pwc-archive/papers-with-abstracts huggingface dataset:
VisTaNet: Attention Guided Deep Fusion for Surface Roughness Classification
Authors: Prasanna Kumar Routray, Aditya Sanjiv Kanade, Jay Bhanushali, Manivannan Muniyandi
Date: 2022-09-18 00:00:00
Tasks: Classification

Human texture perception is a weighted average of multi-sensory inputs: visual and tactile. While the visual sensing mechanism extracts global features, the tactile mechanism complements it by extracting local features. The lack of coupled visuotactile datasets in the literature is a challenge for studying multimodal fusion strategies analogous to human texture perception. This paper presents a visual dataset that augments an existing tactile dataset. We propose a novel deep fusion architecture that fuses visual and tactile data using four types of fusion strategies: summation, concatenation, max-pooling, and attention. Our model shows significant performance improvements (97.22%) in surface roughness classification accuracy over tactile only (SVM - 92.60%) and visual only (FENet-50 - 85.01%) architectures. Among the several fusion techniques, attention-guided architecture results in better classification accuracy. Our study shows that analogous to human texture perception, the proposed model chooses a weighted combination of the two modalities (visual and tactile), thus resulting in higher surface roughness classification accuracy; and it chooses to maximize the weightage of the tactile modality where the visual modality fails and vice-versa.
Imbalanced Node Processing Method in Graph Neural Network Classification Task
Authors: Min Liu, Siwen Jin, Luo Jin, Shuohan Wang, Yu Fang, Yuliang Shi
Date: 2022-09-18 00:00:00
Tasks: Classification, Graph Neural Network, Node Classification

In recent years, the node classification task in graph neural networks(GNNs) has developed rapidly, driving the development of research in various fields. However, there are a large number of class imbalances in the graph data, and there is a large gap between the number of different classes, resulting in suboptimal results in classification. Proposing a solution to the imbalance problem has become indispensable for the successful advancement of our downstream missions. Therefore, we start with the loss function and try to find a loss function that can effectively solve the imbalance of graph nodes to participate in the node classification task. thence, we introduce GHMC Loss into the graph neural networks to deal with difficult samples that are not marginal. Attenuate the loss contribution of marginal samples and simple samples. Experiments on multiple benchmarks show that our method can effectively deal with the class imbalance problem, and our method improves the accuracy by 3% compared to the traditional loss function.
Revisiting Rolling Shutter Bundle Adjustment: Toward Accurate and Fast Solution
Authors: Bangyan Liao, Delin Qu, Yifei Xue, Huiqing Zhang, Yizhen Lao
Date: 2022-09-18 00:00:00
Proceeding: CVPR 2023 1

We propose a robust and fast bundle adjustment solution that estimates the 6-DoF pose of the camera and the geometry of the environment based on measurements from a rolling shutter (RS) camera. This tackles the challenges in the existing works, namely relying on additional sensors, high frame rate video as input, restrictive assumptions on camera motion, readout direction, and poor efficiency. To this end, we first investigate the influence of normalization to the image point on RSBA performance and show its better approximation in modelling the real 6-DoF camera motion. Then we present a novel analytical model for the visual residual covariance, which can be used to standardize the reprojection error during the optimization, consequently improving the overall accuracy. More importantly, the combination of normalization and covariance standardization weighting in RSBA (NW-RSBA) can avoid common planar degeneracy without needing to constrain the filming manner. Besides, we propose an acceleration strategy for NW-RSBA based on the sparsity of its Jacobian matrix and Schur complement. The extensive synthetic and real data experiments verify the effectiveness and efficiency of the proposed solution over the state-of-the-art works. We also demonstrate the proposed method can be easily implemented and plug-in famous GSSfM and GSSLAM systems as completed RSSfM and RSSLAM solutions.
EMA-VIO: Deep Visual-Inertial Odometry with External Memory Attention
Authors: Zheming Tu, Changhao Chen, Xianfei Pan, Ruochen Liu, Jiarui Cui, Jun Mao
Date: 2022-09-18 00:00:00

Accurate and robust localization is a fundamental need for mobile agents. Visual-inertial odometry (VIO) algorithms exploit the information from camera and inertial sensors to estimate position and translation. Recent deep learning based VIO models attract attentions as they provide pose information in a data-driven way, without the need of designing hand-crafted algorithms. Existing learning based VIO models rely on recurrent models to fuse multimodal data and process sensor signal, which are hard to train and not efficient enough. We propose a novel learning based VIO framework with external memory attention that effectively and efficiently combines visual and inertial features for states estimation. Our proposed model is able to estimate pose accurately and robustly, even in challenging scenarios, e.g., on overcast days and water-filled ground , which are difficult for traditional VIO algorithms to extract visual features. Experiments validate that it outperforms both traditional and learning based VIO baselines in different scenes.
Bootstrap Generalization Ability from Loss Landscape Perspective
Authors: Huanran Chen, Shitong Shao, Ziyi Wang, Zirui Shang, Jin Chen, Xiaofeng Ji, Xinxiao wu
Date: 2022-09-18 00:00:00
Tasks: Domain Generalization

Domain generalization aims to learn a model that can generalize well on the unseen test dataset, i.e., out-of-distribution data, which has different distribution from the training dataset. To address domain generalization in computer vision, we introduce the loss landscape theory into this field. Specifically, we bootstrap the generalization ability of the deep learning model from the loss landscape perspective in four aspects, including backbone, regularization, training paradigm, and learning rate. We verify the proposed theory on the NICO++, PACS, and VLCS datasets by doing extensive ablation studies as well as visualizations. In addition, we apply this theory in the ECCV 2022 NICO Challenge1 and achieve the 3rd place without using any domain invariant methods.
GaitMM: Multi-Granularity Motion Sequence Learning for Gait Recognition
Authors: Lei Wang, Bo Liu, Bincheng Wang, Fuqiang Yu
Date: 2022-09-18 00:00:00
Tasks: Gait Recognition, Multiview Gait Recognition

Gait recognition aims to identify individual-specific walking patterns by observing the different periodic movements of each body part. However, most existing methods treat each part equally and fail to account for the data redundancy caused by the different step frequencies and sampling rates of gait sequences. In this study, we propose a multi-granularity motion representation network (GaitMM) for gait sequence learning. In GaitMM, we design a combined full-body and fine-grained sequence learning module (FFSL) to explore part-independent spatio-temporal representations. Moreover, we utilize a frame-wise compression strategy, referred to as multi-scale motion aggregation (MSMA), to capture discriminative information in the gait sequence. Experiments on two public datasets, CASIA-B and OUMVLP, show that our approach reaches state-of-the-art performances.
Human Performance Modeling and Rendering via Neural Animated Mesh
Authors: Fuqiang Zhao, Yuheng Jiang, Kaixin Yao, Jiakai Zhang, Liao Wang, Haizhao Dai, Yuhui Zhong, Yingliang Zhang, Minye Wu, Lan Xu, Jingyi Yu
Date: 2022-09-18 00:00:00

We have recently seen tremendous progress in the neural advances for photo-real human modeling and rendering. However, it's still challenging to integrate them into an existing mesh-based pipeline for downstream applications. In this paper, we present a comprehensive neural approach for high-quality reconstruction, compression, and rendering of human performances from dense multi-view videos. Our core intuition is to bridge the traditional animated mesh workflow with a new class of highly efficient neural techniques. We first introduce a neural surface reconstructor for high-quality surface generation in minutes. It marries the implicit volumetric rendering of the truncated signed distance field (TSDF) with multi-resolution hash encoding. We further propose a hybrid neural tracker to generate animated meshes, which combines explicit non-rigid tracking with implicit dynamic deformation in a self-supervised framework. The former provides the coarse warping back into the canonical space, while the latter implicit one further predicts the displacements using the 4D hash encoding as in our reconstructor. Then, we discuss the rendering schemes using the obtained animated meshes, ranging from dynamic texturing to lumigraph rendering under various bandwidth settings. To strike an intricate balance between quality and bandwidth, we propose a hierarchical solution by first rendering 6 virtual views covering the performer and then conducting occlusion-aware neural texture blending. We demonstrate the efficacy of our approach in a variety of mesh-based applications and photo-realistic free-view experiences on various platforms, i.e., inserting virtual human performances into real environments through mobile AR or immersively watching talent shows with VR headsets.
StereoVoxelNet: Real-Time Obstacle Detection Based on Occupancy Voxels from a Stereo Camera Using Deep Neural Networks
Authors: Hongyu Li, Zhengang Li, Neset Unver Akmandor, Huaizu Jiang, Yanzhi Wang, Taskin Padir
Date: 2022-09-18 00:00:00
Tasks: Autonomous Navigation, Robot Navigation, Stereo Matching

Obstacle detection is a safety-critical problem in robot navigation, where stereo matching is a popular vision-based approach. While deep neural networks have shown impressive results in computer vision, most of the previous obstacle detection works only leverage traditional stereo matching techniques to meet the computational constraints for real-time feedback. This paper proposes a computationally efficient method that employs a deep neural network to detect occupancy from stereo images directly. Instead of learning the point cloud correspondence from the stereo data, our approach extracts the compact obstacle distribution based on volumetric representations. In addition, we prune the computation of safety irrelevant spaces in a coarse-to-fine manner based on octrees generated by the decoder. As a result, we achieve real-time performance on the onboard computer (NVIDIA Jetson TX2). Our approach detects obstacles accurately in the range of 32 meters and achieves better IoU (Intersection over Union) and CD (Chamfer Distance) scores with only 2% of the computation cost of the state-of-the-art stereo model. Furthermore, we validate our method's robustness and real-world feasibility through autonomous navigation experiments with a real robot. Hence, our work contributes toward closing the gap between the stereo-based system in robot perception and state-of-the-art stereo models in computer vision. To counter the scarcity of high-quality real-world indoor stereo datasets, we collect a 1.36 hours stereo dataset with a mobile robot which is used to fine-tune our model. The dataset, the code, and further details including additional visualizations are available at https://lhy.xyz/stereovoxelnet
TODE-Trans: Transparent Object Depth Estimation with Transformer
Authors: Kang Chen, Shaochen Wang, Beihao Xia, Dongxu Li, Zhen Kan, Bin Li
Date: 2022-09-18 00:00:00
Tasks: Depth Estimation, Object, Transparent Object Depth Estimation, Transparent objects

Transparent objects are widely used in industrial automation and daily life. However, robust visual recognition and perception of transparent objects have always been a major challenge. Currently, most commercial-grade depth cameras are still not good at sensing the surfaces of transparent objects due to the refraction and reflection of light. In this work, we present a transformer-based transparent object depth estimation approach from a single RGB-D input. We observe that the global characteristics of the transformer make it easier to extract contextual information to perform depth estimation of transparent areas. In addition, to better enhance the fine-grained features, a feature fusion module (FFM) is designed to assist coherent prediction. Our empirical evidence demonstrates that our model delivers significant improvements in recent popular datasets, e.g., 25% gain on RMSE and 21% gain on REL compared to previous state-of-the-art convolutional-based counterparts in ClearGrasp dataset. Extensive results show that our transformer-based model enables better aggregation of the object's RGB and inaccurate depth information to obtain a better depth representation. Our code and the pre-trained model will be available at https://github.com/yuchendoudou/TODE.
MetaDIP: Accelerating Deep Image Prior with Meta Learning
Authors: Kevin Zhang, Mingyang Xie, Maharshi Gor, Yi-Ting Chen, Yvonne Zhou, Christopher A. Metzler
Date: 2022-09-18 00:00:00
Tasks: Denoising, Meta-Learning, Retrieval

Deep image prior (DIP) is a recently proposed technique for solving imaging inverse problems by fitting the reconstructed images to the output of an untrained convolutional neural network. Unlike pretrained feedforward neural networks, the same DIP can generalize to arbitrary inverse problems, from denoising to phase retrieval, while offering competitive performance at each task. The central disadvantage of DIP is that, while feedforward neural networks can reconstruct an image in a single pass, DIP must gradually update its weights over hundreds to thousands of iterations, at a significant computational cost. In this work we use meta-learning to massively accelerate DIP-based reconstructions. By learning a proper initialization for the DIP weights, we demonstrate a 10x improvement in runtimes across a range of inverse imaging tasks. Moreover, we demonstrate that a network trained to quickly reconstruct faces also generalizes to reconstructing natural image patches.
SDFE-LV: A Large-Scale, Multi-Source, and Unconstrained Database for Spotting Dynamic Facial Expressions in Long Videos
Authors: Xiaolin Xu, Yuan Zong, Wenming Zheng, Yang Li, Chuangao Tang, Xingxun Jiang, Haolin Jiang
Date: 2022-09-18 00:00:00

In this paper, we present a large-scale, multi-source, and unconstrained database called SDFE-LV for spotting the onset and offset frames of a complete dynamic facial expression from long videos, which is known as the topic of dynamic facial expression spotting (DFES) and a vital prior step for lots of facial expression analysis tasks. Specifically, SDFE-LV consists of 1,191 long videos, each of which contains one or more complete dynamic facial expressions. Moreover, each complete dynamic facial expression in its corresponding long video was independently labeled for five times by 10 well-trained annotators. To the best of our knowledge, SDFE-LV is the first unconstrained large-scale database for the DFES task whose long videos are collected from multiple real-world/closely real-world media sources, e.g., TV interviews, documentaries, movies, and we-media short videos. Therefore, DFES tasks on SDFE-LV database will encounter numerous difficulties in practice such as head posture changes, occlusions, and illumination. We also provided a comprehensive benchmark evaluation from different angles by using lots of recent state-of-the-art deep spotting methods and hence researchers interested in DFES can quickly and easily get started. Finally, with the deep discussions on the experimental evaluation results, we attempt to point out several meaningful directions to deal with DFES tasks and hope that DFES can be better advanced in the future. In addition, SDFE-LV will be freely released for academic use only as soon as possible.
Evolution of a Web-Scale Near Duplicate Image Detection System
Authors: Andrey Gusev, Jiajing Xu
Date: 2022-09-18 00:00:00

Detecting near duplicate images is fundamental to the content ecosystem of photo sharing web applications. However, such a task is challenging when involving a web-scale image corpus containing billions of images. In this paper, we present an efficient system for detecting near duplicate images across 8 billion images. Our system consists of three stages: candidate generation, candidate selection, and clustering. We also demonstrate that this system can be used to greatly improve the quality of recommendations and search results across a number of real-world applications. In addition, we include the evolution of the system over the course of six years, bringing out experiences and lessons on how new systems are designed to accommodate organic content growth as well as the latest technology. Finally, we are releasing a human-labeled dataset of ~53,000 pairs of images introduced in this paper.
DytanVO: Joint Refinement of Visual Odometry and Motion Segmentation in Dynamic Environments
Authors: Shihao Shen, Yilin Cai, Wenshan Wang, Sebastian Scherer
Date: 2022-09-17 00:00:00
Tasks: Motion Segmentation, Semantic Segmentation, Visual Odometry

Learning-based visual odometry (VO) algorithms achieve remarkable performance on common static scenes, benefiting from high-capacity models and massive annotated data, but tend to fail in dynamic, populated environments. Semantic segmentation is largely used to discard dynamic associations before estimating camera motions but at the cost of discarding static features and is hard to scale up to unseen categories. In this paper, we leverage the mutual dependence between camera ego-motion and motion segmentation and show that both can be jointly refined in a single learning-based framework. In particular, we present DytanVO, the first supervised learning-based VO method that deals with dynamic environments. It takes two consecutive monocular frames in real-time and predicts camera ego-motion in an iterative fashion. Our method achieves an average improvement of 27.7% in ATE over state-of-the-art VO solutions in real-world dynamic environments, and even performs competitively among dynamic visual SLAM systems which optimize the trajectory on the backend. Experiments on plentiful unseen environments also demonstrate our method's generalizability.
Automated Segmentation and Recurrence Risk Prediction of Surgically Resected Lung Tumors with Adaptive Convolutional Neural Networks
Authors: Marguerite B. Basta, Sarfaraz Hussein, Hsiang Hsu, Flavio P. Calmon
Date: 2022-09-17 00:00:00
Tasks: Computed Tomography (CT), Image Segmentation, Medical Image Segmentation, Segmentation, Semantic Segmentation

Lung cancer is the leading cause of cancer related mortality by a significant margin. While new technologies, such as image segmentation, have been paramount to improved detection and earlier diagnoses, there are still significant challenges in treating the disease. In particular, despite an increased number of curative resections, many postoperative patients still develop recurrent lesions. Consequently, there is a significant need for prognostic tools that can more accurately predict a patient's risk for recurrence. In this paper, we explore the use of convolutional neural networks (CNNs) for the segmentation and recurrence risk prediction of lung tumors that are present in preoperative computed tomography (CT) images. First, expanding upon recent progress in medical image segmentation, a residual U-Net is used to localize and characterize each nodule. Then, the identified tumors are passed to a second CNN for recurrence risk prediction. The system's final results are produced with a random forest classifier that synthesizes the predictions of the second network with clinical attributes. The segmentation stage uses the LIDC-IDRI dataset and achieves a dice score of 70.3%. The recurrence risk stage uses the NLST dataset from the National Cancer institute and achieves an AUC of 73.0%. Our proposed framework demonstrates that first, automated nodule segmentation methods can generalize to enable pipelines for a wide range of multitask systems and second, that deep learning and image processing have the potential to improve current prognostic tools. To the best of our knowledge, it is the first fully automated segmentation and recurrence risk prediction system.
Uncertainty Guided Policy for Active Robotic 3D Reconstruction using Neural Radiance Fields
Authors: Soomin Lee, Le Chen, Jiahao Wang, Alexander Liniger, Suryansh Kumar, Fisher Yu
Date: 2022-09-17 00:00:00
Tasks: 3D geometry, 3D Reconstruction

In this paper, we tackle the problem of active robotic 3D reconstruction of an object. In particular, we study how a mobile robot with an arm-held camera can select a favorable number of views to recover an object's 3D shape efficiently. Contrary to the existing solution to this problem, we leverage the popular neural radiance fields-based object representation, which has recently shown impressive results for various computer vision tasks. However, it is not straightforward to directly reason about an object's explicit 3D geometric details using such a representation, making the next-best-view selection problem for dense 3D reconstruction challenging. This paper introduces a ray-based volumetric uncertainty estimator, which computes the entropy of the weight distribution of the color samples along each ray of the object's implicit neural representation. We show that it is possible to infer the uncertainty of the underlying 3D geometry given a novel view with the proposed estimator. We then present a next-best-view selection policy guided by the ray-based volumetric uncertainty in neural radiance fields-based representations. Encouraging experimental results on synthetic and real-world data suggest that the approach presented in this paper can enable a new research direction of using an implicit 3D object representation for the next-best-view problem in robot vision applications, distinguishing our approach from the existing approaches that rely on explicit 3D geometric modeling.
Differentiable Topology-Preserved Distance Transform for Pulmonary Airway Segmentation
Authors: Minghui Zhang, Guang-Zhong Yang, Yun Gu
Date: 2022-09-17 00:00:00
Tasks: Medical Image Analysis, Segmentation

Detailed pulmonary airway segmentation is a clinically important task for endobronchial intervention and treatment of peripheral located lung cancer lesions. Convolutional Neural Networks (CNNs) are promising tools for medical image analysis but have been performing poorly for cases when existing a significant imbalanced feature distribution, which is true for the airway data as the trachea and principal bronchi dominate most of the voxels whereas the lobar bronchi and distal segmental bronchi occupy a small proportion. In this paper, we propose a Differentiable Topology-Preserved Distance Transform (DTPDT) framework to improve the performance of airway segmentation. A Topology-Preserved Surrogate (TPS) learning strategy is first proposed to balance the training progress within-class distribution. Furthermore, a Convolutional Distance Transform (CDT) is designed to identify the breakage phenomenon with superior sensitivity and minimize the variation of the distance map between the predictionand ground-truth. The proposed method is validated with the publically available reference airway segmentation datasets. The detected rate of branch and length on public EXACT'09 and BAS datasets are 82.1%/79.6% and 96.5%/91.5% respectively, demonstrating the reliability and efficiency of the method in terms of improving the topology completeness of the segmentation performance while maintaining the overall topology accuracy.