The task of Visual Object Navigation (VON) involves an agent's ability to locate a particular object within a given scene. In order to successfully accomplish the VON task, two essential conditions must be fulfilled:1) the user must know the name of the desired object; and 2) the user-specified object must actually be present within the scene. To meet these conditions, a simulator can incorporate pre-defined object names and positions into the metadata of the scene. However, in real-world scenarios, it is often challenging to ensure that these conditions are always met. Human in an unfamiliar environment may not know which objects are present in the scene, or they may mistakenly specify an object that is not actually present. Nevertheless, despite these challenges, human may still have a demand for an object, which could potentially be fulfilled by other objects present within the scene in an equivalent manner. Hence, we propose Demand-driven Navigation (DDN), which leverages the user's demand as the task instruction and prompts the agent to find the object matches the specified demand. DDN aims to relax the stringent conditions of VON by focusing on fulfilling the user's demand rather than relying solely on predefined object categories or names. We propose a method first acquire textual attribute features of objects by extracting common knowledge from a large language model. These textual attribute features are subsequently aligned with visual attribute features using Contrastive Language-Image Pre-training (CLIP). By incorporating the visual attribute features as prior knowledge, we enhance the navigation process. Experiments on AI2Thor with the ProcThor dataset demonstrate the visual attribute features improve the agent's navigation performance and outperform the baseline methods commonly used in VON.
Deriving reliable region-word alignment from image-text pairs is critical to learn object-level vision-language representations for open-vocabulary object detection. Existing methods typically rely on pre-trained or self-trained vision-language models for alignment, which are prone to limitations in localization accuracy or generalization capabilities. In this paper, we propose CoDet, a novel approach that overcomes the reliance on pre-aligned vision-language space by reformulating region-word alignment as a co-occurring object discovery problem. Intuitively, by grouping images that mention a shared concept in their captions, objects corresponding to the shared concept shall exhibit high co-occurrence among the group. CoDet then leverages visual similarities to discover the co-occurring objects and align them with the shared concept. Extensive experiments demonstrate that CoDet has superior performances and compelling scalability in open-vocabulary detection, e.g., by scaling up the visual backbone, CoDet achieves 37.0 $\text{AP}^m_{novel}$ and 44.7 $\text{AP}^m_{all}$ on OV-LVIS, surpassing the previous SoTA by 4.2 $\text{AP}^m_{novel}$ and 9.8 $\text{AP}^m_{all}$. Code is available at https://github.com/CVMI-Lab/CoDet.
Recent breakthroughs in diffusion models, multimodal pretraining, and efficient finetuning have led to an explosion of text-to-image generative models. Given human evaluation is expensive and difficult to scale, automated methods are critical for evaluating the increasingly large number of new models. However, most current automated evaluation metrics like FID or CLIPScore only offer a holistic measure of image quality or image-text alignment, and are unsuited for fine-grained or instance-level analysis. In this paper, we introduce GenEval, an object-focused framework to evaluate compositional image properties such as object co-occurrence, position, count, and color. We show that current object detection models can be leveraged to evaluate text-to-image models on a variety of generation tasks with strong human agreement, and that other discriminative vision models can be linked to this pipeline to further verify properties like object color. We then evaluate several open-source text-to-image models and analyze their relative generative capabilities on our benchmark. We find that recent models demonstrate significant improvement on these tasks, though they are still lacking in complex capabilities such as spatial relations and attribute binding. Finally, we demonstrate how GenEval might be used to help discover existing failure modes, in order to inform development of the next generation of text-to-image models. Our code to run the GenEval framework is publicly available at https://github.com/djghosh13/geneval.
Open-vocabulary 3D Object Detection (OV-3DDet) aims to detect objects from an arbitrary list of categories within a 3D scene, which remains seldom explored in the literature. There are primarily two fundamental problems in OV-3DDet, i.e., localizing and classifying novel objects. This paper aims at addressing the two problems simultaneously via a unified framework, under the condition of limited base categories. To localize novel 3D objects, we propose an effective 3D Novel Object Discovery strategy, which utilizes both the 3D box geometry priors and 2D semantic open-vocabulary priors to generate pseudo box labels of the novel objects. To classify novel object boxes, we further develop a cross-modal alignment module based on discovered novel boxes, to align feature spaces between 3D point cloud and image/text modalities. Specifically, the alignment process contains a class-agnostic and a class-discriminative alignment, incorporating not only the base objects with annotations but also the increasingly discovered novel objects, resulting in an iteratively enhanced alignment. The novel box discovery and crossmodal alignment are jointly learned to collaboratively benefit each other. The novel object discovery can directly impact the cross-modal alignment, while a better feature alignment can, in turn, boost the localization capability, leading to a unified OV-3DDet framework, named CoDA, for simultaneous novel object localization and classification. Extensive experiments on two challenging datasets (i.e., SUN-RGBD and ScanNet) demonstrate the effectiveness of our method and also show a significant mAP improvement upon the best-performing alternative method by 80%. Codes and pre-trained models are released on the project page.
Human actions in egocentric videos are often hand-object interactions composed from a verb (performed by the hand) applied to an object. Despite their extensive scaling up, egocentric datasets still face two limitations - sparsity of action compositions and a closed set of interacting objects. This paper proposes a novel open vocabulary action recognition task. Given a set of verbs and objects observed during training, the goal is to generalize the verbs to an open vocabulary of actions with seen and novel objects. To this end, we decouple the verb and object predictions via an object-agnostic verb encoder and a prompt-based object encoder. The prompting leverages CLIP representations to predict an open vocabulary of interacting objects. We create open vocabulary benchmarks on the EPIC-KITCHENS-100 and Assembly101 datasets; whereas closed-action methods fail to generalize, our proposed method is effective. In addition, our object encoder significantly outperforms existing open-vocabulary visual recognition methods in recognizing novel interacting objects.
Open-vocabulary object detection has benefited greatly from pretrained vision-language models, but is still limited by the amount of available detection training data. While detection training data can be expanded by using Web image-text pairs as weak supervision, this has not been done at scales comparable to image-level pretraining. Here, we scale up detection data with self-training, which uses an existing detector to generate pseudo-box annotations on image-text pairs. Major challenges in scaling self-training are the choice of label space, pseudo-annotation filtering, and training efficiency. We present the OWLv2 model and OWL-ST self-training recipe, which address these challenges. OWLv2 surpasses the performance of previous state-of-the-art open-vocabulary detectors already at comparable training scales (~10M examples). However, with OWL-ST, we can scale to over 1B examples, yielding further large improvement: With an L/14 architecture, OWL-ST improves AP on LVIS rare classes, for which the model has seen no human box annotations, from 31.2% to 44.6% (43% relative improvement). OWL-ST unlocks Web-scale training for open-world localization, similar to what has been seen for image classification and language modelling.
We introduce MQ-Det, an efficient architecture and pre-training strategy design to utilize both textual description with open-set generalization and visual exemplars with rich description granularity as category queries, namely, Multi-modal Queried object Detection, for real-world detection with both open-vocabulary categories and various granularity. MQ-Det incorporates vision queries into existing well-established language-queried-only detectors. A plug-and-play gated class-scalable perceiver module upon the frozen detector is proposed to augment category text with class-wise visual information. To address the learning inertia problem brought by the frozen detector, a vision conditioned masked language prediction strategy is proposed. MQ-Det's simple yet effective architecture and training strategy design is compatible with most language-queried object detectors, thus yielding versatile applications. Experimental results demonstrate that multi-modal queries largely boost open-world detection. For instance, MQ-Det significantly improves the state-of-the-art open-set detector GLIP by +7.8% AP on the LVIS benchmark via multi-modal queries without any downstream finetuning, and averagely +6.3% AP on 13 few-shot downstream tasks, with merely additional 3% modulating time required by GLIP. Code is available at https://github.com/YifanXu74/MQ-Det.
The success of the Segment Anything Model (SAM) demonstrates the significance of data-centric machine learning. However, due to the difficulties and high costs associated with annotating Remote Sensing (RS) images, a large amount of valuable RS data remains unlabeled, particularly at the pixel level. In this study, we leverage SAM and existing RS object detection datasets to develop an efficient pipeline for generating a large-scale RS segmentation dataset, dubbed SAMRS. SAMRS totally possesses 105,090 images and 1,668,241 instances, surpassing existing high-resolution RS segmentation datasets in size by several orders of magnitude. It provides object category, location, and instance information that can be used for semantic segmentation, instance segmentation, and object detection, either individually or in combination. We also provide a comprehensive analysis of SAMRS from various aspects. Moreover, preliminary experiments highlight the importance of conducting segmentation pre-training with SAMRS to address task discrepancies and alleviate the limitations posed by limited training data during fine-tuning. The code and dataset will be available at https://github.com/ViTAE-Transformer/SAMRS.
Since humans interact with diverse objects every day, the holistic 3D capture of these interactions is important to understand and model human behaviour. However, most existing methods for hand-object reconstruction from RGB either assume pre-scanned object templates or heavily rely on limited 3D hand-object data, restricting their ability to scale and generalize to more unconstrained interaction settings. To this end, we introduce HOLD -- the first category-agnostic method that reconstructs an articulated hand and object jointly from a monocular interaction video. We develop a compositional articulated implicit model that can reconstruct disentangled 3D hand and object from 2D images. We also further incorporate hand-object constraints to improve hand-object poses and consequently the reconstruction quality. Our method does not rely on 3D hand-object annotations while outperforming fully-supervised baselines in both in-the-lab and challenging in-the-wild settings. Moreover, we qualitatively show its robustness in reconstructing from in-the-wild videos. Code: https://github.com/zc-alexfan/hold
Few-shot object detection (FSOD) aims to extract semantic knowledge from limited object instances of novel categories within a target domain. Recent advances in FSOD focus on fine-tuning the base model based on a few objects via meta-learning or data augmentation. Despite their success, the majority of them are grounded with parametric readjustment to generalize on novel objects, which face considerable challenges in Industry 5.0, such as (i) a certain amount of fine-tuning time is required, and (ii) the parameters of the constructed model being unavailable due to the privilege protection, making the fine-tuning fail. Such constraints naturally limit its application in scenarios with real-time configuration requirements or within black-box settings. To tackle the challenges mentioned above, we formalize a novel FSOD task, referred to as Test TIme Few Shot DEtection (TIDE), where the model is un-tuned in the configuration procedure. To that end, we introduce an asymmetric architecture for learning a support-instance-guided dynamic category classifier. Further, a cross-attention module and a multi-scale resizer are provided to enhance the model performance. Experimental results on multiple few-shot object detection platforms reveal that the proposed TIDE significantly outperforms existing contemporary methods. The implementation codes are available at https://github.com/deku-0621/TIDE
Unsupervised video object segmentation (UVOS) aims at detecting the primary objects in a given video sequence without any human interposing. Most existing methods rely on two-stream architectures that separately encode the appearance and motion information before fusing them to identify the target and generate object masks. However, this pipeline is computationally expensive and can lead to suboptimal performance due to the difficulty of fusing the two modalities properly. In this paper, we propose a novel UVOS model called SimulFlow that simultaneously performs feature extraction and target identification, enabling efficient and effective unsupervised video object segmentation. Concretely, we design a novel SimulFlow Attention mechanism to bridege the image and motion by utilizing the flexibility of attention operation, where coarse masks predicted from fused feature at each stage are used to constrain the attention operation within the mask area and exclude the impact of noise. Because of the bidirectional information flow between visual and optical flow features in SimulFlow Attention, no extra hand-designed fusing module is required and we only adopt a light decoder to obtain the final prediction. We evaluate our method on several benchmark datasets and achieve state-of-the-art results. Our proposed approach not only outperforms existing methods but also addresses the computational complexity and fusion difficulties caused by two-stream architectures. Our models achieve 87.4% J & F on DAVIS-16 with the highest speed (63.7 FPS on a 3090) and the lowest parameters (13.7 M). Our SimulFlow also obtains competitive results on video salient object detection datasets.
Hyperspectral object tracking has recently emerged as a topic of great interest in the remote sensing community. The hyperspectral image, with its many bands, provides a rich source of material information of an object that can be effectively used for object tracking. While most hyperspectral trackers are based on detection-based techniques, no one has yet attempted to employ YOLO for detecting and tracking the object. This is due to the presence of multiple spectral bands, the scarcity of annotated hyperspectral videos, and YOLO's performance limitation in managing occlusions, and distinguishing object in cluttered backgrounds. Therefore, in this paper, we propose a novel framework called Hy-Tracker, which aims to bridge the gap between hyperspectral data and state-of-the-art object detection methods to leverage the strengths of YOLOv7 for object tracking in hyperspectral videos. Hy-Tracker not only introduces YOLOv7 but also innovatively incorporates a refined tracking module on top of YOLOv7. The tracker refines the initial detections produced by YOLOv7, leading to improved object-tracking performance. Furthermore, we incorporate Kalman-Filter into the tracker, which addresses the challenges posed by scale variation and occlusion. The experimental results on hyperspectral benchmark datasets demonstrate the effectiveness of Hy-Tracker in accurately tracking objects across frames.
Background: Pose estimation of rigid objects is a practical challenge in optical metrology and computer vision. This paper presents a novel stochastic-geometrical modeling framework for object pose estimation based on observing multiple feature points. Methods: This framework utilizes mixture models for feature point densities in object space and for interpreting real measurements. Advantages are the avoidance to resolve individual feature correspondences and to incorporate correct stochastic dependencies in multi-view applications. First, the general modeling framework is presented, second, a general algorithm for pose estimation is derived, and third, two example models (camera and lateration setup) are presented. Results: Numerical experiments show the effectiveness of this modeling and general algorithm by presenting four simulation scenarios for three observation systems, including the dependence on measurement resolution, object deformations and measurement noise. Probabilistic modeling utilizing mixture models shows the potential for accurate and robust pose estimations while avoiding the correspondence problem.
Existing video-based action recognition systems typically require dense annotation and struggle in environments when there is significant distribution shift relative to the training data. Current methods for video domain adaptation typically fine-tune the model using fully annotated data on a subset of target domain data or align the representation of the two domains using bootstrapping or adversarial learning. Inspired by the pivotal role of objects in recent supervised object-centric action recognition models, we present Object-based (yet Class-agnostic) Video Domain Adaptation (ODAPT), a simple yet effective framework for adapting the existing action recognition systems to new domains by utilizing a sparse set of frames with class-agnostic object annotations in a target domain. Our model achieves a +6.5 increase when adapting across kitchens in Epic-Kitchens and a +3.1 increase adapting between Epic-Kitchens and the EGTEA dataset. ODAPT is a general framework that can also be combined with previous unsupervised methods, offering a +5.0 boost when combined with the self-supervised multi-modal method MMSADA and a +1.7 boost when added to the adversarial-based method TA$^3$N on Epic-Kitchens.
Multi-object tracking in traffic videos is a crucial research area, offering immense potential for enhancing traffic monitoring accuracy and promoting road safety measures through the utilisation of advanced machine learning algorithms. However, existing datasets for multi-object tracking in traffic videos often feature limited instances or focus on single classes, which cannot well simulate the challenges encountered in complex traffic scenarios. To address this gap, we introduce TrafficMOT, an extensive dataset designed to encompass diverse traffic situations with complex scenarios. To validate the complexity and challenges presented by TrafficMOT, we conducted comprehensive empirical studies using three different settings: fully-supervised, semi-supervised, and a recent powerful zero-shot foundation model Tracking Anything Model (TAM). The experimental results highlight the inherent complexity of this dataset, emphasising its value in driving advancements in the field of traffic monitoring and multi-object tracking.
Underwater object detection is a crucial and challenging problem in marine engineering and aquatic robot. The difficulty is partly because of the degradation of underwater images caused by light selective absorption and scattering. Intuitively, enhancing underwater images can benefit high-level applications like underwater object detection. However, it is still unclear whether all object detectors need underwater image enhancement as pre-processing. We therefore pose the questions "Does underwater image enhancement really improve underwater object detection?" and "How does underwater image enhancement contribute to underwater object detection?". With these two questions, we conduct extensive studies. Specifically, we use 18 state-of-the-art underwater image enhancement algorithms, covering traditional, CNN-based, and GAN-based algorithms, to pre-process underwater object detection data. Then, we retrain 7 popular deep learning-based object detectors using the corresponding results enhanced by different algorithms, obtaining 126 underwater object detection models. Coupled with 7 object detection models retrained using raw underwater images, we employ these 133 models to comprehensively analyze the effect of underwater image enhancement on underwater object detection. We expect this study can provide sufficient exploration to answer the aforementioned questions and draw more attention of the community to the joint problem of underwater image enhancement and underwater object detection. The pre-trained models and results are publicly available and will be regularly updated. Project page: https://github.com/BIGWangYuDong/lqit/tree/main/configs/detection/uw_enhancement_affect_detection.
We propose FoundPose, a model-based method for 6D pose estimation of unseen objects from a single RGB image. The method can quickly onboard new objects using their 3D models without requiring any object- or task-specific training. In contrast, existing methods typically pre-train on large-scale, task-specific datasets in order to generalize to new objects and to bridge the image-to-model domain gap. We demonstrate that such generalization capabilities can be observed in a recent vision foundation model trained in a self-supervised manner. Specifically, our method estimates the object pose from image-to-model 2D-3D correspondences, which are established by matching patch descriptors from the recent DINOv2 model between the image and pre-rendered object templates. We find that reliable correspondences can be established by kNN matching of patch descriptors from an intermediate DINOv2 layer. Such descriptors carry stronger positional information than descriptors from the last layer, and we show their importance when semantic information is ambiguous due to object symmetries or a lack of texture. To avoid establishing correspondences against all object templates, we develop an efficient template retrieval approach that integrates the patch descriptors into the bag-of-words representation and can promptly propose a handful of similarly looking templates. Additionally, we apply featuremetric alignment to compensate for discrepancies in the 2D-3D correspondences caused by coarse patch sampling. The resulting method noticeably outperforms existing RGB methods for refinement-free pose estimation on the standard BOP benchmark with seven diverse datasets and can be seamlessly combined with an existing render-and-compare refinement method to achieve RGB-only state-of-the-art results. Project page: evinpinar.github.io/foundpose.
Video segmentation requires consistently segmenting and tracking objects over time. Due to the quadratic dependency on input size, directly applying self-attention to video segmentation with high-resolution input features poses significant challenges, often leading to insufficient GPU memory capacity. Consequently, modern video segmenters either extend an image segmenter without incorporating any temporal attention or resort to window space-time attention in a naive manner. In this work, we present Axial-VS, a general and simple framework that enhances video segmenters by tracking objects along axial trajectories. The framework tackles video segmentation through two sub-tasks: short-term within-clip segmentation and long-term cross-clip tracking. In the first step, Axial-VS augments an off-the-shelf clip-level video segmenter with the proposed axial-trajectory attention, sequentially tracking objects along the height- and width-trajectories within a clip, thereby enhancing temporal consistency by capturing motion trajectories. The axial decomposition significantly reduces the computational complexity for dense features, and outperforms the window space-time attention in segmentation quality. In the second step, we further employ axial-trajectory attention to the object queries in clip-level segmenters, which are learned to encode object information, thereby aiding object tracking across different clips and achieving consistent segmentation throughout the video. Without bells and whistles, Axial-VS showcases state-of-the-art results on video segmentation benchmarks, emphasizing its effectiveness in addressing the limitations of modern clip-level video segmenters. Code and models are available at https://github.com/TACJu/Axial-VS.
This paper revisits the problem of predicting box locations in object detection architectures. Typically, each box proposal or box query aims to directly maximize the intersection-over-union score with the ground truth, followed by a winner-takes-all non-maximum suppression where only the highest scoring box in each region is retained. We observe that both steps are sub-optimal: the first involves regressing proposals to the entire ground truth, which is a difficult task even with large receptive fields, and the second neglects valuable information from boxes other than the top candidate. Instead of regressing proposals to the whole ground truth, we propose a simpler approach: regress only to the area of intersection between the proposal and the ground truth. This avoids the need for proposals to extrapolate beyond their visual scope, improving localization accuracy. Rather than adopting a winner-takes-all strategy, we take the union over the regressed intersections of all boxes in a region to generate the final box outputs. Our plug-and-play method integrates seamlessly into proposal-based, grid-based, and query-based detection architectures with minimal modifications, consistently improving object localization and instance segmentation. We demonstrate its broad applicability and versatility across various detection and segmentation tasks.
Neuroscience studies have shown that the human visual system utilizes high-level feedback information to guide lower-level perception, enabling adaptation to signals of different characteristics. In light of this, we propose Feedback multi-Level feature Extractor (Flex) to incorporate a similar mechanism for object detection. Flex refines feature selection based on image-wise and instance-level feedback information in response to image quality variation and classification uncertainty. Experimental results show that Flex offers consistent improvement to a range of existing SOTA methods on the challenging aerial object detection datasets including DOTA-v1.0, DOTA-v1.5, and HRSC2016. Although the design originates in aerial image detection, further experiments on MS COCO also reveal our module's efficacy in general detection models. Quantitative and qualitative analyses indicate that the improvements are closely related to image qualities, which match our motivation.