pwc-archive/papers-with-abstracts huggingface dataset:
Transfer Learning from Simulated to Real Scenes for Monocular 3D Object Detection
Authors: Sondos Mohamed, Walter Zimmer, Ross Greer, Ahmed Alaaeldin Ghita, Modesto Castrillón-Santana, Mohan Trivedi, Alois Knoll, Salvatore Mario Carta, Mirko Marras
Date: 2024-08-28 00:00:00
Tasks: 3D Object Detection, Monocular 3D Object Detection, object-detection, Object Detection, Transfer Learning

Accurately detecting 3D objects from monocular images in dynamic roadside scenarios remains a challenging problem due to varying camera perspectives and unpredictable scene conditions. This paper introduces a two-stage training strategy to address these challenges. Our approach initially trains a model on the large-scale synthetic dataset, RoadSense3D, which offers a diverse range of scenarios for robust feature learning. Subsequently, we fine-tune the model on a combination of real-world datasets to enhance its adaptability to practical conditions. Experimental results of the Cube R-CNN model on challenging public benchmarks show a remarkable improvement in detection performance, with a mean average precision rising from 0.26 to 12.76 on the TUM Traffic A9 Highway dataset and from 2.09 to 6.60 on the DAIR-V2X-I dataset when performing transfer learning. Code, data, and qualitative video results are available on the project website: https://roadsense3d.github.io.
Can Visual Language Models Replace OCR-Based Visual Question Answering Pipelines in Production? A Case Study in Retail
Authors: Bianca Lamm, Janis Keuper
Date: 2024-08-28 00:00:00
Tasks: Optical Character Recognition, Optical Character Recognition (OCR), Question Answering, Text Detection, Visual Question Answering, Visual Question Answering (VQA)

Most production-level deployments for Visual Question Answering (VQA) tasks are still build as processing pipelines of independent steps including image pre-processing, object- and text detection, Optical Character Recognition (OCR) and (mostly supervised) object classification. However, the recent advances in vision Foundation Models [25] and Vision Language Models (VLMs) [23] raise the question if these custom trained, multi-step approaches can be replaced with pre-trained, single-step VLMs. This paper analyzes the performance and limits of various VLMs in the context of VQA and OCR [5, 9, 12] tasks in a production-level scenario. Using data from the Retail-786k [10] dataset, we investigate the capabilities of pre-trained VLMs to answer detailed questions about advertised products in images. Our study includes two commercial models, GPT-4V [16] and GPT-4o [17], as well as four open-source models: InternVL [5], LLaVA 1.5 [12], LLaVA-NeXT [13], and CogAgent [9]. Our initial results show, that there is in general no big performance gap between open-source and commercial models. However, we observe a strong task dependent variance in VLM performance: while most models are able to answer questions regarding the product brand and price with high accuracy, they completely fail at the same time to correctly identity the specific product name or discount. This indicates the problem of VLMs to solve fine-grained classification tasks as well to model the more abstract concept of discounts.
Geometry-guided Feature Learning and Fusion for Indoor Scene Reconstruction
Authors: Ruihong Yin, Sezer Karaoglu, Theo Gevers
Date: 2024-08-28 00:00:00
Proceeding: ICCV 2023 1
Tasks: 3D geometry, 3D Scene Reconstruction, Indoor Scene Reconstruction

In addition to color and textural information, geometry provides important cues for 3D scene reconstruction. However, current reconstruction methods only include geometry at the feature level thus not fully exploiting the geometric information. In contrast, this paper proposes a novel geometry integration mechanism for 3D scene reconstruction. Our approach incorporates 3D geometry at three levels, i.e. feature learning, feature fusion, and network supervision. First, geometry-guided feature learning encodes geometric priors to contain view-dependent information. Second, a geometry-guided adaptive feature fusion is introduced which utilizes the geometric priors as a guidance to adaptively generate weights for multiple views. Third, at the supervision level, taking the consistency between 2D and 3D normals into account, a consistent 3D normal loss is designed to add local constraints. Large-scale experiments are conducted on the ScanNet dataset, showing that volumetric methods with our geometry integration mechanism outperform state-of-the-art methods quantitatively as well as qualitatively. Volumetric methods with ours also show good generalization on the 7-Scenes and TUM RGB-D datasets.
ES-PTAM: Event-based Stereo Parallel Tracking and Mapping
Authors: Suman Ghosh, Valentina Cavinato, Guillermo Gallego
Date: 2024-08-28 00:00:00
Tasks: Visual Odometry

Visual Odometry (VO) and SLAM are fundamental components for spatial perception in mobile robots. Despite enormous progress in the field, current VO/SLAM systems are limited by their sensors' capability. Event cameras are novel visual sensors that offer advantages to overcome the limitations of standard cameras, enabling robots to expand their operating range to challenging scenarios, such as high-speed motion and high dynamic range illumination. We propose a novel event-based stereo VO system by combining two ideas: a correspondence-free mapping module that estimates depth by maximizing ray density fusion and a tracking module that estimates camera poses by maximizing edge-map alignment. We evaluate the system comprehensively on five real-world datasets, spanning a variety of camera types (manufacturers and spatial resolutions) and scenarios (driving, flying drone, hand-held, egocentric, etc). The quantitative and qualitative results demonstrate that our method outperforms the state of the art in majority of the test sequences by a margin, e.g., trajectory error reduction of 45% on RPG dataset, 61% on DSEC dataset, and 21% on TUM-VIE dataset. To benefit the community and foster research on event-based perception systems, we release the source code and results: https://github.com/tub-rip/ES-PTAM
On the Benefits of Visual Stabilization for Frame- and Event-based Perception
Authors: Juan Pablo Rodriguez-Gomez, Jose Ramiro Martinez-de Dios, Anibal Ollero, Guillermo Gallego
Date: 2024-08-28 00:00:00
Tasks: Event-based vision, Motion Estimation

Vision-based perception systems are typically exposed to large orientation changes in different robot applications. In such conditions, their performance might be compromised due to the inherent complexity of processing data captured under challenging motion. Integration of mechanical stabilizers to compensate for the camera rotation is not always possible due to the robot payload constraints. This paper presents a processing-based stabilization approach to compensate the camera's rotational motion both on events and on frames (i.e., images). Assuming that the camera's attitude is available, we evaluate the benefits of stabilization in two perception applications: feature tracking and estimating the translation component of the camera's ego-motion. The validation is performed using synthetic data and sequences from well-known event-based vision datasets. The experiments unveil that stabilization can improve feature tracking and camera ego-motion estimation accuracy in 27.37% and 34.82%, respectively. Concurrently, stabilization can reduce the processing time of computing the camera's linear velocity by at least 25%. Code is available at https://github.com/tub-rip/visual_stabilization
Hierarchical Visual Categories Modeling: A Joint Representation Learning and Density Estimation Framework for Out-of-Distribution Detection
Authors: Jinglun Li, Xinyu Zhou, Pinxue Guo, Yixuan Sun, Yiwen Huang, Weifeng Ge, Wenqiang Zhang
Date: 2024-08-28 00:00:00
Proceeding: ICCV 2023 1
Tasks: Density Estimation, Out-of-Distribution Detection, Representation Learning

Detecting out-of-distribution inputs for visual recognition models has become critical in safe deep learning. This paper proposes a novel hierarchical visual category modeling scheme to separate out-of-distribution data from in-distribution data through joint representation learning and statistical modeling. We learn a mixture of Gaussian models for each in-distribution category. There are many Gaussian mixture models to model different visual categories. With these Gaussian models, we design an in-distribution score function by aggregating multiple Mahalanobis-based metrics. We don't use any auxiliary outlier data as training samples, which may hurt the generalization ability of out-of-distribution detection algorithms. We split the ImageNet-1k dataset into ten folds randomly. We use one fold as the in-distribution dataset and the others as out-of-distribution datasets to evaluate the proposed method. We also conduct experiments on seven popular benchmarks, including CIFAR, iNaturalist, SUN, Places, Textures, ImageNet-O, and OpenImage-O. Extensive experiments indicate that the proposed method outperforms state-of-the-art algorithms clearly. Meanwhile, we find that our visual representation has a competitive performance when compared with features learned by classical methods. These results demonstrate that the proposed method hasn't weakened the discriminative ability of visual recognition models and keeps high efficiency in detecting out-of-distribution samples.
Temporal Attention for Cross-View Sequential Image Localization
Authors: Dong Yuan, Frederic Maire, Feras Dayoub
Date: 2024-08-28 00:00:00
Tasks: Image Retrieval, Retrieval

This paper introduces a novel approach to enhancing cross-view localization, focusing on the fine-grained, sequential localization of street-view images within a single known satellite image patch, a significant departure from traditional one-to-one image retrieval methods. By expanding to sequential image fine-grained localization, our model, equipped with a novel Temporal Attention Module (TAM), leverages contextual information to significantly improve sequential image localization accuracy. Our method shows substantial reductions in both mean and median localization errors on the Cross-View Image Sequence (CVIS) dataset, outperforming current state-of-the-art single-image localization techniques. Additionally, by adapting the KITTI-CVL dataset into sequential image sets, we not only offer a more realistic dataset for future research but also demonstrate our model's robust generalization capabilities across varying times and areas, evidenced by a 75.3% reduction in mean distance error in cross-view sequential image localization.
TagOOD: A Novel Approach to Out-of-Distribution Detection via Vision-Language Representations and Class Center Learning
Authors: Jinglun Li, Xinyu Zhou, Kaixun Jiang, Lingyi Hong, Pinxue Guo, Zhaoyu Chen, Weifeng Ge, Wenqiang Zhang
Date: 2024-08-28 00:00:00
Tasks: Object, Out-of-Distribution Detection, Out of Distribution (OOD) Detection

Multimodal fusion, leveraging data like vision and language, is rapidly gaining traction. This enriched data representation improves performance across various tasks. Existing methods for out-of-distribution (OOD) detection, a critical area where AI models encounter unseen data in real-world scenarios, rely heavily on whole-image features. These image-level features can include irrelevant information that hinders the detection of OOD samples, ultimately limiting overall performance. In this paper, we propose \textbf{TagOOD}, a novel approach for OOD detection that leverages vision-language representations to achieve label-free object feature decoupling from whole images. This decomposition enables a more focused analysis of object semantics, enhancing OOD detection performance. Subsequently, TagOOD trains a lightweight network on the extracted object features to learn representative class centers. These centers capture the central tendencies of IND object classes, minimizing the influence of irrelevant image features during OOD detection. Finally, our approach efficiently detects OOD samples by calculating distance-based metrics as OOD scores between learned centers and test samples. We conduct extensive experiments to evaluate TagOOD on several benchmark datasets and demonstrate its superior performance compared to existing OOD detection methods. This work presents a novel perspective for further exploration of multimodal information utilization in OOD detection, with potential applications across various tasks.
Generalization Capabilities of Neural Cellular Automata for Medical Image Segmentation: A Robust and Lightweight Approach
Authors: Steven Korevaar, Ruwan Tennakoon, Alireza Bab-Hadiashar
Date: 2024-08-28 00:00:00
Tasks: Image Segmentation, Medical Image Segmentation, Semantic Segmentation

In the field of medical imaging, the U-Net architecture, along with its variants, has established itself as a cornerstone for image segmentation tasks, particularly due to its strong performance when trained on limited datasets. Despite its impressive performance on identically distributed (in-domain) data, U-Nets exhibit a significant decline in performance when tested on data that deviates from the training distribution, out-of-distribution (out-of-domain) data. Current methodologies predominantly address this issue by employing generalization techniques that hinge on various forms of regularization, which have demonstrated moderate success in specific scenarios. This paper, however, ventures into uncharted territory by investigating the implications of utilizing models that are smaller by three orders of magnitude (i.e., x1000) compared to a conventional U-Net. A reduction of this size in U-net parameters typically adversely affects both in-domain and out-of-domain performance, possibly due to a significantly reduced receptive field. To circumvent this issue, we explore the concept of Neural Cellular Automata (NCA), which, despite its simpler model structure, can attain larger receptive fields through recursive processes. Experimental results on two distinct datasets reveal that NCA outperforms traditional methods in terms of generalization, while still maintaining a commendable IID performance.
Divide, Conquer and Combine: A Training-Free Framework for High-Resolution Image Perception in Multimodal Large Language Models
Authors: Wenbin Wang, Liang Ding, Minyan Zeng, Xiabin Zhou, Li Shen, Yong Luo, DaCheng Tao
Date: 2024-08-28 00:00:00
Tasks: 2k, 4k, 8k

Multimodal large language models (MLLMs) have experienced significant advancements recently, but still struggle to recognize and interpret intricate details in high-resolution (HR) images effectively. While state-of-the-art (SOTA) MLLMs claim to process images at 4K resolution, existing MLLM benchmarks only support up to 2K, leaving the capabilities of SOTA models on true HR images largely untested. Furthermore, existing methods for enhancing HR image perception in MLLMs rely on computationally expensive visual instruction tuning. To address these limitations, we introduce HR-Bench, the first deliberately designed benchmark to rigorously evaluate MLLM performance on 4K&8K images. Through extensive experiments, we demonstrate that while downsampling HR images leads to vision information loss, leveraging complementary modalities, e.g., text, can effectively compensate for this loss. Building upon this insight, we propose Divide, Conquer and Combine (DC$^2$), a novel training-free framework for enhancing MLLM perception of HR images. DC$^2$ follows a three-staged approach: 1) Divide: recursively partitioning the HR image into patches and merging similar patches to minimize computational overhead, 2) Conquer: leveraging the MLLM to generate accurate textual descriptions for each image patch, and 3) Combine: utilizing the generated text descriptions to enhance the MLLM's understanding of the overall HR image. Extensive experiments show that: 1) the SOTA MLLM achieves 63% accuracy, which is markedly lower than the 87% accuracy achieved by humans on HR-Bench; 2) our DC$^2$ brings consistent and significant improvements (a relative increase of +6% on HR-Bench and +8% on general multimodal benchmarks). The benchmark and code will be released to facilitate the multimodal R&D community.
GlaLSTM: A Concurrent LSTM Stream Framework for Glaucoma Detection via Biomarker Mining
Authors: Cheng Huang, Weizheng Xie, Jian Zhou, Tsengdar Lee, Karanjit Kooner, Jia Zhang
Date: 2024-08-28 00:00:00
Tasks: Decision Making

Glaucoma is a complex group of eye diseases marked by optic nerve damage, commonly linked to elevated intraocular pressure and biomarkers like retinal nerve fiber layer thickness. Understanding how these biomarkers interact is crucial for unraveling glaucoma's underlying mechanisms. In this paper, we propose GlaLSTM, a novel concurrent LSTM stream framework for glaucoma detection, leveraging latent biomarker relationships. Unlike traditional CNN-based models that primarily detect glaucoma from images, GlaLSTM provides deeper interpretability, revealing the key contributing factors and enhancing model transparency. This approach not only improves detection accuracy but also empowers clinicians with actionable insights, facilitating more informed decision-making. Experimental evaluations confirm that GlaLSTM surpasses existing state-of-the-art methods, demonstrating its potential for both advanced biomarker analysis and reliable glaucoma detection.
ConsistencyTrack: A Robust Multi-Object Tracker with a Generation Strategy of Consistency Model
Authors: Lifan Jiang, Zhihui Wang, Siqi Yin, Guangxiao Ma, Peng Zhang, Boxi Wu
Date: 2024-08-28 00:00:00
Tasks: Denoising, Multi-Object Tracking, Object Tracking

Multi-object tracking (MOT) is a critical technology in computer vision, designed to detect multiple targets in video sequences and assign each target a unique ID per frame. Existed MOT methods excel at accurately tracking multiple objects in real-time across various scenarios. However, these methods still face challenges such as poor noise resistance and frequent ID switches. In this research, we propose a novel ConsistencyTrack, joint detection and tracking(JDT) framework that formulates detection and association as a denoising diffusion process on perturbed bounding boxes. This progressive denoising strategy significantly improves the model's noise resistance. During the training phase, paired object boxes within two adjacent frames are diffused from ground-truth boxes to a random distribution, and then the model learns to detect and track by reversing this process. In inference, the model refines randomly generated boxes into detection and tracking results through minimal denoising steps. ConsistencyTrack also introduces an innovative target association strategy to address target occlusion. Experiments on the MOT17 and DanceTrack datasets demonstrate that ConsistencyTrack outperforms other compared methods, especially better than DiffusionTrack in inference speed and other performance metrics. Our code is available at https://github.com/Tankowa/ConsistencyTrack.
Ray-Distance Volume Rendering for Neural Scene Reconstruction
Authors: Ruihong Yin, Yunlu Chen, Sezer Karaoglu, Theo Gevers
Date: 2024-08-28 00:00:00
Tasks: 3D geometry, Indoor Scene Reconstruction

Existing methods in neural scene reconstruction utilize the Signed Distance Function (SDF) to model the density function. However, in indoor scenes, the density computed from the SDF for a sampled point may not consistently reflect its real importance in volume rendering, often due to the influence of neighboring objects. To tackle this issue, our work proposes a novel approach for indoor scene reconstruction, which instead parameterizes the density function with the Signed Ray Distance Function (SRDF). Firstly, the SRDF is predicted by the network and transformed to a ray-conditioned density function for volume rendering. We argue that the ray-specific SRDF only considers the surface along the camera ray, from which the derived density function is more consistent to the real occupancy than that from the SDF. Secondly, although SRDF and SDF represent different aspects of scene geometries, their values should share the same sign indicating the underlying spatial occupancy. Therefore, this work introduces a SRDF-SDF consistency loss to constrain the signs of the SRDF and SDF outputs. Thirdly, this work proposes a self-supervised visibility task, introducing the physical visibility geometry to the reconstruction task. The visibility task combines prior from predicted SRDF and SDF as pseudo labels, and contributes to generating more accurate 3D geometry. Our method implemented with different representations has been validated on indoor datasets, achieving improved performance in both reconstruction and view synthesis.
A Simple Baseline with Single-encoder for Referring Image Segmentation
Authors: Seonghoon Yu, Ilchae Jung, ByeongJu Han, Taeoh Kim, Yunho Kim, Dongyoon Wee, Jeany Son
Date: 2024-08-28 00:00:00
Tasks: Computational Efficiency, Decoder, Image Segmentation, Semantic Segmentation

Referring image segmentation (RIS) requires dense vision-language interactions between visual pixels and textual words to segment objects based on a given description. However, commonly adapted dual-encoders in RIS, e.g., Swin transformer and BERT (uni-modal encoders) or CLIP (a multi-modal dual-encoder), lack dense multi-modal interactions during pre-training, leading to a gap with a pixel-level RIS task. To bridge this gap, existing RIS methods often rely on multi-modal fusion modules that interact two encoders, but this approach leads to high computational costs. In this paper, we present a novel RIS method with a single-encoder, i.e., BEiT-3, maximizing the potential of shared self-attention across all framework components. This enables seamless interactions of two modalities from input to final prediction, producing granularly aligned multi-modal features. Furthermore, we propose lightweight yet effective decoder modules, a Shared FPN and a Shared Mask Decoder, which contribute to the high efficiency of our model. Our simple baseline with a single encoder achieves outstanding performances on the RIS benchmark datasets while maintaining computational efficiency, compared to the most recent SoTA methods based on dual-encoders.
Depth-Weighted Detection of Behaviours of Risk in People with Dementia using Cameras
Authors: Pratik K. Mishra, Irene Ballester, Andrea Iaboni, Bing Ye, Kristine Newman, Alex Mihailidis, Shehroz S. Khan
Date: 2024-08-28 00:00:00

The behavioural and psychological symptoms of dementia, such as agitation and aggression, present a significant health and safety risk in residential care settings. Many care facilities have video cameras in place for digital monitoring of public spaces, which can be leveraged to develop an automated behaviours of risk detection system that can alert the staff to enable timely intervention and prevent the situation from escalating. However, one of the challenges in our previous study was the presence of false alarms due to disparate importance of events based on distance. To address this issue, we proposed a novel depth-weighted loss to enforce equivalent importance to the events happening both near and far from the cameras; thus, helping to reduce false alarms. We further propose to utilize the training outliers to determine the anomaly threshold. The data from nine dementia participants across three cameras in a specialized dementia unit were used for training. The proposed approach obtained the best area under receiver operating characteristic curve performance of 0.852, 0.81 and 0.768, respectively, for the three cameras. Ablation analysis was conducted for the individual components of the proposed approach and effect of frame size and frame rate. The performance of the proposed approach was investigated for cross-camera, participant-specific and sex-specific behaviours of risk detection. The proposed approach performed reasonably well in reducing false alarms. This motivates further research to make the system more suitable for deployment in care facilities.