Object detection is a pivotal task in computer vision that has received significant attention in previous years. Nonetheless, the capability of a detector to localise objects out of the training distribution remains unexplored. Whilst recent approaches in object-level out-of-distribution (OoD) detection heavily rely on class labels, such approaches contradict truly open-world scenarios where the class distribution is often unknown. In this context, anomaly detection focuses on detecting unseen instances rather than classifying detections as OoD. This work aims to bridge this gap by leveraging an open-world object detector and an OoD detector via virtual outlier synthesis. This is achieved by using the detector backbone features to first learn object pseudo-classes via self-supervision. These pseudo-classes serve as the basis for class-conditional virtual outlier sampling of anomalous features that are classified by an OoD head. Our approach empowers our overall object detector architecture to learn anomaly-aware feature representations without relying on class labels, hence enabling truly open-world object anomaly detection. Empirical validation of our approach demonstrates its effectiveness across diverse datasets encompassing various imaging modalities (visible, infrared, and X-ray). Moreover, our method establishes state-of-the-art performance on object-level anomaly detection, achieving an average recall score improvement of over 5.4% for natural images and 23.5% for a security X-ray dataset compared to the current approaches. In addition, our method detects anomalies in datasets where current approaches fail. Code available at https://github.com/KostadinovShalon/oln-ssos.
3D multi-object detection and tracking are crucial for traffic scene understanding. However, the community pays less attention to these areas due to the lack of a standardized benchmark dataset to advance the field. Moreover, existing datasets (e.g., KITTI) do not provide sufficient data and labels to tackle challenging scenes where highly interactive and occluded traffic participants are present. To address the issues, we present the Honda Research Institute 3D Dataset (H3D), a large-scale full-surround 3D multi-object detection and tracking dataset collected using a 3D LiDAR scanner. H3D comprises of 160 crowded and highly interactive traffic scenes with a total of 1 million labeled instances in 27,721 frames. With unique dataset size, rich annotations, and complex scenes, H3D is gathered to stimulate research on full-surround 3D multi-object detection and tracking. To effectively and efficiently annotate a large-scale 3D point cloud dataset, we propose a labeling methodology to speed up the overall annotation cycle. A standardized benchmark is created to evaluate full-surround 3D multi-object detection and tracking algorithms. 3D object detection and tracking algorithms are trained and tested on H3D. Finally, sources of errors are discussed for the development of future algorithms.
Road object detection is an important branch of automatic driving technology, The model with higher detection accuracy is more conducive to the safe driving of vehicles. In road object detection, the omission of small objects and occluded objects is an important problem. therefore, reducing the missed rate of the object is of great significance for safe driving. In the work of this paper, based on the YOLOX object detection algorithm to improve, proposes DecIoU boundary box regression loss function to improve the shape consistency of the predicted and real box, and Push Loss is introduced to further optimize the boundary box regression loss function, in order to detect more occluded objects. In addition, the dynamic anchor box mechanism is also used to improve the accuracy of the confidence label, improve the label inaccuracy of object detection model without anchor box. A large number of experiments on KITTI dataset demonstrate the effectiveness of the proposed method, the improved YOLOX-s achieved 88.9% mAP and 91.0% mAR on the KITTI dataset, compared to the baseline version improvements of 2.77% and 4.24%; the improved YOLOX-m achieved 89.1% mAP and 91.4% mAR, compared to the baseline version improvements of 2.30% and 4.10%.
High-quality annotations are essential for object detection models, but ensuring label accuracy - especially for bounding boxes - remains both challenging and costly. This paper introduces ClipGrader, a novel approach that leverages vision-language models to automatically assess the accuracy of bounding box annotations. By adapting CLIP (Contrastive Language-Image Pre-training) to evaluate both class label correctness and spatial precision of bounding box, ClipGrader offers an effective solution for grading object detection labels. Tested on modified object detection datasets with artificially disturbed bounding boxes, ClipGrader achieves 91% accuracy on COCO with a 1.8% false positive rate. Moreover, it maintains 87% accuracy with a 2.1% false positive rate when trained on just 10% of the COCO data. ClipGrader also scales effectively to larger datasets such as LVIS, achieving 79% accuracy across 1,203 classes. Our experiments demonstrate ClipGrader's ability to identify errors in existing COCO annotations, highlighting its potential for dataset refinement. When integrated into a semi-supervised object detection (SSOD) model, ClipGrader readily improves the pseudo label quality, helping achieve higher mAP (mean Average Precision) throughout the training process. ClipGrader thus provides a scalable AI-assisted tool for enhancing annotation quality control and verifying annotations in large-scale object detection datasets.
Jointly integrating aspect ratio and context has been extensively studied and shown performance improvement in traditional object detection systems such as the DPMs. It, however, has been largely ignored in deep neural network based detection systems. This paper presents a method of integrating a mixture of object models and region-based convolutional networks for accurate object detection. Each mixture component accounts for both object aspect ratio and multi-scale contextual information explicitly: (i) it exploits a mixture of tiling configurations in the RoI pooling to remedy the warping artifacts caused by a single type RoI pooling (e.g., with equally-sized 7 x 7 cells), and to respect the underlying object shapes more; (ii) it "looks from both the inside and the outside of a RoI" by incorporating contextual information at two scales: global context pooled from the whole image and local context pooled from the surrounding of a RoI. To facilitate accurate detection, this paper proposes a multi-stage detection scheme for integrating the mixture of object models, which utilizes the detection results of the model at the previous stage as the proposals for the current in both training and testing. The proposed method is called the aspect ratio and context aware region-based convolutional network (ARC-R-CNN). In experiments, ARC-R-CNN shows very competitive results with Faster R-CNN [41] and R-FCN [10] on two datasets: the PASCAL VOC and the Microsoft COCO. It obtains significantly better mAP performance using high IoU thresholds on both datasets.
This study addresses the need for accurate and efficient object detection in assistive technologies for visually impaired individuals. We evaluate four real-time object detection algorithms YOLO, SSD, Faster R-CNN, and Mask R-CNN within the context of indoor navigation assistance. Using the Indoor Objects Detection dataset, we analyze detection accuracy, processing speed, and adaptability to indoor environments. Our findings highlight the trade-offs between precision and efficiency, offering insights into selecting optimal algorithms for realtime assistive navigation. This research advances adaptive machine learning applications, enhancing indoor navigation solutions for the visually impaired and promoting accessibility.
Almost all of the current top-performing object detection networks employ region proposals to guide the search for object instances. State-of-the-art region proposal methods usually need several thousand proposals to get high recall, thus hurting the detection efficiency. Although the latest Region Proposal Network method gets promising detection accuracy with several hundred proposals, it still struggles in small-size object detection and precise localization (e.g., large IoU thresholds), mainly due to the coarseness of its feature maps. In this paper, we present a deep hierarchical network, namely HyperNet, for handling region proposal generation and object detection jointly. Our HyperNet is primarily based on an elaborately designed Hyper Feature which aggregates hierarchical feature maps first and then compresses them into a uniform space. The Hyper Features well incorporate deep but highly semantic, intermediate but really complementary, and shallow but naturally high-resolution features of the image, thus enabling us to construct HyperNet by sharing them both in generating proposals and detecting objects via an end-to-end joint training strategy. For the deep VGG16 model, our method achieves completely leading recall and state-of-the-art object detection accuracy on PASCAL VOC 2007 and 2012 using only 100 proposals per image. It runs with a speed of 5 fps (including all steps) on a GPU, thus having the potential for real-time processing.
Reliable detection of various objects and road users in the surrounding environment is crucial for the safe operation of automated driving systems (ADS). Despite recent progresses in developing highly accurate object detectors based on Deep Neural Networks (DNNs), they still remain prone to detection errors, which can lead to fatal consequences in safety-critical applications such as ADS. An effective remedy to this problem is to equip the system with run-time monitoring, named as introspection in the context of autonomous systems. Motivated by this, we introduce a novel introspection solution, which operates at the frame level for DNN-based 2D object detection and leverages neural network activation patterns. The proposed approach pre-processes the neural activation patterns of the object detector's backbone using several different modes. To provide extensive comparative analysis and fair comparison, we also adapt and implement several state-of-the-art (SOTA) introspection mechanisms for error detection in 2D object detection, using one-stage and two-stage object detectors evaluated on KITTI and BDD datasets. We compare the performance of the proposed solution in terms of error detection, adaptability to dataset shift, and, computational and memory resource requirements. Our performance evaluation shows that the proposed introspection solution outperforms SOTA methods, achieving an absolute reduction in the missed error ratio of 9% to 17% in the BDD dataset.
It has become apparent that a Gaussian center bias can serve as an important prior for visual saliency detection, which has been demonstrated for predicting human eye fixations and salient object detection. Tseng et al. have shown that the photographer's tendency to place interesting objects in the center is a likely cause for the center bias of eye fixations. We investigate the influence of the photographer's center bias on salient object detection, extending our previous work. We show that the centroid locations of salient objects in photographs of Achanta and Liu's data set in fact correlate strongly with a Gaussian model. This is an important insight, because it provides an empirical motivation and justification for the integration of such a center bias in salient object detection algorithms and helps to understand why Gaussian models are so effective. To assess the influence of the center bias on salient object detection, we integrate an explicit Gaussian center bias model into two state-of-the-art salient object detection algorithms. This way, first, we quantify the influence of the Gaussian center bias on pixel- and segment-based salient object detection. Second, we improve the performance in terms of F1 score, Fb score, area under the recall-precision curve, area under the receiver operating characteristic curve, and hit-rate on the well-known data set by Achanta and Liu. Third, by debiasing Cheng et al.'s region contrast model, we exemplarily demonstrate that implicit center biases are partially responsible for the outstanding performance of state-of-the-art algorithms. Last but not least, as a result of debiasing Cheng et al.'s algorithm, we introduce a non-biased salient object detection method, which is of interest for applications in which the image data is not likely to have a photographer's center bias (e.g., image data of surveillance cameras or autonomous robots).
Context has proven to be one of the most important factors in object layout reasoning for 3D scene understanding. Existing deep contextual models either learn holistic features for context encoding or rely on pre-defined scene templates for context modeling. We argue that scene understanding benefits from object relation reasoning, which is capable of mitigating the ambiguity of 3D object detections and thus helps locate and classify the 3D objects more accurately and robustly. To achieve this, we propose a novel 3D relation module (3DRM) which reasons about object relations at pair-wise levels. The 3DRM predicts the semantic and spatial relationships between objects and extracts the object-wise relation features. We demonstrate the effects of 3DRM by plugging it into proposal-based and voting-based 3D object detection pipelines, respectively. Extensive evaluations show the effectiveness and generalization of 3DRM on 3D object detection. Our source code is available at https://github.com/lanlan96/3DRM.
Limited by the performance factor, it is arduous to recognize target object and locate it in Augmented Reality (AR) scenes on low-end mobile devices, especially which using monocular cameras. In this paper, we proposed an algorithm which can quickly locate the target object through image object detection in the circumstances of having very sparse feature points. We introduce YOLOv3-Tiny to our algorithm as the object detection module to filter the possible points and using Principal Component Analysis (PCA) to determine the location. We conduct the experiment in a manually designed scene by holding a smartphone and the results represent high positioning speed and accuracy of our method.
A unified deep neural network, denoted the multi-scale CNN (MS-CNN), is proposed for fast multi-scale object detection. The MS-CNN consists of a proposal sub-network and a detection sub-network. In the proposal sub-network, detection is performed at multiple output layers, so that receptive fields match objects of different scales. These complementary scale-specific detectors are combined to produce a strong multi-scale object detector. The unified network is learned end-to-end, by optimizing a multi-task loss. Feature upsampling by deconvolution is also explored, as an alternative to input upsampling, to reduce the memory and computation costs. State-of-the-art object detection performance, at up to 15 fps, is reported on datasets, such as KITTI and Caltech, containing a substantial number of small objects.
Deep learning has revolutionized object detection thanks to large-scale datasets, but their object categories are still arguably very limited. In this paper, we attempt to enrich such categories by addressing the one-shot object detection problem, where the number of annotated training examples for learning an unseen class is limited to one. We introduce a two-stage model consisting of a first stage Matching-FCOS network and a second stage Structure-Aware Relation Module, the combination of which integrates metric learning with an anchor-free Faster R-CNN-style detection pipeline, eventually eliminating the need to fine-tune on the support images. We also propose novel training strategies that effectively improve detection performance. Extensive quantitative and qualitative evaluations were performed and our method exceeds the state-of-the-art one-shot performance consistently on multiple datasets.
Object detection is an important research area in the field of computer vision. Many detection algorithms have been proposed. However, each object detector relies on specific assumptions of the object appearance and imaging conditions. As a consequence, no algorithm can be considered as universal. With the large variety of object detectors, the subsequent question is how to select and combine them. In this paper, we propose a framework to learn how to combine object detectors. The proposed method uses (single) detectors like DPM, CN and EES, and exploits their correlation by high level contextual features to yield a combined detection list. Experiments on the PASCAL VOC07 and VOC10 datasets show that the proposed method significantly outperforms single object detectors, DPM (8.4%), CN (6.8%) and EES (17.0%) on VOC07 and DPM (6.5%), CN (5.5%) and EES (16.2%) on VOC10.
This paper is a brief report to our submission to the VIPriors Object Detection Challenge. Object Detection has attracted many researchers' attention for its full application, but it is still a challenging task. In this paper, we study analysis the characteristics of the data, and an effective data enhancement method is proposed. We carefully choose the model which is more suitable for training from scratch. We benefit a lot from using softnms and model fusion skillfully.
Despite the success of deep learning-based object detection methods in recent years, it is still challenging to make the object detector reliable in adverse weather conditions such as rain and snow. For the robust performance of object detectors, unsupervised domain adaptation has been utilized to adapt the detection network trained on clear weather images to adverse weather images. While previous methods do not explicitly address weather corruption during adaptation, the domain gap between clear and adverse weather can be decomposed into two factors with distinct characteristics: a style gap and a weather gap. In this paper, we present an unsupervised domain adaptation framework for object detection that can more effectively adapt to real-world environments with adverse weather conditions by addressing these two gaps separately. Our method resolves the style gap by concentrating on style-related information of high-level features using an attention module. Using self-supervised contrastive learning, our framework then reduces the weather gap and acquires instance features that are robust to weather corruption. Extensive experiments demonstrate that our method outperforms other methods for object detection in adverse weather conditions.
Transformers are a popular choice for classification tasks and as backbones for object detection tasks. However, their high latency brings challenges in their adaptation to lightweight object detection systems. We present an approximation of the self-attention layers used in the transformer architecture. This approximation reduces the latency of the classification system while incurring minimal loss in accuracy. We also present a method that uses a transformer encoder layer for multi-resolution feature fusion. This feature fusion improves the accuracy of the state-of-the-art lightweight object detection system without significantly increasing the number of parameters. Finally, we provide an abstraction for the transformer architecture called Generalized Transformer (gFormer) that can guide the design of novel transformer-like architectures.
The task of detecting 3D objects in traffic scenes has a pivotal role in many real-world applications. However, the performance of 3D object detection is lower than that of 2D object detection due to the lack of powerful 3D feature extraction methods. To address this issue, this study proposes a 3D backbone network to acquire comprehensive 3D feature maps for 3D object detection. It primarily consists of sparse 3D convolutional neural network operations in the point cloud. The 3D backbone network can inherently learn 3D features from the raw data without compressing the point cloud into multiple 2D images. The sparse 3D convolutional neural network takes full advantage of the sparsity in the 3D point cloud to accelerate computation and save memory, which makes the 3D backbone network feasible in a real-world application. Empirical experiments were conducted on the KITTI benchmark and comparable results were obtained with respect to the state-of-the-art performance for 3D object detection.
We revisit scene-level 3D object detection as the output of an object-centric framework capable of both localization and mapping using 3D oriented boxes as the underlying geometric primitive. While existing 3D object detection approaches operate globally and implicitly rely on the a priori existence of metric camera poses, our method, Rooms from Motion (RfM) operates on a collection of un-posed images. By replacing the standard 2D keypoint-based matcher of structure-from-motion with an object-centric matcher based on image-derived 3D boxes, we estimate metric camera poses, object tracks, and finally produce a global, semantic 3D object map. When a priori pose is available, we can significantly improve map quality through optimization of global 3D boxes against individual observations. RfM shows strong localization performance and subsequently produces maps of higher quality than leading point-based and multi-view 3D object detection methods on CA-1M and ScanNet++, despite these global methods relying on overparameterization through point clouds or dense volumes. Rooms from Motion achieves a general, object-centric representation which not only extends the work of Cubify Anything to full scenes but also allows for inherently sparse localization and parametric mapping proportional to the number of objects in a scene.
We present a novel event recognition approach called Spatially-preserved Doubly-injected Object Detection CNN (S-DOD-CNN), which incorporates the spatially preserved object detection information in both a direct and an indirect way. Indirect injection is carried out by simply sharing the weights between the object detection modules and the event recognition module. Meanwhile, our novelty lies in the fact that we have preserved the spatial information for the direct injection. Once multiple regions-of-intereset (RoIs) are acquired, their feature maps are computed and then projected onto a spatially-preserving combined feature map using one of the four RoI Projection approaches we present. In our architecture, combined feature maps are generated for object detection which are directly injected to the event recognition module. Our method provides the state-of-the-art accuracy for malicious event recognition.