pwc-archive/papers-with-abstracts huggingface dataset:
Cross-Domain Spatial Matching for Camera and Radar Sensor Data Fusion in Autonomous Vehicle Perception System
Authors: Daniel Dworak, Mateusz Komorkiewicz, Paweł Skruch, Jerzy Baranowski
Date: 2024-04-25 00:00:00
Tasks: 3D Object Detection, Object, object-detection, Object Detection, Sensor Fusion

In this paper, we propose a novel approach to address the problem of camera and radar sensor fusion for 3D object detection in autonomous vehicle perception systems. Our approach builds on recent advances in deep learning and leverages the strengths of both sensors to improve object detection performance. Precisely, we extract 2D features from camera images using a state-of-the-art deep learning architecture and then apply a novel Cross-Domain Spatial Matching (CDSM) transformation method to convert these features into 3D space. We then fuse them with extracted radar data using a complementary fusion strategy to produce a final 3D object representation. To demonstrate the effectiveness of our approach, we evaluate it on the NuScenes dataset. We compare our approach to both single-sensor performance and current state-of-the-art fusion methods. Our results show that the proposed approach achieves superior performance over single-sensor solutions and could directly compete with other top-level fusion methods.
OpenDlign: Open-World Point Cloud Understanding with Depth-Aligned Images
Authors: Ye Mao, Junpeng Jing, Krystian Mikolajczyk
Date: 2024-04-25 00:00:00
Tasks: Representation Learning, Transfer Learning, Zero-shot 3D classification, Zero-shot 3D Point Cloud Classification, zero-shot-classification, Zero-Shot Learning, Zero-Shot Transfer 3D Point Cloud Classification

Recent open-world 3D representation learning methods using Vision-Language Models (VLMs) to align 3D point cloud with image-text information have shown superior 3D zero-shot performance. However, CAD-rendered images for this alignment often lack realism and texture variation, compromising alignment robustness. Moreover, the volume discrepancy between 3D and 2D pretraining datasets highlights the need for effective strategies to transfer the representational abilities of VLMs to 3D learning. In this paper, we present OpenDlign, a novel open-world 3D model using depth-aligned images generated from a diffusion model for robust multimodal alignment. These images exhibit greater texture diversity than CAD renderings due to the stochastic nature of the diffusion model. By refining the depth map projection pipeline and designing depth-specific prompts, OpenDlign leverages rich knowledge in pre-trained VLM for 3D representation learning with streamlined fine-tuning. Our experiments show that OpenDlign achieves high zero-shot and few-shot performance on diverse 3D tasks, despite only fine-tuning 6 million parameters on a limited ShapeNet dataset. In zero-shot classification, OpenDlign surpasses previous models by 8.0% on ModelNet40 and 16.4% on OmniObject3D. Additionally, using depth-aligned images for multimodal alignment consistently enhances the performance of other state-of-the-art models.
3D Face Modeling via Weakly-supervised Disentanglement Network joint Identity-consistency Prior
Authors: Guohao Li, Hongyu Yang, Di Huang, Yunhong Wang
Date: 2024-04-25 00:00:00
Tasks: Disentanglement

Generative 3D face models featuring disentangled controlling factors hold immense potential for diverse applications in computer vision and computer graphics. However, previous 3D face modeling methods face a challenge as they demand specific labels to effectively disentangle these factors. This becomes particularly problematic when integrating multiple 3D face datasets to improve the generalization of the model. Addressing this issue, this paper introduces a Weakly-Supervised Disentanglement Framework, denoted as WSDF, to facilitate the training of controllable 3D face models without an overly stringent labeling requirement. Adhering to the paradigm of Variational Autoencoders (VAEs), the proposed model achieves disentanglement of identity and expression controlling factors through a two-branch encoder equipped with dedicated identity-consistency prior. It then faithfully re-entangles these factors via a tensor-based combination mechanism. Notably, the introduction of the Neutral Bank allows precise acquisition of subject-specific information using only identity labels, thereby averting degeneration due to insufficient supervision. Additionally, the framework incorporates a label-free second-order loss function for the expression factor to regulate deformation space and eliminate extraneous information, resulting in enhanced disentanglement. Extensive experiments have been conducted to substantiate the superior performance of WSDF. Our code is available at https://github.com/liguohao96/WSDF.
Vision-based robot manipulation of transparent liquid containers in a laboratory setting
Authors: Daniel Schober, Ronja Güldenring, James Love, Lazaros Nalpantidis
Date: 2024-04-25 00:00:00
Tasks: Articles, Robot Manipulation

Laboratory processes involving small volumes of solutions and active ingredients are often performed manually due to challenges in automation, such as high initial costs, semi-structured environments and protocol variability. In this work, we develop a flexible and cost-effective approach to address this gap by introducing a vision-based system for liquid volume estimation and a simulation-driven pouring method particularly designed for containers with small openings. We evaluate both components individually, followed by an applied real-world integration of cell culture automation using a UR5 robotic arm. Our work is fully reproducible: we share our code at at \url{https://github.com/DaniSchober/LabLiquidVision} and the newly introduced dataset LabLiquidVolume is available at https://data.dtu.dk/articles/dataset/LabLiquidVision/25103102.
Interactive3D: Create What You Want by Interactive 3D Generation
Authors: Shaocong Dong, Lihe Ding, Zhanpeng Huang, Zibin Wang, Tianfan Xue, Dan Xu
Date: 2024-04-25 00:00:00
Proceeding: CVPR 2024 1
Tasks: 3D Generation

3D object generation has undergone significant advancements, yielding high-quality results. However, fall short of achieving precise user control, often yielding results that do not align with user expectations, thus limiting their applicability. User-envisioning 3D object generation faces significant challenges in realizing its concepts using current generative models due to limited interaction capabilities. Existing methods mainly offer two approaches: (i) interpreting textual instructions with constrained controllability, or (ii) reconstructing 3D objects from 2D images. Both of them limit customization to the confines of the 2D reference and potentially introduce undesirable artifacts during the 3D lifting process, restricting the scope for direct and versatile 3D modifications. In this work, we introduce Interactive3D, an innovative framework for interactive 3D generation that grants users precise control over the generative process through extensive 3D interaction capabilities. Interactive3D is constructed in two cascading stages, utilizing distinct 3D representations. The first stage employs Gaussian Splatting for direct user interaction, allowing modifications and guidance of the generative direction at any intermediate step through (i) Adding and Removing components, (ii) Deformable and Rigid Dragging, (iii) Geometric Transformations, and (iv) Semantic Editing. Subsequently, the Gaussian splats are transformed into InstantNGP. We introduce a novel (v) Interactive Hash Refinement module to further add details and extract the geometry in the second stage. Our experiments demonstrate that Interactive3D markedly improves the controllability and quality of 3D generation. Our project webpage is available at \url{https://interactive-3d.github.io/}.
Semantic-aware Next-Best-View for Multi-DoFs Mobile System in Search-and-Acquisition based Visual Perception
Authors: Xiaotong Yu, Chang-Wen Chen
Date: 2024-04-25 00:00:00

Efficient visual perception using mobile systems is crucial, particularly in unknown environments such as search and rescue operations, where swift and comprehensive perception of objects of interest is essential. In such real-world applications, objects of interest are often situated in complex environments, making the selection of the 'Next Best' view based solely on maximizing visibility gain suboptimal. Semantics, providing a higher-level interpretation of perception, should significantly contribute to the selection of the next viewpoint for various perception tasks. In this study, we formulate a novel information gain that integrates both visibility gain and semantic gain in a unified form to select the semantic-aware Next-Best-View. Additionally, we design an adaptive strategy with termination criterion to support a two-stage search-and-acquisition manoeuvre on multiple objects of interest aided by a multi-degree-of-freedoms (Multi-DoFs) mobile system. Several semantically relevant reconstruction metrics, including perspective directivity and region of interest (ROI)-to-full reconstruction volume ratio, are introduced to evaluate the performance of the proposed approach. Simulation experiments demonstrate the advantages of the proposed approach over existing methods, achieving improvements of up to 27.13% for the ROI-to-full reconstruction volume ratio and a 0.88234 average perspective directivity. Furthermore, the planned motion trajectory exhibits better perceiving coverage toward the target.
360SFUDA++: Towards Source-free UDA for Panoramic Segmentation by Learning Reliable Category Prototypes
Authors: Xu Zheng, Pengyuan Zhou, Athanasios V. Vasilakos, Lin Wang
Date: 2024-04-25 00:00:00
Tasks: Domain Adaptation, ERP, Semantic Segmentation, Unsupervised Domain Adaptation

In this paper, we address the challenging source-free unsupervised domain adaptation (SFUDA) for pinhole-to-panoramic semantic segmentation, given only a pinhole image pre-trained model (i.e., source) and unlabeled panoramic images (i.e., target). Tackling this problem is non-trivial due to three critical challenges: 1) semantic mismatches from the distinct Field-of-View (FoV) between domains, 2) style discrepancies inherent in the UDA problem, and 3) inevitable distortion of the panoramic images. To tackle these problems, we propose 360SFUDA++ that effectively extracts knowledge from the source pinhole model with only unlabeled panoramic images and transfers the reliable knowledge to the target panoramic domain. Specifically, we first utilize Tangent Projection (TP) as it has less distortion and meanwhile slits the equirectangular projection (ERP) to patches with fixed FoV projection (FFP) to mimic the pinhole images. Both projections are shown effective in extracting knowledge from the source model. However, as the distinct projections make it less possible to directly transfer knowledge between domains, we then propose Reliable Panoramic Prototype Adaptation Module (RP2AM) to transfer knowledge at both prediction and prototype levels. RP$^2$AM selects the confident knowledge and integrates panoramic prototypes for reliable knowledge adaptation. Moreover, we introduce Cross-projection Dual Attention Module (CDAM), which better aligns the spatial and channel characteristics across projections at the feature level between domains. Both knowledge extraction and transfer processes are synchronously updated to reach the best performance. Extensive experiments on the synthetic and real-world benchmarks, including outdoor and indoor scenarios, demonstrate that our 360SFUDA++ achieves significantly better performance than prior SFUDA methods.
Commonsense Prototype for Outdoor Unsupervised 3D Object Detection
Authors: Hai Wu, Shijia Zhao, Xun Huang, Chenglu Wen, Xin Li, Cheng Wang
Date: 2024-04-25 00:00:00
Proceeding: CVPR 2024 1
Tasks: 3D Object Detection, Object, object-detection, Object Detection, Position, Pseudo Label

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.
GaussianTalker: Real-Time High-Fidelity Talking Head Synthesis with Audio-Driven 3D Gaussian Splatting
Authors: Kyusun Cho, Joungbin Lee, Heeji Yoon, Yeobin Hong, Jaehoon Ko, Sangjun Ahn, Seungryong Kim
Date: 2024-04-24 00:00:00
Tasks: 3DGS, Attribute

We propose GaussianTalker, a novel framework for real-time generation of pose-controllable talking heads. It leverages the fast rendering capabilities of 3D Gaussian Splatting (3DGS) while addressing the challenges of directly controlling 3DGS with speech audio. GaussianTalker constructs a canonical 3DGS representation of the head and deforms it in sync with the audio. A key insight is to encode the 3D Gaussian attributes into a shared implicit feature representation, where it is merged with audio features to manipulate each Gaussian attribute. This design exploits the spatial-aware features and enforces interactions between neighboring points. The feature embeddings are then fed to a spatial-audio attention module, which predicts frame-wise offsets for the attributes of each Gaussian. It is more stable than previous concatenation or multiplication approaches for manipulating the numerous Gaussians and their intricate parameters. Experimental results showcase GaussianTalker's superiority in facial fidelity, lip synchronization accuracy, and rendering speed compared to previous methods. Specifically, GaussianTalker achieves a remarkable rendering speed up to 120 FPS, surpassing previous benchmarks. Our code is made available at https://github.com/KU-CVLAB/GaussianTalker/ .
Real-Time 4K Super-Resolution of Compressed AVIF Images. AIS 2024 Challenge Survey
Authors: Marcos V. Conde, Zhijun Lei, Wen Li, Cosmin Stejerean, Ioannis Katsavounidis, Radu Timofte, Kihwan Yoon, Ganzorig Gankhuyag, Jiangtao Lv, Long Sun, Jinshan Pan, Jiangxin Dong, Jinhui Tang, Zhiyuan Li, Hao Wei, Chenyang Ge, Dongyang Zhang, Tianle Liu, Huaian Chen, Yi Jin, Menghan Zhou, Yiqiang Yan, Si Gao, Biao Wu, Shaoli Liu, Chengjian Zheng, Diankai Zhang, Ning Wang, Xintao Qiu, Yuanbo Zhou, Kongxian Wu, Xinwei Dai, Hui Tang, Wei Deng, Qingquan Gao, Tong Tong, Jae-Hyeon Lee, Ui-Jin Choi, Min Yan, Xin Liu, Qian Wang, Xiaoqian Ye, Zhan Du, Tiansen Zhang, Long Peng, Jiaming Guo, Xin Di, Bohao Liao, Zhibo Du, Peize Xia, Renjing Pei, Yang Wang, Yang Cao, ZhengJun Zha, Bingnan Han, Hongyuan Yu, Zhuoyuan Wu, Cheng Wan, Yuqing Liu, Haodong Yu, Jizhe Li, Zhijuan Huang, Yuan Huang, Yajun Zou, Xianyu Guan, Qi Jia, Heng Zhang, Xuanwu Yin, Kunlong Zuo, Hyeon-Cheol Moon, Tae-hyun Jeong, Yoonmo Yang, Jae-Gon Kim, Jinwoo Jeong, Sunjei Kim
Date: 2024-04-25 00:00:00
Tasks: 4k, Image Super-Resolution, Super-Resolution

This paper introduces a novel benchmark as part of the AIS 2024 Real-Time Image Super-Resolution (RTSR) Challenge, which aims to upscale compressed images from 540p to 4K resolution (4x factor) in real-time on commercial GPUs. For this, we use a diverse test set containing a variety of 4K images ranging from digital art to gaming and photography. The images are compressed using the modern AVIF codec, instead of JPEG. All the proposed methods improve PSNR fidelity over Lanczos interpolation, and process images under 10ms. Out of the 160 participants, 25 teams submitted their code and models. The solutions present novel designs tailored for memory-efficiency and runtime on edge devices. This survey describes the best solutions for real-time SR of compressed high-resolution images.
CoCoG: Controllable Visual Stimuli Generation based on Human Concept Representations
Authors: Chen Wei, Jiachen Zou, Dietmar Heinke, Quanying Liu
Date: 2024-04-25 00:00:00
Tasks: AI Agent, Decision Making

A central question for cognitive science is to understand how humans process visual objects, i.e, to uncover human low-dimensional concept representation space from high-dimensional visual stimuli. Generating visual stimuli with controlling concepts is the key. However, there are currently no generative models in AI to solve this problem. Here, we present the Concept based Controllable Generation (CoCoG) framework. CoCoG consists of two components, a simple yet efficient AI agent for extracting interpretable concept and predicting human decision-making in visual similarity judgment tasks, and a conditional generation model for generating visual stimuli given the concepts. We quantify the performance of CoCoG from two aspects, the human behavior prediction accuracy and the controllable generation ability. The experiments with CoCoG indicate that 1) the reliable concept embeddings in CoCoG allows to predict human behavior with 64.07\% accuracy in the THINGS-similarity dataset; 2) CoCoG can generate diverse objects through the control of concepts; 3) CoCoG can manipulate human similarity judgment behavior by intervening key concepts. CoCoG offers visual objects with controlling concepts to advance our understanding of causality in human cognition. The code of CoCoG is available at \url{https://github.com/ncclab-sustech/CoCoG}.
COBRA -- COnfidence score Based on shape Regression Analysis for method-independent quality assessment of object pose estimation from single images
Authors: Panagiotis Sapoutzoglou, Georgios Giapitzakis, Georgios Floros, George Terzakis, Maria Pateraki
Date: 2024-04-25 00:00:00
Tasks: Gaussian Processes, Object, Pose Estimation

We propose a generic procedure for assessing 6D object pose estimates. Our approach relies on the evaluation of discrepancies in the geometry of the observed object, in particular its respective estimated back-projection in 3D, against a putative functional shape representation comprising mixtures of Gaussian Processes, that act as a template. Each Gaussian Process is trained to yield a fragment of the object's surface in a radial fashion with respect to designated reference points. We further define a pose confidence measure as the average probability of pixel back-projections in the Gaussian mixture. The goal of our experiments is two-fold. a) We demonstrate that our functional representation is sufficiently accurate as a shape template on which the probability of back-projected object points can be evaluated, and, b) we show that the resulting confidence scores based on these probabilities are indeed a consistent quality measure of pose.
Correlation-Decoupled Knowledge Distillation for Multimodal Sentiment Analysis with Incomplete Modalities
Authors: Mingcheng Li, Dingkang Yang, Xiao Zhao, Shuaibing Wang, Yan Wang, Kun Yang, Mingyang Sun, Dongliang Kou, Ziyun Qian, Lihua Zhang
Date: 2024-04-25 00:00:00
Proceeding: CVPR 2024 1
Tasks: Disentanglement, Knowledge Distillation, Multimodal Sentiment Analysis, Sentiment Analysis

Multimodal sentiment analysis (MSA) aims to understand human sentiment through multimodal data. Most MSA efforts are based on the assumption of modality completeness. However, in real-world applications, some practical factors cause uncertain modality missingness, which drastically degrades the model's performance. To this end, we propose a Correlation-decoupled Knowledge Distillation (CorrKD) framework for the MSA task under uncertain missing modalities. Specifically, we present a sample-level contrastive distillation mechanism that transfers comprehensive knowledge containing cross-sample correlations to reconstruct missing semantics. Moreover, a category-guided prototype distillation mechanism is introduced to capture cross-category correlations using category prototypes to align feature distributions and generate favorable joint representations. Eventually, we design a response-disentangled consistency distillation strategy to optimize the sentiment decision boundaries of the student network through response disentanglement and mutual information maximization. Comprehensive experiments on three datasets indicate that our framework can achieve favorable improvements compared with several baselines.
PAD: Patch-Agnostic Defense against Adversarial Patch Attacks
Authors: Lihua Jing, Rui Wang, Wenqi Ren, Xin Dong, Cong Zou
Date: 2024-04-25 00:00:00
Proceeding: CVPR 2024 1

Adversarial patch attacks present a significant threat to real-world object detectors due to their practical feasibility. Existing defense methods, which rely on attack data or prior knowledge, struggle to effectively address a wide range of adversarial patches. In this paper, we show two inherent characteristics of adversarial patches, semantic independence and spatial heterogeneity, independent of their appearance, shape, size, quantity, and location. Semantic independence indicates that adversarial patches operate autonomously within their semantic context, while spatial heterogeneity manifests as distinct image quality of the patch area that differs from original clean image due to the independent generation process. Based on these observations, we propose PAD, a novel adversarial patch localization and removal method that does not require prior knowledge or additional training. PAD offers patch-agnostic defense against various adversarial patches, compatible with any pre-trained object detectors. Our comprehensive digital and physical experiments involving diverse patch types, such as localized noise, printable, and naturalistic patches, exhibit notable improvements over state-of-the-art works. Our code is available at https://github.com/Lihua-Jing/PAD.
Point-JEPA: A Joint Embedding Predictive Architecture for Self-Supervised Learning on Point Cloud
Authors: Ayumu Saito, Prachi Kudeshia, Jiju Poovvancheri
Date: 2024-04-25 00:00:00
Tasks: 3D Part Segmentation, 3D Point Cloud Classification, 3D Point Cloud Linear Classification, Classification, Few-Shot 3D Point Cloud Classification, Self-Supervised Learning

Recent advancements in self-supervised learning in the point cloud domain have demonstrated significant potential. However, these methods often suffer from drawbacks, including lengthy pre-training time, the necessity of reconstruction in the input space, or the necessity of additional modalities. In order to address these issues, we introduce Point-JEPA, a joint embedding predictive architecture designed specifically for point cloud data. To this end, we introduce a sequencer that orders point cloud patch embeddings to efficiently compute and utilize their proximity based on the indices during target and context selection. The sequencer also allows shared computations of the patch embeddings' proximity between context and target selection, further improving the efficiency. Experimentally, our method achieves competitive results with state-of-the-art methods while avoiding the reconstruction in the input space or additional modality.