Our world is full of identical objects (\emphe.g., cans of coke, cars of same model). These duplicates, when seen together, provide additional and strong cues for us to effectively reason about 3D. Inspired by this observation, we introduce Structure from Duplicates (SfD), a novel inverse graphics framework that reconstructs geometry, material, and illumination from a single image containing multiple identical objects. SfD begins by identifying multiple instances of an object within an image, and then jointly estimates the 6DoF pose for all instances.An inverse graphics pipeline is subsequently employed to jointly reason about the shape, material of the object, and the environment light, while adhering to the shared geometry and material constraint across instances. Our primary contributions involve utilizing object duplicates as a robust prior for single-image inverse graphics and proposing an in-plane rotation-robust Structure from Motion (SfM) formulation for joint 6-DoF object pose estimation. By leveraging multi-view cues from a single image, SfD generates more realistic and detailed 3D reconstructions, significantly outperforming existing single image reconstruction models and multi-view reconstruction approaches with a similar or greater number of observations.
Domain adaptation is crucial in aerial imagery, as the visual representation of these images can significantly vary based on factors such as geographic location, time, and weather conditions. Additionally, high-resolution aerial images often require substantial storage space and may not be readily accessible to the public. To address these challenges, we propose a novel Source-Free Object Detection (SFOD) method. Specifically, our approach begins with a self-training framework, which significantly enhances the performance of baseline methods. To alleviate the noisy labels in self-training, we utilize Contrastive Language-Image Pre-training (CLIP) to guide the generation of pseudo-labels, termed CLIP-guided Aggregation (CGA). By leveraging CLIP's zero-shot classification capability, we aggregate its scores with the original predicted bounding boxes, enabling us to obtain refined scores for the pseudo-labels. To validate the effectiveness of our method, we constructed two new datasets from different domains based on the DIOR dataset, named DIOR-C and DIOR-Cloudy. Experimental results demonstrate that our method outperforms other comparative algorithms. The code is available at https://github.com/Lans1ng/SFOD-RS.
This work prioritizes building a modular pipeline that utilizes existing models to systematically restore images, rather than creating new restoration models from scratch. Restoration is carried out at an object-specific level, with each object regenerated using its corresponding class label information. The approach stands out by providing complete user control over the entire restoration process. Users can select models for specialized restoration steps, customize the sequence of steps to meet their needs, and refine the resulting regenerated image with depth awareness. The research provides two distinct pathways for implementing image regeneration, allowing for a comparison of their respective strengths and limitations. The most compelling aspect of this versatile system is its adaptability. This adaptability enables users to target particular object categories, including medical images, by providing models that are trained on those object classes.
We introduce InseRF, a novel method for generative object insertion in the NeRF reconstructions of 3D scenes. Based on a user-provided textual description and a 2D bounding box in a reference viewpoint, InseRF generates new objects in 3D scenes. Recently, methods for 3D scene editing have been profoundly transformed, owing to the use of strong priors of text-to-image diffusion models in 3D generative modeling. Existing methods are mostly effective in editing 3D scenes via style and appearance changes or removing existing objects. Generating new objects, however, remains a challenge for such methods, which we address in this study. Specifically, we propose grounding the 3D object insertion to a 2D object insertion in a reference view of the scene. The 2D edit is then lifted to 3D using a single-view object reconstruction method. The reconstructed object is then inserted into the scene, guided by the priors of monocular depth estimation methods. We evaluate our method on various 3D scenes and provide an in-depth analysis of the proposed components. Our experiments with generative insertion of objects in several 3D scenes indicate the effectiveness of our method compared to the existing methods. InseRF is capable of controllable and 3D-consistent object insertion without requiring explicit 3D information as input. Please visit our project page at https://mohamad-shahbazi.github.io/inserf.
Domain generalization is a popular machine learning technique that enables models to perform well on the unseen target domain, by learning from multiple source domains. Domain generalization is useful in cases where data is limited, difficult, or expensive to collect, such as in object recognition and biomedicine. In this paper, we propose a novel domain generalization algorithm called "meta-forests", which builds upon the basic random forests model by incorporating the meta-learning strategy and maximum mean discrepancy measure. The aim of meta-forests is to enhance the generalization ability of classifiers by reducing the correlation among trees and increasing their strength. More specifically, meta-forests conducts meta-learning optimization during each meta-task, while also utilizing the maximum mean discrepancy as a regularization term to penalize poor generalization performance in the meta-test process. To evaluate the effectiveness of our algorithm, we test it on two publicly object recognition datasets and a glucose monitoring dataset that we have used in a previous study. Our results show that meta-forests outperforms state-of-the-art approaches in terms of generalization performance on both object recognition and glucose monitoring datasets.
We consider the problem of cross-sensor domain adaptation in the context of LiDAR-based 3D object detection and propose Stationary Object Aggregation Pseudo-labelling (SOAP) to generate high quality pseudo-labels for stationary objects. In contrast to the current state-of-the-art in-domain practice of aggregating just a few input scans, SOAP aggregates entire sequences of point clouds at the input level to reduce the sensor domain gap. Then, by means of what we call quasi-stationary training and spatial consistency post-processing, the SOAP model generates accurate pseudo-labels for stationary objects, closing a minimum of 30.3% domain gap compared to few-frame detectors. Our results also show that state-of-the-art domain adaptation approaches can achieve even greater performance in combination with SOAP, in both the unsupervised and semi-supervised settings.
Modeling the interaction between humans and objects has been an emerging research direction in recent years. Capturing human-object interaction is however a very challenging task due to heavy occlusion and complex dynamics, which requires understanding not only 3D human pose, and object pose but also the interaction between them. Reconstruction of 3D humans and objects has been two separate research fields in computer vision for a long time. We hence proposed the first RHOBIN challenge: reconstruction of human-object interactions in conjunction with the RHOBIN workshop. It was aimed at bringing the research communities of human and object reconstruction as well as interaction modeling together to discuss techniques and exchange ideas. Our challenge consists of three tracks of 3D reconstruction from monocular RGB images with a focus on dealing with challenging interaction scenarios. Our challenge attracted more than 100 participants with more than 300 submissions, indicating the broad interest in the research communities. This paper describes the settings of our challenge and discusses the winning methods of each track in more detail. We observe that the human reconstruction task is becoming mature even under heavy occlusion settings while object pose estimation and joint reconstruction remain challenging tasks. With the growing interest in interaction modeling, we hope this report can provide useful insights and foster future research in this direction. Our workshop website can be found at \href{https://rhobin-challenge.github.io/}{https://rhobin-challenge.github.io/}.
Integrated sensing and communications (ISAC) enabled by unmanned aerial vehicles (UAVs) is a promising technology to facilitate target tracking applications. In contrast to conventional UAV-based ISAC system designs that mainly focus on estimating the target position, the target velocity estimation also needs to be considered due to its crucial impacts on link maintenance and real-time response, which requires new designs on resource allocation and tracking scheme. In this paper, we propose an extended Kalman filtering-based tracking scheme for a UAV-enabled ISAC system where a UAV tracks a moving object and also communicates with a device attached to the object. Specifically, a weighted sum of predicted posterior Cram\'er-Rao bound (PCRB) for object relative position and velocity estimation is minimized by optimizing the UAV trajectory, where an efficient solution is obtained based on the successive convex approximation method. Furthermore, under a special case with the measurement mean square error (MSE), the optimal relative motion state is obtained and proved to keep a fixed elevation angle and zero relative velocity. Numerical results validate that the obtained solution to the predicted PCRB minimization can be approximated by the optimal relative motion state when predicted measurement MSE dominates the predicted PCRBs, as well as the effectiveness of the proposed tracking scheme. Moreover, three interesting trade-offs on system performance resulted from the fixed elevation angle are illustrated.
The advantages of pre-trained large language models (LLMs) are apparent in a variety of language processing tasks. But can a language model's knowledge be further harnessed to effectively disambiguate objects and navigate decision-making challenges within the realm of robotics? Our study reveals the LLM's aptitude for solving complex decision making challenges that are often previously modeled by Partially Observable Markov Decision Processes (POMDPs). A pivotal focus of our research is the object disambiguation capability of LLMs. We detail the integration of an LLM into a tabletop environment disambiguation task, a decision making problem where the robot's task is to discern and retrieve a user's desired object from an arbitrarily large and complex cluster of objects. Despite multiple query attempts with zero-shot prompt engineering (details can be found in the Appendix), the LLM struggled to inquire about features not explicitly provided in the scene description. In response, we have developed a few-shot prompt engineering system to improve the LLM's ability to pose disambiguating queries. The result is a model capable of both using given features when they are available and inferring new relevant features when necessary, to successfully generate and navigate down a precise decision tree to the correct object--even when faced with identical options.
In this paper, we raise a new issue on Unidentified Foreground Object (UFO) detection in 3D point clouds, which is a crucial technology in autonomous driving in the wild. UFO detection is challenging in that existing 3D object detectors encounter extremely hard challenges in both 3D localization and Out-of-Distribution (OOD) detection. To tackle these challenges, we suggest a new UFO detection framework including three tasks: evaluation protocol, methodology, and benchmark. The evaluation includes a new approach to measure the performance on our goal, i.e. both localization and OOD detection of UFOs. The methodology includes practical techniques to enhance the performance of our goal. The benchmark is composed of the KITTI Misc benchmark and our additional synthetic benchmark for modeling a more diverse range of UFOs. The proposed framework consistently enhances performance by a large margin across all four baseline detectors: SECOND, PointPillars, PV-RCNN, and PartA2, giving insight for future work on UFO detection in the wild.
Aiming at the specific characteristics of flying bird objects in surveillance video, such as the typically non-obvious features in single-frame images, small size in most instances, and asymmetric shapes, this paper proposes a Flying Bird Object Detection method for Surveillance Video (FBOD-SV). Firstly, a new feature aggregation module, the Correlation Attention Feature Aggregation (Co-Attention-FA) module, is designed to aggregate the features of the flying bird object according to the bird object's correlation on multiple consecutive frames of images. Secondly, a Flying Bird Object Detection Network (FBOD-Net) with down-sampling followed by up-sampling is designed, which utilizes a large feature layer that fuses fine spatial information and large receptive field information to detect special multi-scale (mostly small-scale) bird objects. Finally, the SimOTA dynamic label allocation method is applied to One-Category object detection, and the SimOTA-OC dynamic label strategy is proposed to solve the difficult problem of label allocation caused by irregular flying bird objects. In this paper, the performance of the FBOD-SV is validated using experimental datasets of flying bird objects in traction substation surveillance videos. The experimental results show that the FBOD-SV effectively improves the detection performance of flying bird objects in surveillance video.
Accurate per-object distance estimation is crucial in safety-critical applications such as autonomous driving, surveillance, and robotics. Existing approaches rely on two scales: local information (i.e., the bounding box proportions) or global information, which encodes the semantics of the scene as well as the spatial relations with neighboring objects. However, these approaches may struggle with long-range objects and in the presence of strong occlusions or unusual visual patterns. In this respect, our work aims to strengthen both local and global cues. Our architecture -- named DistFormer -- builds upon three major components acting jointly: i) a robust context encoder extracting fine-grained per-object representations; ii) a masked encoder-decoder module exploiting self-supervision to promote the learning of useful per-object features; iii) a global refinement module that aggregates object representations and computes a joint, spatially-consistent estimation. To evaluate the effectiveness of DistFormer, we conduct experiments on the standard KITTI dataset and the large-scale NuScenes and MOTSynth datasets. Such datasets cover various indoor/outdoor environments, changing weather conditions, appearances, and camera viewpoints. Our comprehensive analysis shows that DistFormer outperforms existing methods. Moreover, we further delve into its generalization capabilities, showing its regularization benefits in zero-shot synth-to-real transfer.
How to effectively exploit spatio-temporal information is crucial to capture target appearance changes in visual tracking. However, most deep learning-based trackers mainly focus on designing a complicated appearance model or template updating strategy, while lacking the exploitation of context between consecutive frames and thus entailing the \textit{when-and-how-to-update} dilemma. To address these issues, we propose a novel explicit visual prompts framework for visual tracking, dubbed \textbf{EVPTrack}. Specifically, we utilize spatio-temporal tokens to propagate information between consecutive frames without focusing on updating templates. As a result, we cannot only alleviate the challenge of \textit{when-to-update}, but also avoid the hyper-parameters associated with updating strategies. Then, we utilize the spatio-temporal tokens to generate explicit visual prompts that facilitate inference in the current frame. The prompts are fed into a transformer encoder together with the image tokens without additional processing. Consequently, the efficiency of our model is improved by avoiding \textit{how-to-update}. In addition, we consider multi-scale information as explicit visual prompts, providing multiscale template features to enhance the EVPTrack's ability to handle target scale changes. Extensive experimental results on six benchmarks (i.e., LaSOT, LaSOT\rm $_{ext}$, GOT-10k, UAV123, TrackingNet, and TNL2K.) validate that our EVPTrack can achieve competitive performance at a real-time speed by effectively exploiting both spatio-temporal and multi-scale information. Code and models are available at https://github.com/GXNU-ZhongLab/EVPTrack.
DETR accomplishes end-to-end object detection through iteratively generating multiple object candidates based on image features and promoting one candidate for each ground-truth object. The traditional training procedure using one-to-one supervision in the original DETR lacks direct supervision for the object detection candidates. We aim at improving the DETR training efficiency by explicitly supervising the candidate generation procedure through mixing one-to-one supervision and one-to-many supervision. Our approach, namely MS-DETR, is simple, and places one-to-many supervision to the object queries of the primary decoder that is used for inference. In comparison to existing DETR variants with one-to-many supervision, such as Group DETR and Hybrid DETR, our approach does not need additional decoder branches or object queries. The object queries of the primary decoder in our approach directly benefit from one-to-many supervision and thus are superior in object candidate prediction. Experimental results show that our approach outperforms related DETR variants, such as DN-DETR, Hybrid DETR, and Group DETR, and the combination with related DETR variants further improves the performance.
Multi-modal 3D object detectors are dedicated to exploring secure and reliable perception systems for autonomous driving (AD).Although achieving state-of-the-art (SOTA) performance on clean benchmark datasets, they tend to overlook the complexity and harsh conditions of real-world environments. With the emergence of visual foundation models (VFMs), opportunities and challenges are presented for improving the robustness and generalization of multi-modal 3D object detection in AD. Therefore, we propose RoboFusion, a robust framework that leverages VFMs like SAM to tackle out-of-distribution (OOD) noise scenarios. We first adapt the original SAM for AD scenarios named SAM-AD. To align SAM or SAM-AD with multi-modal methods, we then introduce AD-FPN for upsampling the image features extracted by SAM. We employ wavelet decomposition to denoise the depth-guided images for further noise reduction and weather interference. At last, we employ self-attention mechanisms to adaptively reweight the fused features, enhancing informative features while suppressing excess noise. In summary, RoboFusion significantly reduces noise by leveraging the generalization and robustness of VFMs, thereby enhancing the resilience of multi-modal 3D object detection. Consequently, RoboFusion achieves SOTA performance in noisy scenarios, as demonstrated by the KITTI-C and nuScenes-C benchmarks. Code is available at https://github.com/adept-thu/RoboFusion.
Performance of modern trackers degrades substantially on transparent objects compared to opaque objects. This is largely due to two distinct reasons. Transparent objects are unique in that their appearance is directly affected by the background. Furthermore, transparent object scenes often contain many visually similar objects (distractors), which often lead to tracking failure. However, development of modern tracking architectures requires large training sets, which do not exist in transparent object tracking. We present two contributions addressing the aforementioned issues. We propose the first transparent object tracking training dataset Trans2k that consists of over 2k sequences with 104,343 images overall, annotated by bounding boxes and segmentation masks. Standard trackers trained on this dataset consistently improve by up to 16%. Our second contribution is a new distractor-aware transparent object tracker (DiTra) that treats localization accuracy and target identification as separate tasks and implements them by a novel architecture. DiTra sets a new state-of-the-art in transparent object tracking and generalizes well to opaque objects.
One of the most important problems in computer vision and remote sensing is object detection, which identifies particular categories of diverse things in pictures. Two crucial data sources for public security are the thermal infrared (TIR) remote sensing multi-scenario photos and videos produced by unmanned aerial vehicles (UAVs). Due to the small scale of the target, complex scene information, low resolution relative to the viewable videos, and dearth of publicly available labeled datasets and training models, their object detection procedure is still difficult. A UAV TIR object detection framework for pictures and videos is suggested in this study. The Forward-looking Infrared (FLIR) cameras used to gather ground-based TIR photos and videos are used to create the ``You Only Look Once'' (YOLO) model, which is based on CNN architecture. Results indicated that in the validating task, detecting human object had an average precision at IOU (Intersection over Union) = 0.5, which was 72.5\%, using YOLOv7 (YOLO version 7) state of the art model \cite{1}, while the detection speed around 161 frames per second (FPS/second). The usefulness of the YOLO architecture is demonstrated in the application, which evaluates the cross-detection performance of people in UAV TIR videos under a YOLOv7 model in terms of the various UAVs' observation angles. The qualitative and quantitative evaluation of object detection from TIR pictures and videos using deep-learning models is supported favorably by this work.
LiDAR-camera fusion can enhance the performance of 3D object detection by utilizing complementary information between depth-aware LiDAR points and semantically rich images. Existing voxel-based methods face significant challenges when fusing sparse voxel features with dense image features in a one-to-one manner, resulting in the loss of the advantages of images, including semantic and continuity information, leading to sub-optimal detection performance, especially at long distances. In this paper, we present VoxelNextFusion, a multi-modal 3D object detection framework specifically designed for voxel-based methods, which effectively bridges the gap between sparse point clouds and dense images. In particular, we propose a voxel-based image pipeline that involves projecting point clouds onto images to obtain both pixel- and patch-level features. These features are then fused using a self-attention to obtain a combined representation. Moreover, to address the issue of background features present in patches, we propose a feature importance module that effectively distinguishes between foreground and background features, thus minimizing the impact of the background features. Extensive experiments were conducted on the widely used KITTI and nuScenes 3D object detection benchmarks. Notably, our VoxelNextFusion achieved around +3.20% in [email omitted] improvement for car detection in hard level compared to the Voxel R-CNN baseline on the KITTI test dataset
Backdoor attack against image classification task has been widely studied and proven to be successful, while there exist little research on the backdoor attack against vision-language models. In this paper, we explore backdoor attack towards image captioning models by poisoning training data. Assuming the attacker has total access to the training dataset, and cannot intervene in model construction or training process. Specifically, a portion of benign training samples is randomly selected to be poisoned. Afterwards, considering that the captions are usually unfolded around objects in an image, we design an object-oriented method to craft poisons, which aims to modify pixel values by a slight range with the modification number proportional to the scale of the current detected object region. After training with the poisoned data, the attacked model behaves normally on benign images, but for poisoned images, the model will generate some sentences irrelevant to the given image. The attack controls the model behavior on specific test images without sacrificing the generation performance on benign test images. Our method proves the weakness of image captioning models to backdoor attack and we hope this work can raise the awareness of defending against backdoor attack in the image captioning field.
We show a monotonic relationship between performances of various computer vision tasks versus degrees of coherence of illumination. We simulate partially coherent illumination using computational methods, propagate the lightwave to form images, and subsequently employ a deep neural network to perform object recognition and depth sensing tasks. In each controlled experiment, we discover that, increased coherent length leads to improved image entropy, as well as enhanced object recognition and depth sensing performance.