a crucial step for integrating the complementary information among multimodal data and making comprehensive observations and analysis of the Earths surface. In this work, we will present our own contributions to the field of multimodal image registration, summarize the advantages and limitations of existing multimodal image registration methods, and then discuss the remaining challenges and make a forward-looking prospect for the future development of the field.
GANalyzer: Analysis and Manipulation of GANs Latent Space for Controllable Face Synthesis
Authors: Ali Pourramezan Fard, Mohammad H. Mahoor, Sarah Ariel Lamer, Timothy Sweeny
Date: 2023-02-02 00:00:00
Tasks: Attribute, Face Generation, Image Generation

Generative Adversarial Networks (GANs) are capable of synthesizing high-quality facial images. Despite their success, GANs do not provide any information about the relationship between the input vectors and the generated images. Currently, facial GANs are trained on imbalanced datasets, which generate less diverse images. For example, more than 77% of 100K images that we randomly synthesized using the StyleGAN3 are classified as Happy, and only around 3% are Angry. The problem even becomes worse when a mixture of facial attributes is desired: less than 1% of the generated samples are Angry Woman, and only around 2% are Happy Black. To address these problems, this paper proposes a framework, called GANalyzer, for the analysis, and manipulation of the latent space of well-trained GANs. GANalyzer consists of a set of transformation functions designed to manipulate latent vectors for a specific facial attribute such as facial Expression, Age, Gender, and Race. We analyze facial attribute entanglement in the latent space of GANs and apply the proposed transformation for editing the disentangled facial attributes. Our experimental results demonstrate the strength of GANalyzer in editing facial attributes and generating any desired faces. We also create and release a balanced photo-realistic human face dataset. Our code is publicly available on GitHub.
No One Left Behind: Real-World Federated Class-Incremental Learning
Authors: Jiahua Dong, Hongliu Li, Yang Cong, Gan Sun, Yulun Zhang, Luc van Gool
Date: 2023-02-02 00:00:00
Tasks: class-incremental learning, Class Incremental Learning, Federated Learning, Incremental Learning

Federated learning (FL) is a hot collaborative training framework via aggregating model parameters of decentralized local clients. However, most FL methods unreasonably assume data categories of FL framework are known and fixed in advance. Moreover, some new local clients that collect novel categories unseen by other clients may be introduced to FL training irregularly. These issues render global model to undergo catastrophic forgetting on old categories, when local clients receive new categories consecutively under limited memory of storing old categories. To tackle the above issues, we propose a novel Local-Global Anti-forgetting (LGA) model. It ensures no local clients are left behind as they learn new classes continually, by addressing local and global catastrophic forgetting. Specifically, considering tackling class imbalance of local client to surmount local forgetting, we develop a category-balanced gradient-adaptive compensation loss and a category gradient-induced semantic distillation loss. They can balance heterogeneous forgetting speeds of hard-to-forget and easy-to-forget old categories, while ensure consistent class-relations within different tasks. Moreover, a proxy server is designed to tackle global forgetting caused by Non-IID class imbalance between different clients. It augments perturbed prototype images of new categories collected from local clients via self-supervised prototype augmentation, thus improving robustness to choose the best old global model for local-side semantic distillation loss. Experiments on representative datasets verify superior performance of our model against comparison methods. The code is available at https://github.com/JiahuaDong/LGA.
Longformer: Longitudinal Transformer for Alzheimer's Disease Classification with Structural MRIs
Authors: Qiuhui Chen, Yi Hong
Date: 2023-02-02 00:00:00
Tasks: Binary Classification

Structural magnetic resonance imaging (sMRI) is widely used for brain neurological disease diagnosis; while longitudinal MRIs are often collected to monitor and capture disease progression, as clinically used in diagnosing Alzheimer's disease (AD). However, most current methods neglect AD's progressive nature and only take a single sMRI for recognizing AD. In this paper, we consider the problem of leveraging the longitudinal MRIs of a subject for AD identification. To capture longitudinal changes in sMRIs, we propose a novel model Longformer, a spatiotemporal transformer network that performs attention mechanisms spatially on sMRIs at each time point and integrates brain region features over time to obtain longitudinal embeddings for classification. Our Longformer achieves state-of-the-art performance on two binary classification tasks of separating different stages of AD using the ADNI dataset. Our source code is available at https://github.com/Qybc/LongFormer.