Video Object Segmentation (VOS) task aims to segmenting a particular object instance throughout the entire video sequence given only the object mask of the first frame. Recently, Segment Anything Model 2 (SAM 2) is proposed, which is a foundation model towards solving promptable visual segmentation in images and videos. SAM 2 builds a data engine, which improves model and data via user interaction, to collect the largest video segmentation dataset to date. SAM 2 is a simple transformer architecture with streaming memory for real-time video processing, which trained on the date provides strong performance across a wide range of tasks. In this work, we evaluate the zero-shot performance of SAM 2 on the more challenging VOS datasets MOSE and LVOS. Without fine-tuning on the training set, SAM 2 achieved 75.79 J&F on the test set and ranked 4th place for 6th LSVOS Challenge VOS Track.
Depth information provides valuable insights into the 3D structure especially the outline of objects, which can be utilized to improve the semantic segmentation tasks. However, a naive fusion of depth information can disrupt feature and compromise accuracy due to the modality gap between the depth and the vision. In this work, we introduce a Depth-guided Texture Diffusion approach that effectively tackles the outlined challenge. Our method extracts low-level features from edges and textures to create a texture image. This image is then selectively diffused across the depth map, enhancing structural information vital for precisely extracting object outlines. By integrating this enriched depth map with the original RGB image into a joint feature embedding, our method effectively bridges the disparity between the depth map and the image, enabling more accurate semantic segmentation. We conduct comprehensive experiments across diverse, commonly-used datasets spanning a wide range of semantic segmentation tasks, including Camouflaged Object Detection (COD), Salient Object Detection (SOD), and indoor semantic segmentation. With source-free estimated depth or depth captured by depth cameras, our method consistently outperforms existing baselines and achieves new state-of-theart results, demonstrating the effectiveness of our Depth-guided Texture Diffusion for image semantic segmentation.
Egocentric videos present unique challenges for 3D scene understanding due to rapid camera motion, frequent object occlusions, and limited object visibility. This paper introduces a novel approach to instance segmentation and tracking in first-person video that leverages 3D awareness to overcome these obstacles. Our method integrates scene geometry, 3D object centroid tracking, and instance segmentation to create a robust framework for analyzing dynamic egocentric scenes. By incorporating spatial and temporal cues, we achieve superior performance compared to state-of-the-art 2D approaches. Extensive evaluations on the challenging EPIC Fields dataset demonstrate significant improvements across a range of tracking and segmentation consistency metrics. Specifically, our method outperforms the next best performing approach by $7$ points in Association Accuracy (AssA) and $4.5$ points in IDF1 score, while reducing the number of ID switches by $73\%$ to $80\%$ across various object categories. Leveraging our tracked instance segmentations, we showcase downstream applications in 3D object reconstruction and amodal video object segmentation in these egocentric settings.
The correct insertion of virtual objects in images of real-world scenes requires a deep understanding of the scene's lighting, geometry and materials, as well as the image formation process. While recent large-scale diffusion models have shown strong generative and inpainting capabilities, we find that current models do not sufficiently "understand" the scene shown in a single picture to generate consistent lighting effects (shadows, bright reflections, etc.) while preserving the identity and details of the composited object. We propose using a personalized large diffusion model as guidance to a physically based inverse rendering process. Our method recovers scene lighting and tone-mapping parameters, allowing the photorealistic composition of arbitrary virtual objects in single frames or videos of indoor or outdoor scenes. Our physically based pipeline further enables automatic materials and tone-mapping refinement.
Multimodal Relation Extraction is crucial for constructing flexible and realistic knowledge graphs. Recent studies focus on extracting the relation type with entity pairs present in different modalities, such as one entity in the text and another in the image. However, existing approaches require entities and objects given beforehand, which is costly and impractical. To address the limitation, we propose a novel task, Multimodal Entity-Object Relational Triple Extraction, which aims to extract all triples (entity span, relation, object region) from image-text pairs. To facilitate this study, we modified a multimodal relation extraction dataset MORE, which includes 21 relation types, to create a new dataset containing 20,264 triples, averaging 5.75 triples per image-text pair. Moreover, we propose QEOT, a query-based model with a selective attention mechanism, to dynamically explore the interaction and fusion of textual and visual information. In particular, the proposed method can simultaneously accomplish entity extraction, relation classification, and object detection with a set of queries. Our method is suitable for downstream applications and reduces error accumulation due to the pipeline-style approaches. Extensive experimental results demonstrate that our proposed method outperforms the existing baselines by 8.06% and achieves state-of-the-art performance.
Diffusion models have demonstrated outstanding performance in generative tasks, making them ideal candidates for image editing. Recent studies highlight their ability to apply desired edits effectively by following textual instructions, yet with two key challenges remaining. First, these models struggle to apply multiple edits simultaneously, resulting in computational inefficiencies due to their reliance on sequential processing. Second, relying on textual prompts to determine the editing region can lead to unintended alterations to the image. We introduce FunEditor, an efficient diffusion model designed to learn atomic editing functions and perform complex edits by aggregating simpler functions. This approach enables complex editing tasks, such as object movement, by aggregating multiple functions and applying them simultaneously to specific areas. Our experiments demonstrate that FunEditor significantly outperforms recent inference-time optimization methods and fine-tuned models, either quantitatively across various metrics or through visual comparisons or both, on complex tasks like object movement and object pasting. In the meantime, with only 4 steps of inference, FunEditor achieves 5-24x inference speedups over existing popular methods. The code is available at: mhmdsmdi.github.io/funeditor/.
We present Text-driven Object-Centric Style Transfer (TEXTOC), a novel method that guides style transfer at an object-centric level using textual inputs. The core of TEXTOC is our Patch-wise Co-Directional (PCD) loss, meticulously designed for precise object-centric transformations that are closely aligned with the input text. This loss combines a patch directional loss for text-guided style direction and a patch distribution consistency loss for even CLIP embedding distribution across object regions. It ensures a seamless and harmonious style transfer across object regions. Key to our method are the Text-Matched Patch Selection (TMPS) and Pre-fixed Region Selection (PRS) modules for identifying object locations via text, eliminating the need for segmentation masks. Lastly, we introduce an Adaptive Background Preservation (ABP) loss to maintain the original style and structural essence of the image's background. This loss is applied to dynamically identified background areas. Extensive experiments underline the effectiveness of our approach in creating visually coherent and textually aligned style transfers.
Object pose estimation is essential to many industrial applications involving robotic manipulation, navigation, and augmented reality. Current generalizable object pose estimators, i.e., approaches that do not need to be trained per object, rely on accurate 3D models. Predominantly, CAD models are used, which can be hard to obtain in practice. At the same time, it is often possible to acquire images of an object. Naturally, this leads to the question whether 3D models reconstructed from images are sufficient to facilitate accurate object pose estimation. We aim to answer this question by proposing a novel benchmark for measuring the impact of 3D reconstruction quality on pose estimation accuracy. Our benchmark provides calibrated images for object reconstruction registered with the test images of the YCB-V dataset for pose evaluation under the BOP benchmark format. Detailed experiments with multiple state-of-the-art 3D reconstruction and object pose estimation approaches show that the geometry produced by modern reconstruction methods is often sufficient for accurate pose estimation. Our experiments lead to interesting observations: (1) Standard metrics for measuring 3D reconstruction quality are not necessarily indicative of pose estimation accuracy, which shows the need for dedicated benchmarks such as ours. (2) Classical, non-learning-based approaches can perform on par with modern learning-based reconstruction techniques and can even offer a better reconstruction time-pose accuracy tradeoff. (3) There is still a sizable gap between performance with reconstructed and with CAD models. To foster research on closing this gap, our benchmark is publicly available at https://github.com/VarunBurde/reconstruction_pose_benchmark}.
This article introduces a novel method for object-level relocalization of robotic systems. It determines the pose of a camera sensor by robustly associating the object detections in the current frame with 3D objects in a lightweight object-level map. Object graphs, considering semantic uncertainties, are constructed for both the incoming camera frame and the pre-built map. Objects are represented as graph nodes, and each node employs unique semantic descriptors based on our devised graph kernels. We extract a subgraph from the target map graph by identifying potential object associations for each object detection, then refine these associations and pose estimations using a RANSAC-inspired strategy. Experiments on various datasets demonstrate that our method achieves more accurate data association and significantly increases relocalization success rates compared to baseline methods. The implementation of our method is released at \url{https://github.com/yutongwangBIT/GOReloc}.
3D dense captioning is a task to localize objects in a 3D scene and generate descriptive sentences for each object. Recent approaches in 3D dense captioning have adopted transformer encoder-decoder frameworks from object detection to build an end-to-end pipeline without hand-crafted components. However, these approaches struggle with contradicting objectives where a single query attention has to simultaneously view both the tightly localized object regions and contextual environment. To overcome this challenge, we introduce SIA (See-It-All), a transformer pipeline that engages in 3D dense captioning with a novel paradigm called late aggregation. SIA simultaneously decodes two sets of queries-context query and instance query. The instance query focuses on localization and object attribute descriptions, while the context query versatilely captures the region-of-interest of relationships between multiple objects or with the global scene, then aggregated afterwards (i.e., late aggregation) via simple distance-based measures. To further enhance the quality of contextualized caption generation, we design a novel aggregator to generate a fully informed caption based on the surrounding context, the global environment, and object instances. Extensive experiments on two of the most widely-used 3D dense captioning datasets demonstrate that our proposed method achieves a significant improvement over prior methods.
The field of autonomous driving increasingly demands high-quality annotated video training data. In this paper, we propose Panacea+, a powerful and universally applicable framework for generating video data in driving scenes. Built upon the foundation of our previous work, Panacea, Panacea+ adopts a multi-view appearance noise prior mechanism and a super-resolution module for enhanced consistency and increased resolution. Extensive experiments show that the generated video samples from Panacea+ greatly benefit a wide range of tasks on different datasets, including 3D object tracking, 3D object detection, and lane detection tasks on the nuScenes and Argoverse 2 dataset. These results strongly prove Panacea+ to be a valuable data generation framework for autonomous driving.
Although convolutional neural networks have made outstanding achievements in visible light target detection, there are still many challenges in infrared small object detection because of the low signal-to-noise ratio, incomplete object structure, and a lack of reliable infrared small object dataset. To resolve limitations of the infrared small object dataset, a new dataset named InfraTiny was constructed, and more than 85% bounding box is less than 32x32 pixels (3218 images and a total of 20,893 bounding boxes). A multi-scale attention mechanism module (MSAM) and a Feature Fusion Augmentation Pyramid Module (FFAFPM) were proposed and deployed onto embedded devices. The MSAM enables the network to obtain scale perception information by acquiring different receptive fields, while the background noise information is suppressed to enhance feature extraction ability. The proposed FFAFPM can enrich semantic information, and enhance the fusion of shallow feature and deep feature, thus false positive results have been significantly reduced. By integrating the proposed methods into the YOLO model, which is named Infra-YOLO, infrared small object detection performance has been improved. Compared to yolov3, [email omitted] has been improved by 2.7%; and compared to yolov4, that by 2.5% on the InfraTiny dataset. The proposed Infra-YOLO was also transferred onto the embedded device in the unmanned aerial vehicle (UAV) for real application scenarios, where the channel pruning method is adopted to reduce FLOPs and to achieve a tradeoff between speed and accuracy. Even if the parameters of Infra-YOLO are reduced by 88% with the pruning method, a gain of 0.7% is still achieved on [email omitted] compared to yolov3, and a gain of 0.5% compared to yolov4. Experimental results show that the proposed MSAM and FFAFPM method can improve infrared small object detection performance compared with the previous benchmark method.
Building models that can understand and reason about 3D scenes is difficult owing to the lack of data sources for 3D supervised training and large-scale training regimes. In this work we ask - How can the knowledge in a pre-trained language model be leveraged for 3D scene understanding without any 3D pre-training. The aim of this work is to establish whether pre-trained LLMs possess priors/knowledge required for reasoning in 3D space and how can we prompt them such that they can be used for general purpose spatial reasoning and object understanding in 3D. To this end, we present SceneGPT, an LLM based scene understanding system which can perform 3D spatial reasoning without training or explicit 3D supervision. The key components of our framework are - 1) a 3D scene graph, that serves as scene representation, encoding the objects in the scene and their spatial relationships 2) a pre-trained LLM that can be adapted with in context learning for 3D spatial reasoning. We evaluate our framework qualitatively on object and scene understanding tasks including object semantics, physical properties and affordances (object-level) and spatial understanding (scene-level).
3D perception tasks, such as 3D object detection and Bird's-Eye-View (BEV) segmentation using multi-camera images, have drawn significant attention recently. Despite the fact that accurately estimating both semantic and 3D scene layouts are crucial for this task, existing techniques often neglect the synergistic effects of semantic and depth cues, leading to the occurrence of classification and position estimation errors. Additionally, the input-independent nature of initial queries also limits the learning capacity of Transformer-based models. To tackle these challenges, we propose an input-aware Transformer framework that leverages Semantics and Depth as priors (named SDTR). Our approach involves the use of an S-D Encoder that explicitly models semantic and depth priors, thereby disentangling the learning process of object categorization and position estimation. Moreover, we introduce a Prior-guided Query Builder that incorporates the semantic prior into the initial queries of the Transformer, resulting in more effective input-aware queries. Extensive experiments on the nuScenes and Lyft benchmarks demonstrate the state-of-the-art performance of our method in both 3D object detection and BEV segmentation tasks.
Inspired by Geoffrey Hinton emphasis on generative modeling, To recognize shapes, first learn to generate them, we explore the use of 3D diffusion models for object classification. Leveraging the density estimates from these models, our approach, the Diffusion Classifier for 3D Objects (DC3DO), enables zero-shot classification of 3D shapes without additional training. On average, our method achieves a 12.5 percent improvement compared to its multiview counterparts, demonstrating superior multimodal reasoning over discriminative approaches. DC3DO employs a class-conditional diffusion model trained on ShapeNet, and we run inferences on point clouds of chairs and cars. This work highlights the potential of generative models in 3D object classification.
3D dense captioning is a task involving the localization of objects and the generation of descriptions for each object in a 3D scene. Recent approaches have attempted to incorporate contextual information by modeling relationships with object pairs or aggregating the nearest neighbor features of an object. However, the contextual information constructed in these scenarios is limited in two aspects: first, objects have multiple positional relationships that exist across the entire global scene, not only near the object itself. Second, it faces with contradicting objectives--where localization and attribute descriptions are generated better with tight localization, while descriptions involving global positional relations are generated better with contextualized features of the global scene. To overcome this challenge, we introduce BiCA, a transformer encoder-decoder pipeline that engages in 3D dense captioning for each object with Bi-directional Contextual Attention. Leveraging parallelly decoded instance queries for objects and context queries for non-object contexts, BiCA generates object-aware contexts, where the contexts relevant to each object is summarized, and context-aware objects, where the objects relevant to the summarized object-aware contexts are aggregated. This extension relieves previous methods from the contradicting objectives, enhancing both localization performance and enabling the aggregation of contextual features throughout the global scene; thus improving caption generation performance simultaneously. Extensive experiments on two of the most widely-used 3D dense captioning datasets demonstrate that our proposed method achieves a significant improvement over prior methods.
Object detection is an important part in the field of computer vision, and the effect of object detection is directly determined by the regression accuracy of the prediction box. As the key to model training, IoU (Intersection over Union) greatly shows the difference between the current prediction box and the Ground Truth box. Subsequent researchers have continuously added more considerations to IoU, such as center distance, aspect ratio, and so on. However, there is an upper limit to just refining the geometric differences; And there is a potential connection between the new consideration index and the IoU itself, and the direct addition or subtraction between the two may lead to the problem of "over-consideration". Based on this, we propose a new IoU loss function, called Unified-IoU (UIoU), which is more concerned with the weight assignment between different quality prediction boxes. Specifically, the loss function dynamically shifts the model's attention from low-quality prediction boxes to high-quality prediction boxes in a novel way to enhance the model's detection performance on high-precision or intensive datasets and achieve a balance in training speed. Our proposed method achieves better performance on multiple datasets, especially at a high IoU threshold, UIoU has a more significant improvement effect compared with other improved IoU losses. Our code is publicly available at: https://github.com/lxj-drifter/UIOU_files.
With the ever-growing variety of object detection approaches, this study explores a series of experiments that combine reinforcement learning (RL)-based visual attention methods with saliency ranking techniques to investigate transparent and sustainable solutions. By integrating saliency ranking for initial bounding box prediction and subsequently applying RL techniques to refine these predictions through a finite set of actions over multiple time steps, this study aims to enhance RL object detection accuracy. Presented as a series of experiments, this research investigates the use of various image feature extraction methods and explores diverse Deep Q-Network (DQN) architectural variations for deep reinforcement learning-based localisation agent training. Additionally, we focus on optimising the detection pipeline at every step by prioritising lightweight and faster models, while also incorporating the capability to classify detected objects, a feature absent in previous RL approaches. We show that by evaluating the performance of these trained agents using the Pascal VOC 2007 dataset, faster and more optimised models were developed. Notably, the best mean Average Precision (mAP) achieved in this study was 51.4, surpassing benchmarks set by RL-based single object detectors in the literature.
The rapid evolution of deep learning and its integration with autonomous driving systems have led to substantial advancements in 3D perception using multimodal sensors. Notably, radar sensors show greater robustness compared to cameras and lidar under adverse weather and varying illumination conditions. This study delves into the often-overlooked yet crucial issue of domain shift in 4D radar-based object detection, examining how varying environmental conditions, such as different weather patterns and road types, impact 3D object detection performance. Our findings highlight distinct domain shifts across various weather scenarios, revealing unique dataset sensitivities that underscore the critical role of radar point cloud generation. Additionally, we demonstrate that transitioning between different road types, especially from highways to urban settings, introduces notable domain shifts, emphasizing the necessity for diverse data collection across varied road environments. To the best of our knowledge, this is the first comprehensive analysis of domain shift effects on 4D radar-based object detection. We believe this empirical study contributes to understanding the complex nature of domain shifts in radar data and suggests paths forward for data collection strategy in the face of environmental variability.
The ability to distill object-centric abstractions from intricate visual scenes underpins human-level generalization. Despite the significant progress in object-centric learning methods, learning object-centric representations in the 3D physical world remains a crucial challenge. In this work, we propose SlotLifter, a novel object-centric radiance model addressing scene reconstruction and decomposition jointly via slot-guided feature lifting. Such a design unites object-centric learning representations and image-based rendering methods, offering state-of-the-art performance in scene decomposition and novel-view synthesis on four challenging synthetic and four complex real-world datasets, outperforming existing 3D object-centric learning methods by a large margin. Through extensive ablative studies, we showcase the efficacy of designs in SlotLifter, revealing key insights for potential future directions.