pwc-archive/papers-with-abstracts huggingface dataset:
NeRF in Robotics: A Survey
Authors: Guangming Wang, Lei Pan, Songyou Peng, Shaohui Liu, Chenfeng Xu, Yanzi Miao, Wei Zhan, Masayoshi Tomizuka, Marc Pollefeys, Hesheng Wang
Date: 2024-05-02 00:00:00
Tasks: NeRF, Survey

Meticulous 3D environment representations have been a longstanding goal in computer vision and robotics fields. The recent emergence of neural implicit representations has introduced radical innovation to this field as implicit representations enable numerous capabilities. Among these, the Neural Radiance Field (NeRF) has sparked a trend because of the huge representational advantages, such as simplified mathematical models, compact environment storage, and continuous scene representations. Apart from computer vision, NeRF has also shown tremendous potential in the field of robotics. Thus, we create this survey to provide a comprehensive understanding of NeRF in the field of robotics. By exploring the advantages and limitations of NeRF, as well as its current applications and future potential, we hope to shed light on this promising area of research. Our survey is divided into two main sections: \textit{The Application of NeRF in Robotics} and \textit{The Advance of NeRF in Robotics}, from the perspective of how NeRF enters the field of robotics. In the first section, we introduce and analyze some works that have been or could be used in the field of robotics from the perception and interaction perspectives. In the second section, we show some works related to improving NeRF's own properties, which are essential for deploying NeRF in the field of robotics. In the discussion section of the review, we summarize the existing challenges and provide some valuable future research directions for reference.
Multi-modal Learnable Queries for Image Aesthetics Assessment
Authors: Zhiwei Xiong, Yunfan Zhang, Zhiqi Shen, Peiran Ren, Han Yu
Date: 2024-05-02 00:00:00

Image aesthetics assessment (IAA) is attracting wide interest with the prevalence of social media. The problem is challenging due to its subjective and ambiguous nature. Instead of directly extracting aesthetic features solely from the image, user comments associated with an image could potentially provide complementary knowledge that is useful for IAA. With existing large-scale pre-trained models demonstrating strong capabilities in extracting high-quality transferable visual and textual features, learnable queries are shown to be effective in extracting useful features from the pre-trained visual features. Therefore, in this paper, we propose MMLQ, which utilizes multi-modal learnable queries to extract aesthetics-related features from multi-modal pre-trained features. Extensive experimental results demonstrate that MMLQ achieves new state-of-the-art performance on multi-modal IAA, beating previous methods by 7.7% and 8.3% in terms of SRCC and PLCC, respectively.
Imagine the Unseen: Occluded Pedestrian Detection via Adversarial Feature Completion
Authors: Shanshan Zhang, Mingqian Ji, Yang Li, Jian Yang
Date: 2024-05-02 00:00:00
Tasks: Pedestrian Detection

Pedestrian detection has significantly progressed in recent years, thanks to the development of DNNs. However, detection performance at occluded scenes is still far from satisfactory, as occlusion increases the intra-class variance of pedestrians, hindering the model from finding an accurate classification boundary between pedestrians and background clutters. From the perspective of reducing intra-class variance, we propose to complete features for occluded regions so as to align the features of pedestrians across different occlusion patterns. An important premise for feature completion is to locate occluded regions. From our analysis, channel features of different pedestrian proposals only show high correlation values at visible parts and thus feature correlations can be used to model occlusion patterns. In order to narrow down the gap between completed features and real fully visible ones, we propose an adversarial learning method, which completes occluded features with a generator such that they can hardly be distinguished by the discriminator from real fully visible features. We report experimental results on the CityPersons, Caltech and CrowdHuman datasets. On CityPersons, we show significant improvements over five different baseline detectors, especially on the heavy occlusion subset. Furthermore, we show that our proposed method FeatComp++ achieves state-of-the-art results on all the above three datasets without relying on extra cues.
Towards Consistent Object Detection via LiDAR-Camera Synergy
Authors: Kai Luo, Hao Wu, Kefu Yi, Kailun Yang, Wei Hao, Rongdong Hu
Date: 2024-05-02 00:00:00
Tasks: Object, object-detection, Object Detection, Position

As human-machine interaction continues to evolve, the capacity for environmental perception is becoming increasingly crucial. Integrating the two most common types of sensory data, images, and point clouds, can enhance detection accuracy. Currently, there is no existing model capable of detecting an object's position in both point clouds and images while also determining their corresponding relationship. This information is invaluable for human-machine interactions, offering new possibilities for their enhancement. In light of this, this paper introduces an end-to-end Consistency Object Detection (COD) algorithm framework that requires only a single forward inference to simultaneously obtain an object's position in both point clouds and images and establish their correlation. Furthermore, to assess the accuracy of the object correlation between point clouds and images, this paper proposes a new evaluation metric, Consistency Precision (CP). To verify the effectiveness of the proposed framework, an extensive set of experiments has been conducted on the KITTI and DAIR-V2X datasets. The study also explored how the proposed consistency detection method performs on images when the calibration parameters between images and point clouds are disturbed, compared to existing post-processing methods. The experimental results demonstrate that the proposed method exhibits excellent detection performance and robustness, achieving end-to-end consistency detection. The source code will be made publicly available at https://github.com/xifen523/COD.
Evaluation of Video-Based rPPG in Challenging Environments: Artifact Mitigation and Network Resilience
Authors: Nhi Nguyen, Le Nguyen, Honghan Li, Miguel Bordallo López, Constantino Álvarez Casado
Date: 2024-05-02 00:00:00
Tasks: Denoising

Video-based remote photoplethysmography (rPPG) has emerged as a promising technology for non-contact vital sign monitoring, especially under controlled conditions. However, the accurate measurement of vital signs in real-world scenarios faces several challenges, including artifacts induced by videocodecs, low-light noise, degradation, low dynamic range, occlusions, and hardware and network constraints. In this article, we systematically investigate comprehensive investigate these issues, measuring their detrimental effects on the quality of rPPG measurements. Additionally, we propose practical strategies for mitigating these challenges to improve the dependability and resilience of video-based rPPG systems. We detail methods for effective biosignal recovery in the presence of network limitations and present denoising and inpainting techniques aimed at preserving video frame integrity. Through extensive evaluations and direct comparisons, we demonstrate the effectiveness of the approaches in enhancing rPPG measurements under challenging environments, contributing to the development of more reliable and effective remote vital sign monitoring technologies.
RaffeSDG: Random Frequency Filtering enabled Single-source Domain Generalization for Medical Image Segmentation
Authors: Heng Li, Haojin Li, Jianyu Chen, Zhongxi Qiu, Huazhu Fu, Lidai Wang, Yan Hu, Jiang Liu
Date: 2024-05-02 00:00:00
Tasks: Data Augmentation, Domain Generalization, Image Segmentation, Medical Image Segmentation, Segmentation, Semantic Segmentation, Single-Source Domain Generalization

Deep learning models often encounter challenges in making accurate inferences when there are domain shifts between the source and target data. This issue is particularly pronounced in clinical settings due to the scarcity of annotated data resulting from the professional and private nature of medical data. Despite the existence of decent solutions, many of them are hindered in clinical settings due to limitations in data collection and computational complexity. To tackle domain shifts in data-scarce medical scenarios, we propose a Random frequency filtering enabled Single-source Domain Generalization algorithm (RaffeSDG), which promises robust out-of-domain inference with segmentation models trained on a single-source domain. A filter-based data augmentation strategy is first proposed to promote domain variability within a single-source domain by introducing variations in frequency space and blending homologous samples. Then Gaussian filter-based structural saliency is also leveraged to learn robust representations across augmented samples, further facilitating the training of generalizable segmentation models. To validate the effectiveness of RaffeSDG, we conducted extensive experiments involving out-of-domain inference on segmentation tasks for three human tissues imaged by four diverse modalities. Through thorough investigations and comparisons, compelling evidence was observed in these experiments, demonstrating the potential and generalizability of RaffeSDG. The code is available at https://github.com/liamheng/Non-IID_Medical_Image_Segmentation.
CromSS: Cross-modal pre-training with noisy labels for remote sensing image segmentation
Authors: Chenying Liu, Conrad Albrecht, Yi Wang, Xiao Xiang Zhu
Date: 2024-05-02 00:00:00
Tasks: Image Segmentation, Semantic Segmentation, Transfer Learning

We study the potential of noisy labels y to pretrain semantic segmentation models in a multi-modal learning framework for geospatial applications. Specifically, we propose a novel Cross-modal Sample Selection method (CromSS) that utilizes the class distributions P^{(d)}(x,c) over pixels x and classes c modelled by multiple sensors/modalities d of a given geospatial scene. Consistency of predictions across sensors $d$ is jointly informed by the entropy of P^{(d)}(x,c). Noisy label sampling we determine by the confidence of each sensor d in the noisy class label, P^{(d)}(x,c=y(x)). To verify the performance of our approach, we conduct experiments with Sentinel-1 (radar) and Sentinel-2 (optical) satellite imagery from the globally-sampled SSL4EO-S12 dataset. We pair those scenes with 9-class noisy labels sourced from the Google Dynamic World project for pretraining. Transfer learning evaluations (downstream task) on the DFC2020 dataset confirm the effectiveness of the proposed method for remote sensing image segmentation.
Error-Driven Uncertainty Aware Training
Authors: Pedro Mendes, Paolo Romano, David Garlan
Date: 2024-05-02 00:00:00

Neural networks are often overconfident about their predictions, which undermines their reliability and trustworthiness. In this work, we present a novel technique, named Error-Driven Uncertainty Aware Training (EUAT), which aims to enhance the ability of neural classifiers to estimate their uncertainty correctly, namely to be highly uncertain when they output inaccurate predictions and low uncertain when their output is accurate. The EUAT approach operates during the model's training phase by selectively employing two loss functions depending on whether the training examples are correctly or incorrectly predicted by the model. This allows for pursuing the twofold goal of i) minimizing model uncertainty for correctly predicted inputs and ii) maximizing uncertainty for mispredicted inputs, while preserving the model's misprediction rate. We evaluate EUAT using diverse neural models and datasets in the image recognition domains considering both non-adversarial and adversarial settings. The results show that EUAT outperforms existing approaches for uncertainty estimation (including other uncertainty-aware training techniques, calibration, ensembles, and DEUP) by providing uncertainty estimates that not only have higher quality when evaluated via statistical metrics (e.g., correlation with residuals) but also when employed to build binary classifiers that decide whether the model's output can be trusted or not and under distributional data shifts.
Latent Fingerprint Matching via Dense Minutia Descriptor
Authors: Zhiyu Pan, Yongjie Duan, Xiongjun Guan, Jianjiang Feng, Jie zhou
Date: 2024-05-02 00:00:00
Tasks: valid

Latent fingerprint matching is a daunting task, primarily due to the poor quality of latent fingerprints. In this study, we propose a deep-learning based dense minutia descriptor (DMD) for latent fingerprint matching. A DMD is obtained by extracting the fingerprint patch aligned by its central minutia, capturing detailed minutia information and texture information. Our dense descriptor takes the form of a three-dimensional representation, with two dimensions associated with the original image plane and the other dimension representing the abstract features. Additionally, the extraction process outputs the fingerprint segmentation map, ensuring that the descriptor is only valid in the foreground region. The matching between two descriptors occurs in their overlapping regions, with a score normalization strategy to reduce the impact brought by the differences outside the valid area. Our descriptor achieves state-of-the-art performance on several latent fingerprint datasets. Overall, our DMD is more representative and interpretable compared to previous methods.
Imagine2touch: Predictive Tactile Sensing for Robotic Manipulation using Efficient Low-Dimensional Signals
Authors: Abdallah Ayad, Adrian Röfer, Nick Heppert, Abhinav Valada
Date: 2024-05-02 00:00:00
Tasks: Object, Object Recognition

Humans seemingly incorporate potential touch signals in their perception. Our goal is to equip robots with a similar capability, which we term Imagine2touch. Imagine2touch aims to predict the expected touch signal based on a visual patch representing the area to be touched. We use ReSkin, an inexpensive and compact touch sensor to collect the required dataset through random touching of five basic geometric shapes, and one tool. We train Imagine2touch on two out of those shapes and validate it on the ood. tool. We demonstrate the efficacy of Imagine2touch through its application to the downstream task of object recognition. In this task, we evaluate Imagine2touch performance in two experiments, together comprising 5 out of training distribution objects. Imagine2touch achieves an object recognition accuracy of 58% after ten touches per object, surpassing a proprioception baseline.
GroupedMixer: An Entropy Model with Group-wise Token-Mixers for Learned Image Compression
Authors: Daxin Li, Yuanchao Bai, Kai Wang, Junjun Jiang, Xianming Liu, Wen Gao
Date: 2024-05-02 00:00:00
Tasks: Image Compression

Transformer-based entropy models have gained prominence in recent years due to their superior ability to capture long-range dependencies in probability distribution estimation compared to convolution-based methods. However, previous transformer-based entropy models suffer from a sluggish coding process due to pixel-wise autoregression or duplicated computation during inference. In this paper, we propose a novel transformer-based entropy model called GroupedMixer, which enjoys both faster coding speed and better compression performance than previous transformer-based methods. Specifically, our approach builds upon group-wise autoregression by first partitioning the latent variables into groups along spatial-channel dimensions, and then entropy coding the groups with the proposed transformer-based entropy model. The global causal self-attention is decomposed into more efficient group-wise interactions, implemented using inner-group and cross-group token-mixers. The inner-group token-mixer incorporates contextual elements within a group while the cross-group token-mixer interacts with previously decoded groups. Alternate arrangement of two token-mixers enables global contextual reference. To further expedite the network inference, we introduce context cache optimization to GroupedMixer, which caches attention activation values in cross-group token-mixers and avoids complex and duplicated computation. Experimental results demonstrate that the proposed GroupedMixer yields the state-of-the-art rate-distortion performance with fast compression speed.
Automated Virtual Product Placement and Assessment in Images using Diffusion Models
Authors: Mohammad Mahmudul Alam, Negin Sokhandan, Emmett Goodman
Date: 2024-05-02 00:00:00
Tasks: Image Segmentation, Marketing, Semantic Segmentation

In Virtual Product Placement (VPP) applications, the discrete integration of specific brand products into images or videos has emerged as a challenging yet important task. This paper introduces a novel three-stage fully automated VPP system. In the first stage, a language-guided image segmentation model identifies optimal regions within images for product inpainting. In the second stage, Stable Diffusion (SD), fine-tuned with a few example product images, is used to inpaint the product into the previously identified candidate regions. The final stage introduces an "Alignment Module", which is designed to effectively sieve out low-quality images. Comprehensive experiments demonstrate that the Alignment Module ensures the presence of the intended product in every generated image and enhances the average quality of images by 35%. The results presented in this paper demonstrate the effectiveness of the proposed VPP system, which holds significant potential for transforming the landscape of virtual advertising and marketing strategies.
Detecting and clustering swallow events in esophageal long-term high-resolution manometry
Authors: Alexander Geiger, Lars Wagner, Daniel Rueckert, Dirk Wilhelm, Alissa Jell
Date: 2024-05-02 00:00:00
Tasks: Clustering, Diagnostic

High-resolution manometry (HRM) is the gold standard in diagnosing esophageal motility disorders. As HRM is typically conducted under short-term laboratory settings, intermittently occurring disorders are likely to be missed. Therefore, long-term (up to 24h) HRM (LTHRM) is used to gain detailed insights into the swallowing behavior. However, analyzing the extensive data from LTHRM is challenging and time consuming as medical experts have to analyze the data manually, which is slow and prone to errors. To address this challenge, we propose a Deep Learning based swallowing detection method to accurately identify swallowing events and secondary non-deglutitive-induced esophageal motility disorders in LTHRM data. We then proceed with clustering the identified swallows into distinct classes, which are analyzed by highly experienced clinicians to validate the different swallowing patterns. We evaluate our computational pipeline on a total of 25 LTHRMs, which were meticulously annotated by medical experts. By detecting more than 94% of all relevant swallow events and providing all relevant clusters for a more reliable diagnostic process among experienced clinicians, we are able to demonstrate the effectiveness as well as positive clinical impact of our approach to make LTHRM feasible in clinical care.
Investigating Self-Supervised Image Denoising with Denaturation
Authors: Hiroki Waida, Kimihiro Yamazaki, Atsushi Tokuhisa, Mutsuyo Wada, Yuichiro Wada
Date: 2024-05-02 00:00:00
Tasks: Denoising, Image Denoising, Self-Supervised Learning

Self-supervised learning for image denoising problems in the presence of denaturation for noisy data is a crucial approach in machine learning. However, theoretical understanding of the performance of the approach that uses denatured data is lacking. To provide better understanding of the approach, in this paper, we analyze a self-supervised denoising algorithm that uses denatured data in depth through theoretical analysis and numerical experiments. Through the theoretical analysis, we discuss that the algorithm finds desired solutions to the optimization problem with the population risk, while the guarantee for the empirical risk depends on the hardness of the denoising task in terms of denaturation levels. We also conduct several experiments to investigate the performance of an extended algorithm in practice. The results indicate that the algorithm training with denatured images works, and the empirical performance aligns with the theoretical results. These results suggest several insights for further improvement of self-supervised image denoising that uses denatured data in future directions.
Sports Analysis and VR Viewing System Based on Player Tracking and Pose Estimation with Multimodal and Multiview Sensors
Authors: Wenxuan Guo, Zhiyu Pan, Ziheng Xi, Alapati Tuerxun, Jianjiang Feng, Jie zhou
Date: 2024-05-02 00:00:00
Tasks: Pose Estimation

Sports analysis and viewing play a pivotal role in the current sports domain, offering significant value not only to coaches and athletes but also to fans and the media. In recent years, the rapid development of virtual reality (VR) and augmented reality (AR) technologies have introduced a new platform for watching games. Visualization of sports competitions in VR/AR represents a revolutionary technology, providing audiences with a novel immersive viewing experience. However, there is still a lack of related research in this area. In this work, we present for the first time a comprehensive system for sports competition analysis and real-time visualization on VR/AR platforms. First, we utilize multiview LiDARs and cameras to collect multimodal game data. Subsequently, we propose a framework for multi-player tracking and pose estimation based on a limited amount of supervised data, which extracts precise player positions and movements from point clouds and images. Moreover, we perform avatar modeling of players to obtain their 3D models. Ultimately, using these 3D player data, we conduct competition analysis and real-time visualization on VR/AR. Extensive quantitative experiments demonstrate the accuracy and robustness of our multi-player tracking and pose estimation framework. The visualization results showcase the immense potential of our sports visualization system on the domain of watching games on VR/AR devices. The multimodal competition dataset we collected and all related code will be released soon.