To interpret deep networks, one main approach is to associate neurons with human-understandable concepts. However, existing methods often ignore the inherent relationships of different concepts (e.g., dog and cat both belong to animals), and thus lose the chance to explain neurons responsible for higher-level concepts (e.g., animal). In this paper, we study hierarchical concepts inspired by the hierarchical cognition process of human beings. To this end, we propose HIerarchical Neuron concepT explainer (HINT) to effectively build bidirectional associations between neurons and hierarchical concepts in a low-cost and scalable manner. HINT enables us to systematically and quantitatively study whether and how the implicit hierarchical relationships of concepts are embedded into neurons, such as identifying collaborative neurons responsible to one concept and multimodal neurons for different concepts, at different semantic levels from concrete concepts (e.g., dog) to more abstract ones (e.g., animal). Finally, we verify the faithfulness of the associations using Weakly Supervised Object Localization, and demonstrate its applicability in various tasks such as discovering saliency regions and explaining adversarial attacks. Code is available on https://github.com/AntonotnaWang/HINT.
While class activation map (CAM) generated by image classification network has been widely used for weakly supervised object localization (WSOL) and semantic segmentation (WSSS), such classifiers usually focus on discriminative object regions. In this paper, we propose Contrastive learning for Class-agnostic Activation Map (C$^2$AM) generation only using unlabeled image data, without the involvement of image-level supervision. The core idea comes from the observation that i) semantic information of foreground objects usually differs from their backgrounds; ii) foreground objects with similar appearance or background with similar color/texture have similar representations in the feature space. We form the positive and negative pairs based on the above relations and force the network to disentangle foreground and background with a class-agnostic activation map using a novel contrastive loss. As the network is guided to discriminate cross-image foreground-background, the class-agnostic activation maps learned by our approach generate more complete object regions. We successfully extracted from C$^2$AM class-agnostic object bounding boxes for object localization and background cues to refine CAM generated by classification network for semantic segmentation. Extensive experiments on CUB-200-2011, ImageNet-1K, and PASCAL VOC2012 datasets show that both WSOL and WSSS can benefit from the proposed C$^2$AM.
For robots to be generally useful, they must be able to find arbitrary objects described by people (i.e., be language-driven) even without expensive navigation training on in-domain data (i.e., perform zero-shot inference). We explore these capabilities in a unified setting: language-driven zero-shot object navigation (L-ZSON). Inspired by the recent success of open-vocabulary models for image classification, we investigate a straightforward framework, CLIP on Wheels (CoW), to adapt open-vocabulary models to this task without fine-tuning. To better evaluate L-ZSON, we introduce the Pasture benchmark, which considers finding uncommon objects, objects described by spatial and appearance attributes, and hidden objects described relative to visible objects. We conduct an in-depth empirical study by directly deploying 21 CoW baselines across Habitat, RoboTHOR, and Pasture. In total, we evaluate over 90k navigation episodes and find that (1) CoW baselines often struggle to leverage language descriptions, but are proficient at finding uncommon objects. (2) A simple CoW, with CLIP-based object localization and classical exploration -- and no additional training -- matches the navigation efficiency of a state-of-the-art ZSON method trained for 500M steps on Habitat MP3D data. This same CoW provides a 15.6 percentage point improvement in success over a state-of-the-art RoboTHOR ZSON model.
Pseudo-supervised learning methods have been shown to be effective for weakly supervised object localization tasks. However, the effectiveness depends on the powerful regularization ability of deep neural networks. Based on the assumption that the localization network should have similar location predictions on different versions of the same image, we propose a two-stage approach to learn more consistent localization. In the first stage, we propose a mask-based pseudo label generator algorithm, and use the pseudo-supervised learning method to initialize an object localization network. In the second stage, we propose a simple and effective method for evaluating the confidence of pseudo-labels based on classification discrimination, and by learning consistency from high-quality pseudo-labels, we further refine the localization network to get better localization performance. Experimental results show that our proposed approach achieves excellent performance in three benchmark datasets including CUB-200-2011, ImageNet-1k and Tiny-ImageNet, which demonstrates its effectiveness.
Point-based object localization (POL), which pursues high-performance object sensing under low-cost data annotation, has attracted increased attention. However, the point annotation mode inevitably introduces semantic variance for the inconsistency of annotated points. Existing POL methods heavily reply on accurate key-point annotations which are difficult to define. In this study, we propose a POL method using coarse point annotations, relaxing the supervision signals from accurate key points to freely spotted points. To this end, we propose a coarse point refinement (CPR) approach, which to our best knowledge is the first attempt to alleviate semantic variance from the perspective of algorithm. CPR constructs point bags, selects semantic-correlated points, and produces semantic center points through multiple instance learning (MIL). In this way, CPR defines a weakly supervised evolution procedure, which ensures training high-performance object localizer under coarse point supervision. Experimental results on COCO, DOTA and our proposed SeaPerson dataset validate the effectiveness of the CPR approach. The dataset and code will be available at https://github.com/ucas-vg/PointTinyBenchmark/.
This paper proposes a new transformer-based framework to learn class-specific object localization maps as pseudo labels for weakly supervised semantic segmentation (WSSS). Inspired by the fact that the attended regions of the one-class token in the standard vision transformer can be leveraged to form a class-agnostic localization map, we investigate if the transformer model can also effectively capture class-specific attention for more discriminative object localization by learning multiple class tokens within the transformer. To this end, we propose a Multi-class Token Transformer, termed as MCTformer, which uses multiple class tokens to learn interactions between the class tokens and the patch tokens. The proposed MCTformer can successfully produce class-discriminative object localization maps from class-to-patch attentions corresponding to different class tokens. We also propose to use a patch-level pairwise affinity, which is extracted from the patch-to-patch transformer attention, to further refine the localization maps. Moreover, the proposed framework is shown to fully complement the Class Activation Mapping (CAM) method, leading to remarkably superior WSSS results on the PASCAL VOC and MS COCO datasets. These results underline the importance of the class token for WSSS.
Weakly supervised object localization (WSOL) focuses on localizing objects only with the supervision of image-level classification masks. Most previous WSOL methods follow the classification activation map (CAM) that localizes objects based on the classification structure with the multi-instance learning (MIL) mechanism. However, the MIL mechanism makes CAM only activate discriminative object parts rather than the whole object, weakening its performance for localizing objects. To avoid this problem, this work provides a novel perspective that models WSOL as a domain adaption (DA) task, where the score estimator trained on the source/image domain is tested on the target/pixel domain to locate objects. Under this perspective, a DA-WSOL pipeline is designed to better engage DA approaches into WSOL to enhance localization performance. It utilizes a proposed target sampling strategy to select different types of target samples. Based on these types of target samples, domain adaption localization (DAL) loss is elaborated. It aligns the feature distribution between the two domains by DA and makes the estimator perceive target domain cues by Universum regularization. Experiments show that our pipeline outperforms SOTA methods on multi benchmarks. Code are released at \url{https://github.com/zh460045050/DA-WSOL_CVPR2022}.
We propose a reinforcement learning based approach to query object localization, for which an agent is trained to localize objects of interest specified by a small exemplary set. We learn a transferable reward signal formulated using the exemplary set by ordinal metric learning. Our proposed method enables test-time policy adaptation to new environments where the reward signals are not readily available, and outperforms fine-tuning approaches that are limited to annotated images. In addition, the transferable reward allows repurposing the trained agent from one specific class to another class. Experiments on corrupted MNIST, CU-Birds, and COCO datasets demonstrate the effectiveness of our approach.
Recent self-supervised contrastive learning methods greatly benefit from the Siamese structure that aims at minimizing distances between positive pairs. For high performance Siamese representation learning, one of the keys is to design good contrastive pairs. Most previous works simply apply random sampling to make different crops of the same image, which overlooks the semantic information that may degrade the quality of views. In this work, we propose ContrastiveCrop, which could effectively generate better crops for Siamese representation learning. Firstly, a semantic-aware object localization strategy is proposed within the training process in a fully unsupervised manner. This guides us to generate contrastive views which could avoid most false positives (i.e., object vs. background). Moreover, we empirically find that views with similar appearances are trivial for the Siamese model training. Thus, a center-suppressed sampling is further designed to enlarge the variance of crops. Remarkably, our method takes a careful consideration of positive pairs for contrastive learning with negligible extra training overhead. As a plug-and-play and framework-agnostic module, ContrastiveCrop consistently improves SimCLR, MoCo, BYOL, SimSiam by 0.4% ~ 2.0% classification accuracy on CIFAR-10, CIFAR-100, Tiny ImageNet and STL-10. Superior results are also achieved on downstream detection and segmentation tasks when pre-trained on ImageNet-1K.
General Purpose Vision (GPV) systems are models that are designed to solve a wide array of visual tasks without requiring architectural changes. Today, GPVs primarily learn both skills and concepts from large fully supervised datasets. Scaling GPVs to tens of thousands of concepts by acquiring data to learn each concept for every skill quickly becomes prohibitive. This work presents an effective and inexpensive alternative: learn skills from supervised datasets, learn concepts from web image search, and leverage a key characteristic of GPVs: the ability to transfer visual knowledge across skills. We use a dataset of 1M+ images spanning 10k+ visual concepts to demonstrate webly-supervised concept expansion for two existing GPVs (GPV-1 and VL-T5) on 3 benchmarks: 5 COCO-based datasets (80 primary concepts), a newly curated series of 5 datasets based on the OpenImages and VisualGenome repositories (~500 concepts), and the Web-derived dataset (10k+ concepts). We also propose a new architecture, GPV-2 that supports a variety of tasks -- from vision tasks like classification and localization to vision+language tasks like QA and captioning, to more niche ones like human-object interaction detection. GPV-2 benefits hugely from web data and outperforms GPV-1 and VL-T5 across these benchmarks. Our data, code, and web demo are available at https://prior.allenai.org/projects/gpv2.
Accurate 3D object detection is a key part of the perception module for autonomous vehicles. A better understanding of the objects in 3D facilitates better decision-making and path planning. RGB Cameras and LiDAR are the most commonly used sensors in autonomous vehicles for environment perception. Many approaches have shown promising results for 2D detection with RGB Images, but efficiently localizing small objects like pedestrians in the 3D point cloud of large scenes has remained a challenging area of research. We propose a novel method, Frustum-PointPillars, for 3D object detection using LiDAR data. Instead of solely relying on point cloud features, we leverage the mature field of 2D object detection to reduce the search space in the 3D space. Then, we use the Pillar Feature Encoding network for object localization in the reduced point cloud. We also propose a novel approach for masking point clouds to further improve the localization of objects. We train our network on the KITTI dataset and perform experiments to show the effectiveness of our network. On the KITTI test set our method outperforms other multi-sensor SOTA approaches for 3D pedestrian localization (Bird’s Eye View) while achieving a significantly faster runtime of 14 Hz.
Bounding-box annotation form has been the most frequently used method for visual object localization tasks. However, bounding-box annotation relies on a large amount of precisely annotating bounding boxes, and it is expensive and laborious. It is impossible to be employed in practical scenarios and even redundant for some applications (such as tiny person localization) that the size would not matter. Therefore, we propose a novel point-based framework for the person localization task by annotating each person as a coarse point (CoarsePoint) instead of an accurate bounding box that can be any point within the object extent. Then, the network predicts the person's location as a 2D coordinate in the image. Although this greatly simplifies the data annotation pipeline, the CoarsePoint annotation inevitably decreases label reliability (label uncertainty) and causes network confusion during training. As a result, we propose a point self-refinement approach that iteratively updates point annotations in a self-paced way. The proposed refinement system alleviates the label uncertainty and progressively improves localization performance. Experimental results show that our approach has achieved comparable object localization performance while saving up to 80$\%$ of annotation cost.
Weakly supervised object localization (WSOL) is a challenging task to localize the object by only category labels. However, there is contradiction between classification and localization because accurate classification network tends to pay attention to discriminative region of objects rather than the entirety. We propose this discrimination is caused by handcraft threshold choosing in CAM-based methods. Therefore, we propose Clustering and Filter of Tokens (CaFT) with Vision Transformer (ViT) backbone to solve this problem in another way. CaFT first sends the patch tokens of the image split to ViT and cluster the output tokens to generate initial mask of the object. Secondly, CaFT considers the initial mask as pseudo labels to train a shallow convolution head (Attention Filter, AtF) following backbone to directly extract the mask from tokens. Then, CaFT splits the image into parts, outputs masks respectively and merges them into one refined mask. Finally, a new AtF is trained on the refined masks and used to predict the box of object. Experiments verify that CaFT outperforms previous work and achieves 97.55\% and 69.86\% localization accuracy with ground-truth class on CUB-200 and ImageNet-1K respectively. CaFT provides a fresh way to think about the WSOL task.
Low-cost monocular 3D object detection plays a fundamental role in autonomous driving, whereas its accuracy is still far from satisfactory. In this paper, we dig into the 3D object detection task and reformulate it as the sub-tasks of object localization and appearance perception, which benefits to a deep excavation of reciprocal information underlying the entire task. We introduce a Dynamic Feature Reflecting Network, named DFR-Net, which contains two novel standalone modules: (i) the Appearance-Localization Feature Reflecting module (ALFR) that first separates taskspecific features and then self-mutually reflects the reciprocal features; (ii) the Dynamic Intra-Trading module (DIT) that adaptively realigns the training processes of various sub-tasks via a self-learning manner. Extensive experiments on the challenging KITTI dataset demonstrate the effectiveness and generalization of DFR-Net. We rank 1st among all the monocular 3D object detectors in the KITTI test set (till March 16th, 2021). The proposed method is also easy to be plug-and-play in many cutting-edge 3D detection frameworks at negligible cost to boost performance. The code will be made publicly available.
Weakly supervised object localization (WSOL) relaxes the requirement of dense annotations for object localization by using image-level classification masks to supervise its learning process. However, current WSOL methods suffer from excessive activation of background locations and need post-processing to obtain the localization mask. This paper attributes these issues to the unawareness of background cues, and propose the background-aware classification activation map (B-CAM) to simultaneously learn localization scores of both object and background with only image-level labels. In our B-CAM, two image-level features, aggregated by pixel-level features of potential background and object locations, are used to purify the object feature from the object-related background and to represent the feature of the pure-background sample, respectively. Then based on these two features, both the object classifier and the background classifier are learned to determine the binary object localization mask. Our B-CAM can be trained in end-to-end manner based on a proposed stagger classification loss, which not only improves the objects localization but also suppresses the background activation. Experiments show that our B-CAM outperforms one-stage WSOL methods on the CUB-200, OpenImages and VOC2012 datasets.
Audiovisual scenes are pervasive in our daily life. It is commonplace for humans to discriminatively localize different sounding objects but quite challenging for machines to achieve class-aware sounding objects localization without category annotations, i.e., localizing the sounding object and recognizing its category. To address this problem, we propose a two-stage step-by-step learning framework to localize and recognize sounding objects in complex audiovisual scenarios using only the correspondence between audio and vision. First, we propose to determine the sounding area via coarse-grained audiovisual correspondence in the single source cases. Then visual features in the sounding area are leveraged as candidate object representations to establish a category-representation object dictionary for expressive visual character extraction. We generate class-aware object localization maps in cocktail-party scenarios and use audiovisual correspondence to suppress silent areas by referring to this dictionary. Finally, we employ category-level audiovisual consistency as the supervision to achieve fine-grained audio and sounding object distribution alignment. Experiments on both realistic and synthesized videos show that our model is superior in localizing and recognizing objects as well as filtering out silent ones. We also transfer the learned audiovisual network into the unsupervised object detection task, obtaining reasonable performance.
This work presents a simple vision transformer design as a strong baseline for object localization and instance segmentation tasks. Transformers recently demonstrate competitive performance in image classification tasks. To adopt ViT to object detection and dense prediction tasks, many works inherit the multistage design from convolutional networks and highly customized ViT architectures. Behind this design, the goal is to pursue a better trade-off between computational cost and effective aggregation of multiscale global contexts. However, existing works adopt the multistage architectural design as a black-box solution without a clear understanding of its true benefits. In this paper, we comprehensively study three architecture design choices on ViT -- spatial reduction, doubled channels, and multiscale features -- and demonstrate that a vanilla ViT architecture can fulfill this goal without handcrafting multiscale features, maintaining the original ViT design philosophy. We further complete a scaling rule to optimize our model's trade-off on accuracy and computation cost / model size. By leveraging a constant feature resolution and hidden size throughout the encoder blocks, we propose a simple and compact ViT architecture called Universal Vision Transformer (UViT) that achieves strong performance on COCO object detection and instance segmentation tasks.
Acquiring sufficient ground-truth supervision to train deep visual models has been a bottleneck over the years due to the data-hungry nature of deep learning. This is exacerbated in some structured prediction tasks, such as semantic segmentation, which require pixel-level annotations. This work addresses weakly supervised semantic segmentation (WSSS), with the goal of bridging the gap between image-level annotations and pixel-level segmentation. To achieve this, we propose, for the first time, a novel group-wise learning framework for WSSS. The framework explicitly encodes semantic dependencies in a group of images to discover rich semantic context for estimating more reliable pseudo ground-truths, which are subsequently employed to train more effective segmentation models. In particular, we solve the group-wise learning within a graph neural network (GNN), wherein input images are represented as graph nodes, and the underlying relations between a pair of images are characterized by graph edges. We then formulate semantic mining as an iterative reasoning process which propagates the common semantics shared by a group of images to enrich node representations. Moreover, in order to prevent the model from paying excessive attention to common semantics, we further propose a graph dropout layer to encourage the graph model to capture more accurate and complete object responses. With the above efforts, our model lays the foundation for more sophisticated and flexible group-wise semantic mining. We conduct comprehensive experiments on the popular PASCAL VOC 2012 and COCO benchmarks, and our model yields state-of-the-art performance. In addition, our model shows promising performance in weakly supervised object localization (WSOL) on the CUB-200-2011 dataset, demonstrating strong generalizability.
We propose a new 3D spatial understanding task of 3D Question Answering (3D-QA). In the 3D-QA task, models receive visual information from the entire 3D scene of the rich RGB-D indoor scan and answer the given textual questions about the 3D scene. Unlike the 2D-question answering of VQA, the conventional 2D-QA models suffer from problems with spatial understanding of object alignment and directions and fail the object identification from the textual questions in 3D-QA. We propose a baseline model for 3D-QA, named ScanQA model, where the model learns a fused descriptor from 3D object proposals and encoded sentence embeddings. This learned descriptor correlates the language expressions with the underlying geometric features of the 3D scan and facilitates the regression of 3D bounding boxes to determine described objects in textual questions and outputs correct answers. We collected human-edited question-answer pairs with free-form answers that are grounded to 3D objects in each 3D scene. Our new ScanQA dataset contains over 40K question-answer pairs from the 800 indoor scenes drawn from the ScanNet dataset. To the best of our knowledge, the proposed 3D-QA task is the first large-scale effort to perform object-grounded question-answering in 3D environments.
Weakly supervised object localization (WSOL) aims to learn object localizer solely by using image-level labels. The convolution neural network (CNN) based techniques often result in highlighting the most discriminative part of objects while ignoring the entire object extent. Recently, the transformer architecture has been deployed to WSOL to capture the long-range feature dependencies with self-attention mechanism and multilayer perceptron structure. Nevertheless, transformers lack the locality inductive bias inherent to CNNs and therefore may deteriorate local feature details in WSOL. In this paper, we propose a novel framework built upon the transformer, termed LCTR (Local Continuity TRansformer), which targets at enhancing the local perception capability of global features among long-range feature dependencies. To this end, we propose a relational patch-attention module (RPAM), which considers cross-patch information on a global basis. We further design a cue digging module (CDM), which utilizes local features to guide the learning trend of the model for highlighting the weak local responses. Finally, comprehensive experiments are carried out on two widely used datasets, ie, CUB-200-2011 and ILSVRC, to verify the effectiveness of our method.