For autonomous vehicles (AVs), visual perception techniques based on sensors like cameras play crucial roles in information acquisition and processing. In various computer perception tasks for AVs, it may be helpful to match landmark patches taken by an onboard camera with other landmark patches captured at a different time or saved in a street scene image database. To perform matching under challenging driving environments caused by changing seasons, weather, and illumination, we utilize the spatial neighborhood information of each patch. We propose an approach, named RobustMat, which derives its robustness to perturbations from neural differential equations. A convolutional neural ODE diffusion module is used to learn the feature representation for the landmark patches. A graph neural PDE diffusion module then aggregates information from neighboring landmark patches in the street scene. Finally, feature similarity learning outputs the final matching score. Our approach is evaluated on several street scene datasets and demonstrated to achieve state-of-the-art matching results under environmental perturbations.
Self-supervised visual representation learning traditionally focuses on image-level instance discrimination. Our study introduces an innovative, fine-grained dimension by integrating patch-level discrimination into these methodologies. This integration allows for the simultaneous analysis of local and global visual features, thereby enriching the quality of the learned representations. Initially, the original images undergo spatial augmentation. Subsequently, we employ a distinctive photometric patch-level augmentation, where each patch is individually augmented, independent from other patches within the same view. This approach generates a diverse training dataset with distinct color variations in each segment. The augmented images are then processed through a self-distillation learning framework, utilizing the Vision Transformer (ViT) as its backbone. The proposed method minimizes the representation distances across both image and patch levels to capture details from macro to micro perspectives. To this end, we present a simple yet effective patch-matching algorithm to find the corresponding patches across the augmented views. Thanks to the efficient structure of the patch-matching algorithm, our method reduces computational complexity compared to similar approaches. Consequently, we achieve an advanced understanding of the model without adding significant computational requirements. We have extensively pretrained our method on datasets of varied scales, such as Cifar10, ImageNet-100, and ImageNet-1K. It demonstrates superior performance over state-of-the-art self-supervised representation learning methods in image classification and downstream tasks, such as copy detection and image retrieval. The implementation of our method is accessible on GitHub.
The basic principle of the patch-matching based style transfer is to substitute the patches of the content image feature maps by the closest patches from the style image feature maps. Since the finite features harvested from one single aesthetic style image are inadequate to represent the rich textures of the content natural image, existing techniques treat the full-channel style feature patches as simple signal tensors and create new style feature patches via signal-level fusion, which ignore the implicit diversities existed in style features and thus fail for generating better stylised results. In this paper, we propose a Retinex theory guided, channel-grouping based patch swap technique to solve the above challenges. Channel-grouping strategy groups the style feature maps into surface and texture channels, which prevents the winner-takes-all problem. Retinex theory based decomposition controls a more stable channel code rate generation. In addition, we provide complementary fusion and multi-scale generation strategy to prevent unexpected black area and over-stylised results respectively. Experimental results demonstrate that the proposed method outperforms the existing techniques in providing more style-consistent textures while keeping the content fidelity.
Breast cancer is one of the most common cancers affecting women worldwide. They include a group of malignant neoplasms with a variety of biological, clinical, and histopathological characteristics. There are more than 35 different histological forms of breast lesions that can be classified and diagnosed histologically according to cell morphology, growth, and architecture patterns. Recently, deep learning, in the field of artificial intelligence, has drawn a lot of attention for the computerized representation of medical images. Searchable digital atlases can provide pathologists with patch matching tools allowing them to search among evidently diagnosed and treated archival cases, a technology that may be regarded as computational second opinion. In this study, we indexed and analyzed the WHO breast taxonomy (Classification of Tumours 5th Ed.) spanning 35 tumour types. We visualized all tumour types using deep features extracted from a state-of-the-art deep learning model, pre-trained on millions of diagnostic histopathology images from the TCGA repository. Furthermore, we test the concept of a digital "atlas" as a reference for search and matching with rare test cases. The patch similarity search within the WHO breast taxonomy data reached over 88% accuracy when validating through "majority vote" and more than 91% accuracy when validating using top-n tumour types. These results show for the first time that complex relationships among common and rare breast lesions can be investigated using an indexed digital archive.
The commonly adopted detect-then-match approach to registration finds difficulties in the cross-modality cases due to the incompatible keypoint detection and inconsistent feature description. We propose, 2D3D-MATR, a detection-free method for accurate and robust registration between images and point clouds. Our method adopts a coarse-to-fine pipeline where it first computes coarse correspondences between downsampled patches of the input image and the point cloud and then extends them to form dense correspondences between pixels and points within the patch region. The coarse-level patch matching is based on transformer which jointly learns global contextual constraints with self-attention and cross-modality correlations with cross-attention. To resolve the scale ambiguity in patch matching, we construct a multi-scale pyramid for each image patch and learn to find for each point patch the best matching image patch at a proper resolution level. Extensive experiments on two public benchmarks demonstrate that 2D3D-MATR outperforms the previous state-of-the-art P2-Net by around $20$ percentage points on inlier ratio and over $10$ points on registration recall. Our code and models are available at https://github.com/minhaolee/2D3DMATR.
Recently, learning-based algorithms have achieved promising performance on cross-spectral image patch matching, which, however, is still far from satisfactory for practical application. On the one hand, a lack of large-scale dataset with diverse scenes haunts its further improvement for learning-based algorithms, whose performances and generalization rely heavily on the dataset size and diversity. On the other hand, more emphasis has been put on feature relation in the spatial domain whereas the scale dependency between features has often been ignored, leading to performance degeneration especially when encountering significant appearance variations for cross-spectral patches. To address these issues, we publish, to be best of our knowledge, the largest visible and Long-wave Infrared (LWIR) image patch matching dataset, termed VL-CMIM, which contains 1300 pairs of strictly aligned visible and LWIR images and over 2 million patch pairs covering diverse scenes such as asteroid, field, country, build, street and water.In addition, a multi-domain feature relation learning network (MD-FRN) is proposed. Input by the features extracted from a four-branch network, both feature relations in spatial and scale domains are learned via a spatial correlation module (SCM) and multi-scale adaptive aggregation module (MSAG), respectively. To further aggregate the multi-domain relations, a deep domain interactive mechanism (DIM) is applied, where the learnt spatial-relation and scale-relation features are exchanged and further input into MSCRM and SCM. This mechanism allows our model to learn interactive cross-domain feature relations, leading to improved robustness to significant appearance changes due to different modality.
Large text-to-image diffusion models have exhibited impressive proficiency in generating high-quality images. However, when applying these models to video domain, ensuring temporal consistency across video frames remains a formidable challenge. This paper proposes a novel zero-shot text-guided video-to-video translation framework to adapt image models to videos. The framework includes two parts: key frame translation and full video translation. The first part uses an adapted diffusion model to generate key frames, with hierarchical cross-frame constraints applied to enforce coherence in shapes, textures and colors. The second part propagates the key frames to other frames with temporal-aware patch matching and frame blending. Our framework achieves global style and local texture temporal consistency at a low cost (without re-training or optimization). The adaptation is compatible with existing image diffusion techniques, allowing our framework to take advantage of them, such as customizing a specific subject with LoRA, and introducing extra spatial guidance with ControlNet. Extensive experimental results demonstrate the effectiveness of our proposed framework over existing methods in rendering high-quality and temporally-coherent videos.
Removing supervision in semantic segmentation is still tricky. Current approaches can deal with common categorical patterns yet resort to multi-stage architectures. We design a novel end-to-end model leveraging local-global patch matching to predict categories, good localization, area and shape of objects for semantic segmentation. The local-global matching is, in turn, compelled by optimal transport plans fulfilling area constraints nearing a solution for exact shape prediction. Our model attains state-of-the-art in Weakly Supervised Semantic Segmentation, only image-level labels, with 75% mIoU on PascalVOC2012 val set and 46% on MS-COCO2014 val set. Dropping the image-level labels and clustering self-supervised learned features to yield pseudo-multi-level labels, we obtain an unsupervised model for semantic segmentation. We also attain state-of-the-art on Unsupervised Semantic Segmentation with 43.6% mIoU on PascalVOC2012 val set and 19.4% on MS-COCO2014 val set. The code is available at https://github.com/deepplants/PC2M.
Patch-to-point matching has become a robust way of point cloud registration. However, previous patch-matching methods employ superpoints with poor localization precision as nodes, which may lead to ambiguous patch partitions. In this paper, we propose a HybridPoint-based network to find more robust and accurate correspondences. Firstly, we propose to use salient points with prominent local features as nodes to increase patch repeatability, and introduce some uniformly distributed points to complete the point cloud, thus constituting hybrid points. Hybrid points not only have better localization precision but also give a complete picture of the whole point cloud. Furthermore, based on the characteristic of hybrid points, we propose a dual-classes patch matching module, which leverages the matching results of salient points and filters the matching noise of non-salient points. Experiments show that our model achieves state-of-the-art performance on 3DMatch, 3DLoMatch, and KITTI odometry, especially with 93.0% Registration Recall on the 3DMatch dataset. Our code and models are available at https://github.com/liyih/HybridPoint.
The recent advancement in Video Instance Segmentation (VIS) has largely been driven by the use of deeper and increasingly data-hungry transformer-based models. However, video masks are tedious and expensive to annotate, limiting the scale and diversity of existing VIS datasets. In this work, we aim to remove the mask-annotation requirement. We propose MaskFreeVIS, achieving highly competitive VIS performance, while only using bounding box annotations for the object state. We leverage the rich temporal mask consistency constraints in videos by introducing the Temporal KNN-patch Loss (TK-Loss), providing strong mask supervision without any labels. Our TK-Loss finds one-to-many matches across frames, through an efficient patch-matching step followed by a K-nearest neighbor selection. A consistency loss is then enforced on the found matches. Our mask-free objective is simple to implement, has no trainable parameters, is computationally efficient, yet outperforms baselines employing, e.g., state-of-the-art optical flow to enforce temporal mask consistency. We validate MaskFreeVIS on the YouTube-VIS 2019/2021, OVIS and BDD100K MOTS benchmarks. The results clearly demonstrate the efficacy of our method by drastically narrowing the gap between fully and weakly-supervised VIS performance. Our code and trained models are available at https://github.com/SysCV/MaskFreeVis.
Recent advances in deep generative adversarial networks (GAN) and self-attention mechanism have led to significant improvements in the challenging task of inpainting large missing regions in an image. These methods integrate self-attention mechanism in neural networks to utilize surrounding neural elements based on their correlation and help the networks capture long-range dependencies. Temperature is a parameter in the Softmax function used in the self-attention, and it enables biasing the distribution of attention scores towards a handful of similar patches. Most existing self-attention mechanisms in image inpainting are convolution-based and set the temperature as a constant, performing patch matching in a limited feature space. In this work, we analyze the artifacts and training problems in previous self-attention mechanisms, and redesign the temperature learning network as well as the self-attention mechanism to address them. We present an image inpainting framework with a multi-head temperature masked self-attention mechanism, which provides stable and efficient temperature learning and uses multiple distant contextual information for high quality image inpainting. In addition to improving image quality of inpainting results, we generalize the proposed model to user-guided image editing by introducing a new sketch generation method. Extensive experiments on various datasets such as Paris StreetView, CelebA-HQ and Places2 clearly demonstrate that our method not only generates more natural inpainting results than previous works both in terms of perception image quality and quantitative metrics, but also enables to help users to generate more flexible results that are related to their sketch guidance.
Computational reconstruction plays a vital role in computer vision and computational photography. Most of the conventional optimization and deep learning techniques explore local information for reconstruction. Recently, nonlocal low-rank (NLR) reconstruction has achieved remarkable success in improving accuracy and generalization. However, the computational cost has inhibited NLR from seeking global structural similarity, which consequentially keeps it trapped in the tradeoff between accuracy and efficiency and prevents it from high-dimensional large-scale tasks. To address this challenge, we report here the global low-rank (GLR) optimization technique, realizing highly-efficient large-scale reconstruction with global self-similarity. Inspired by the self-attention mechanism in deep learning, GLR extracts exemplar image patches by feature detection instead of conventional uniform selection. This directly produces key patches using structural features to avoid burdensome computational redundancy. Further, it performs patch matching across the entire image via neural-based convolution, which produces the global similarity heat map in parallel, rather than conventional sequential block-wise matching. As such, GLR improves patch grouping efficiency by more than one order of magnitude. We experimentally demonstrate GLR's effectiveness on temporal, frequency, and spectral dimensions, including different computational imaging modalities of compressive temporal imaging, magnetic resonance imaging, and multispectral filter array demosaicing. This work presents the superiority of inherent fusion of deep learning strategies and iterative optimization, and breaks the persistent dilemma of the tradeoff between accuracy and efficiency for various large-scale reconstruction tasks.
The appearance of the same object may vary in different scene images due to perspectives and occlusions between objects. Humans can easily identify the same object, even if occlusions exist, by completing the occluded parts based on its canonical image in the memory. Achieving this ability is still a challenge for machine learning, especially under the unsupervised learning setting. Inspired by such an ability of humans, this paper proposes a compositional scene modeling method to infer global representations of canonical images of objects without any supervision. The representation of each object is divided into an intrinsic part, which characterizes globally invariant information (i.e. canonical representation of an object), and an extrinsic part, which characterizes scene-dependent information (e.g., position and size). To infer the intrinsic representation of each object, we employ a patch-matching strategy to align the representation of a potentially occluded object with the canonical representations of objects, and sample the most probable canonical representation based on the category of object determined by amortized variational inference. Extensive experiments are conducted on four object-centric learning benchmarks, and experimental results demonstrate that the proposed method not only outperforms state-of-the-arts in terms of segmentation and reconstruction, but also achieves good global object identification performance.
Supervised neural networks are known to achieve excellent results in various image restoration tasks. However, such training requires datasets composed of pairs of corrupted images and their corresponding ground truth targets. Unfortunately, such data is not available in many applications. For the task of image denoising in which the noise statistics is unknown, several self-supervised training methods have been proposed for overcoming this difficulty. Some of these require knowledge of the noise model, while others assume that the contaminating noise is uncorrelated, both assumptions are too limiting for many practical needs. This work proposes a novel self-supervised training technique suitable for the removal of unknown correlated noise. The proposed approach neither requires knowledge of the noise model nor access to ground truth targets. The input to our algorithm consists of easily captured bursts of noisy shots. Our algorithm constructs artificial patch-craft images from these bursts by patch matching and stitching, and the obtained crafted images are used as targets for the training. Our method does not require registration of the images within the burst. We evaluate the proposed framework through extensive experiments with synthetic and real image noise.
Beyond achieving higher compression efficiency over classical image compression codecs, deep image compression is expected to be improved with additional side information, e.g., another image from a different perspective of the same scene. To better utilize the side information under the distributed compression scenario, the existing method (Ayzik and Avidan 2020) only implements patch matching at the image domain to solve the parallax problem caused by the difference in viewing points. However, the patch matching at the image domain is not robust to the variance of scale, shape, and illumination caused by the different viewing angles, and can not make full use of the rich texture information of the side information image. To resolve this issue, we propose Multi-Scale Feature Domain Patch Matching (MSFDPM) to fully utilizes side information at the decoder of the distributed image compression model. Specifically, MSFDPM consists of a side information feature extractor, a multi-scale feature domain patch matching module, and a multi-scale feature fusion network. Furthermore, we reuse inter-patch correlation from the shallow layer to accelerate the patch matching of the deep layer. Finally, we nd that our patch matching in a multi-scale feature domain further improves compression rate by about 20% compared with the patch matching method at image domain (Ayzik and Avidan 2020).
Stereo matching is a fundamental building block for many vision and robotics applications. An informative and concise cost volume representation is vital for stereo matching of high accuracy and efficiency. In this paper, we present a novel cost volume construction method which generates attention weights from correlation clues to suppress redundant information and enhance matching-related information in the concatenation volume. To generate reliable attention weights, we propose multi-level adaptive patch matching to improve the distinctiveness of the matching cost at different disparities even for textureless regions. The proposed cost volume is named attention concatenation volume (ACV) which can be seamlessly embedded into most stereo matching networks, the resulting networks can use a more lightweight aggregation network and meanwhile achieve higher accuracy, e.g. using only 1/25 parameters of the aggregation network can achieve higher accuracy for GwcNet. Furthermore, we design a highly accurate network (ACVNet) based on our ACV, which achieves state-of-the-art performance on several benchmarks.
Cost-based image patch matching is at the core of various techniques in computer vision, photogrammetry and remote sensing. When the subpixel disparity between the reference patch in the source and target images is required, either the cost function or the target image have to be interpolated. While cost-based interpolation is the easiest to implement, multiple works have shown that image based interpolation can increase the accuracy of the subpixel matching, but usually at the cost of expensive search procedures. This, however, is problematic, especially for very computation intensive applications such as stereo matching or optical flow computation. In this paper, we show that closed form formulae for subpixel disparity computation for the case of one dimensional matching, e.g., in the case of rectified stereo images where the search space is of one dimension, exists when using the standard NCC, SSD and SAD cost functions. We then demonstrate how to generalize the proposed formulae to the case of high dimensional search spaces, which is required for unrectified stereo matching and optical flow extraction. We also compare our results with traditional cost volume interpolation formulae as well as with state-of-the-art cost-based refinement methods, and show that the proposed formulae bring a small improvement over the state-of-the-art cost-based methods in the case of one dimensional search spaces, and a significant improvement when the search space is two dimensional.
Learning from limited data is challenging because data scarcity leads to a poor generalization of the trained model. A classical global pooled representation will probably lose useful local information. Many few-shot learning methods have recently addressed this challenge using deep descriptors and learning a pixel-level metric. However, using deep descriptors as feature representations may lose image contextual information. Moreover, most of these methods independently address each class in the support set, which cannot sufficiently use discriminative information and task-specific embeddings. In this paper, we propose a novel transformer-based neural network architecture called sparse spatial transformers (SSFormers), which finds task-relevant features and suppresses task-irrelevant features. Particularly, we first divide each input image into several image patches of different sizes to obtain dense local features. These features retain contextual information while expressing local information. Then, a sparse spatial transformer layer is proposed to find spatial correspondence between the query image and the full support set to select task-relevant image patches and suppress task-irrelevant image patches. Finally, we propose using an image patch-matching module to calculate the distance between dense local representations, thus determining which category the query image belongs to in the support set. Extensive experiments on popular few-shot learning benchmarks demonstrate the superiority of our method over state-of-the-art methods. Our source code is available at \url{https://github.com/chenhaoxing/ssformers}.
Accurate and complete terrain maps enhance the awareness of autonomous robots and enable safe and optimal path planning. Rocks and topography often create occlusions and lead to missing elevation information in the Digital Elevation Map (DEM). Currently, these occluded areas are either fully avoided during motion planning or the missing values in the elevation map are filled-in using traditional interpolation, diffusion or patch-matching techniques. These methods cannot leverage the high-level terrain characteristics and the geometric constraints of line of sight we humans use intuitively to predict occluded areas. We introduce a self-supervised learning approach capable of training on real-world data without a need for ground-truth information to reconstruct the occluded areas in the DEMs. We accomplish this by adding artificial occlusion to the incomplete elevation maps constructed on a real robot by performing ray casting. We first evaluate a supervised learning approach on synthetic data for which we have the full ground-truth available and subsequently move to several real-world datasets. These real-world datasets were recorded during exploration of both structured and unstructured terrain with a legged robot, and additionally in a planetary scenario on Lunar analogue terrain. We state a significant improvement compared to the baseline methods both on synthetic terrain and for the real-world datasets. Our neural network is able to run in real-time on both CPU and GPU with suitable sampling rates for autonomous ground robots. We motivate the applicability of reconstructing occlusion in elevation maps with preliminary motion planning experiments.
In this paper, we propose a novel two-stage context-aware network named CANet for shadow removal, in which the contextual information from non-shadow regions is transferred to shadow regions at the embedded feature spaces. At Stage-I, we propose a contextual patch matching (CPM) module to generate a set of potential matching pairs of shadow and non-shadow patches. Combined with the potential contextual relationships between shadow and non-shadow regions, our well-designed contextual feature transfer (CFT) mechanism can transfer contextual information from non-shadow to shadow regions at different scales. With the reconstructed feature maps, we remove shadows at L and A/B channels separately. At Stage-II, we use an encoder-decoder to refine current results and generate the final shadow removal results. We evaluate our proposed CANet on two benchmark datasets and some real-world shadow images with complex scenes. Extensive experimental results strongly demonstrate the efficacy of our proposed CANet and exhibit superior performance to state-of-the-arts.