Object pose detection and tracking has recently attracted increasing attention due to its wide applications in many areas, such as autonomous driving, robotics, and augmented reality. Among methods for object pose detection and tracking, deep learning is the most promising one that has shown better performance than others. However, survey study about the latest development of deep learning-based methods is lacking. Therefore, this study presents a comprehensive review of recent progress in object pose detection and tracking that belongs to the deep learning technical route. To achieve a more thorough introduction, the scope of this study is limited to methods taking monocular RGB/RGBD data as input and covering three kinds of major tasks: instance-level monocular object pose detection, category-level monocular object pose detection, and monocular object pose tracking. In our work, metrics, datasets, and methods of both detection and tracking are presented in detail. Comparative results of current state-of-the-art methods on several publicly available datasets are also presented, together with insightful observations and inspiring future research directions.
As one of the most fundamental and challenging problems in computer vision, object detection tries to locate object instances and find their categories in natural images. The most important step in the evaluation of object detection algorithm is calculating the intersection-over-union (IoU) between the predicted bounding box and the ground truth one. Although this procedure is well-defined and solved for planar images, it is not easy for spherical image object detection. Existing methods either compute the IoUs based on biased bounding box representations or make excessive approximations, thus would give incorrect results. In this paper, we first identify that spherical rectangles are unbiased bounding boxes for objects in spherical images, and then propose an analytical method for IoU calculation without any approximations. Based on the unbiased representation and calculation, we also present an anchor free object detection algorithm for spherical images. The experiments on two spherical object detection datasets show that the proposed method can achieve better performance than existing methods.
Domain adaptation helps generalizing object detection models to target domain data with distribution shift. It is often achieved by adapting with access to the whole target domain data. In a more realistic scenario, target distribution is often unpredictable until inference stage. This motivates us to explore adapting an object detection model at test-time, a.k.a. test-time adaptation (TTA). In this work, we approach test-time adaptive object detection (TTAOD) from two perspective. First, we adopt a self-training paradigm to generate pseudo labeled objects with an exponential moving average model. The pseudo labels are further used to supervise adapting source domain model. As self-training is prone to incorrect pseudo labels, we further incorporate aligning feature distributions at two output levels as regularizations to self-training. To validate the performance on TTAOD, we create benchmarks based on three standard object detection datasets and adapt generic TTA methods to object detection task. Extensive evaluations suggest our proposed method sets the state-of-the-art on test-time adaptive object detection task.
Lidar based 3D object detection and classification tasks are essential for automated driving(AD). A Lidar sensor can provide the 3D point coud data reconstruction of the surrounding environment. But the detection in 3D point cloud still needs a strong algorithmic challenge. This paper consists of three parts.(1)Lidar-camera calib. (2)YOLO, based detection and PointCloud extraction, (3) k-means based point cloud segmentation. In our research, Camera can capture the image to make the Real-time 2D Object Detection by using YOLO, I transfer the bounding box to node whose function is making 3d object detection on point cloud data from Lidar. By comparing whether 2D coordinate transferred from the 3D point is in the object bounding box or not, and doing a k-means clustering can achieve High-speed 3D object recognition function in GPU.
Owing to effective and flexible data acquisition, unmanned aerial vehicle (UAV) has recently become a hotspot across the fields of computer vision (CV) and remote sensing (RS). Inspired by recent success of deep learning (DL), many advanced object detection and tracking approaches have been widely applied to various UAV-related tasks, such as environmental monitoring, precision agriculture, traffic management. This paper provides a comprehensive survey on the research progress and prospects of DL-based UAV object detection and tracking methods. More specifically, we first outline the challenges, statistics of existing methods, and provide solutions from the perspectives of DL-based models in three research topics: object detection from the image, object detection from the video, and object tracking from the video. Open datasets related to UAV-dominated object detection and tracking are exhausted, and four benchmark datasets are employed for performance evaluation using some state-of-the-art methods. Finally, prospects and considerations for the future work are discussed and summarized. It is expected that this survey can facilitate those researchers who come from remote sensing field with an overview of DL-based UAV object detection and tracking methods, along with some thoughts on their further developments.
Average precision (AP) is a widely used metric to evaluate detection accuracy of image and video object detectors. In this paper, we analyze object detection from videos and point out that AP alone is not sufficient to capture the temporal nature of video object detection. To tackle this problem, we propose a comprehensive metric, average delay (AD), to measure and compare detection delay. To facilitate delay evaluation, we carefully select a subset of ImageNet VID, which we name as ImageNet VIDT with an emphasis on complex trajectories. By extensively evaluating a wide range of detectors on VIDT, we show that most methods drastically increase the detection delay but still preserve AP well. In other words, AP is not sensitive enough to reflect the temporal characteristics of a video object detector. Our results suggest that video object detection methods should be additionally evaluated with a delay metric, particularly for latency-critical applications such as autonomous vehicle perception.
This paper addresses the problem of common object detection, which aims to detect objects of similar categories from a set of images. Although it shares some similarities with the standard object detection and co-segmentation, common object detection, recently promoted by \cite{Jiang2019a}, has some unique advantages and challenges. First, it is designed to work on both closed-set and open-set conditions, a.k.a. known and unknown objects. Second, it must be able to match objects of the same category but not restricted to the same instance, texture, or posture. Third, it can distinguish multiple objects. In this work, we introduce the Single Stage Common Object Detection (SSCOD) to detect class-agnostic common objects from an image set. The proposed method is built upon the standard single-stage object detector. Furthermore, an embedded branch is introduced to generate the object's representation feature, and their similarity is measured by cosine distance. Experiments are conducted on PASCAL VOC 2007 and COCO 2014 datasets. While being simple and flexible, our proposed SSCOD built upon ATSSNet performs significantly better than the baseline of the standard object detection, while still be able to match objects of unknown categories. Our source code can be found at \href{https://github.com/cybercore-co-ltd/Single-Stage-Common-Object-Detection}{(URL)}
This work addresses the challenge of adapting dynamic deadline requirements for LiDAR object detection deep neural networks (DNNs). The computing latency of object detection is critically important to ensure safe and efficient navigation. However, state-of-the-art LiDAR object detection DNNs often exhibit significant latency, hindering their real-time performance on resource-constrained edge platforms. Therefore, a tradeoff between detection accuracy and latency should be dynamically managed at runtime to achieve optimum results. In this paper, we introduce VALO (Versatile Anytime algorithm for LiDAR Object detection), a novel data-centric approach that enables anytime computing of 3D LiDAR object detection DNNs. VALO employs a deadline-aware scheduler to selectively process input regions, making execution time and accuracy tradeoffs without architectural modifications. Additionally, it leverages efficient forecasting of past detection results to mitigate possible loss of accuracy due to partial processing of input. Finally, it utilizes a novel input reduction technique within its detection heads to significantly accelerate execution without sacrificing accuracy. We implement VALO on state-of-the-art 3D LiDAR object detection networks, namely CenterPoint and VoxelNext, and demonstrate its dynamic adaptability to a wide range of time constraints while achieving higher accuracy than the prior state-of-the-art. Code is available athttps://github.com/CSL-KU/VALO}{github.com/CSL-KU/VALO.
Many previous methods have showed the importance of considering semantically relevant objects for performing event recognition, yet none of the methods have exploited the power of deep convolutional neural networks to directly integrate relevant object information into a unified network. We present a novel unified deep CNN architecture which integrates architecturally different, yet semantically-related object detection networks to enhance the performance of the event recognition task. Our architecture allows the sharing of the convolutional layers and a fully connected layer which effectively integrates event recognition, rigid object detection and non-rigid object detection.
Existing CNNs-based salient object detection (SOD) heavily depends on the large-scale pixel-level annotations, which is labor-intensive, time-consuming, and expensive. By contrast, the sparse annotations become appealing to the salient object detection community. However, few efforts are devoted to learning salient object detection from sparse annotations, especially in the remote sensing field. In addition, the sparse annotation usually contains scanty information, which makes it challenging to train a well-performing model, resulting in its performance largely lagging behind the fully-supervised models. Although some SOD methods adopt some prior cues to improve the detection performance, they usually lack targeted discrimination of object boundaries and thus provide saliency maps with poor boundary localization. To this end, in this paper, we propose a novel weakly-supervised salient object detection framework to predict the saliency of remote sensing images from sparse scribble annotations. To implement it, we first construct the scribble-based remote sensing saliency dataset by relabelling an existing large-scale SOD dataset with scribbles, namely S-EOR dataset. After that, we present a novel scribble-based boundary-aware network (SBA-Net) for remote sensing salient object detection. Specifically, we design a boundary-aware module (BAM) to explore the object boundary semantics, which is explicitly supervised by the high-confidence object boundary (pseudo) labels generated by the boundary label generation (BLG) module, forcing the model to learn features that highlight the object structure and thus boosting the boundary localization of objects. Then, the boundary semantics are integrated with high-level features to guide the salient object detection under the supervision of scribble labels.
Background modeling techniques are used for moving object detection in video. Many algorithms exist in the field of object detection with different purposes. In this paper, we propose an improvement of moving object detection based on codebook segmentation. We associate the original codebook algorithm with an edge detection algorithm. Our goal is to prove the efficiency of using an edge detection algorithm with a background modeling algorithm. Throughout our study, we compared the quality of the moving object detection when codebook segmentation algorithm is associated with some standard edge detectors. In each case, we use frame-based metrics for the evaluation of the detection. The different results are presented and analyzed.
Object detection and tracking are vital and fundamental tasks for autonomous driving, aiming at identifying and locating objects from those predefined categories in a scene. 3D point cloud learning has been attracting more and more attention among all other forms of self-driving data. Currently, there are many deep learning methods for 3D object detection. However, the tasks of object detection and tracking for point clouds still need intensive study due to the unique characteristics of point cloud data. To help get a good grasp of the present situation of this research, this paper shows recent advances in deep learning methods for 3D object detection and tracking.
Object detection is an important yet challenging task in video understanding & analysis, where one major challenge lies in the proper balance between two contradictive factors: detection accuracy and detection speed. In this paper, we propose a new adaptive patch-of-interest composition approach for boosting both the accuracy and speed for object detection. The proposed approach first extracts patches in a video frame which have the potential to include objects-of-interest. Then, an adaptive composition process is introduced to compose the extracted patches into an optimal number of sub-frames for object detection. With this process, we are able to maintain the resolution of the original frame during object detection (for guaranteeing the accuracy), while minimizing the number of inputs in detection (for boosting the speed). Experimental results on various datasets demonstrate the effectiveness of the proposed approach.
Object detection and tracking is a key task in autonomy. Specifically, 3D object detection and tracking have been an emerging hot topic recently. Although various methods have been proposed for object detection, uncertainty in the 3D detection and tracking tasks has been less explored. Uncertainty helps us tackle the error in the perception system and improve robustness. In this paper, we propose a method for improving target tracking performance by adding uncertainty regression to the SECOND detector, which is one of the most representative algorithms of 3D object detection. Our method estimates positional and dimensional uncertainties with Gaussian Negative Log-Likelihood (NLL) Loss for estimation and introduces von-Mises NLL Loss for angular uncertainty estimation. We fed the uncertainty output into a classical object tracking framework and proved that our method increased the tracking performance compared against the vanilla tracker with constant covariance assumption.
Few-shot object detection aims at detecting objects with few annotated examples, which remains a challenging research problem yet to be explored. Recent studies have shown the effectiveness of self-learned top-down attention mechanisms in object detection and other vision tasks. The top-down attention, however, is less effective at improving the performance of few-shot detectors. Due to the insufficient training data, object detectors cannot effectively generate attention maps for few-shot examples. To improve the performance and interpretability of few-shot object detectors, we propose an attentive few-shot object detection network (AttFDNet) that takes the advantages of both top-down and bottom-up attention. Being task-agnostic, the bottom-up attention serves as a prior that helps detect and localize naturally salient objects. We further address specific challenges in few-shot object detection by introducing two novel loss terms and a hybrid few-shot learning strategy. Experimental results and visualization demonstrate the complementary nature of the two types of attention and their roles in few-shot object detection. Codes are available at https://github.com/chenxy99/AttFDNet.
Autonomous driving, in recent years, has been receiving increasing attention for its potential to relieve drivers' burdens and improve the safety of driving. In modern autonomous driving pipelines, the perception system is an indispensable component, aiming to accurately estimate the status of surrounding environments and provide reliable observations for prediction and planning. 3D object detection, which intelligently predicts the locations, sizes, and categories of the critical 3D objects near an autonomous vehicle, is an important part of a perception system. This paper reviews the advances in 3D object detection for autonomous driving. First, we introduce the background of 3D object detection and discuss the challenges in this task. Second, we conduct a comprehensive survey of the progress in 3D object detection from the aspects of models and sensory inputs, including LiDAR-based, camera-based, and multi-modal detection approaches. We also provide an in-depth analysis of the potentials and challenges in each category of methods. Additionally, we systematically investigate the applications of 3D object detection in driving systems. Finally, we conduct a performance analysis of the 3D object detection approaches, and we further summarize the research trends over the years and prospect the future directions of this area.
The past few years have seen an increased interest in aerial image object detection due to its critical value to large-scale geo-scientific research like environmental studies, urban planning, and intelligence monitoring. However, the task is very challenging due to the birds-eye view perspective, complex backgrounds, large and various image sizes, different appearances of objects, and the scarcity of well-annotated datasets. Recent advances in computer vision have shown promise tackling the challenge. Specifically, Vision Transformer Detector (ViTDet) was proposed to extract multi-scale features for object detection. The empirical study shows that ViTDet's simple design achieves good performance on natural scene images and can be easily embedded into any detector architecture. To date, ViTDet's potential benefit to challenging aerial image object detection has not been explored. Therefore, in our study, 25 experiments were carried out to evaluate the effectiveness of ViTDet for aerial image object detection on three well-known datasets: Airbus Aircraft, RarePlanes, and Dataset of Object DeTection in Aerial images (DOTA). Our results show that ViTDet can consistently outperform its convolutional neural network counterparts on horizontal bounding box (HBB) object detection by a large margin (up to 17% on average precision) and that it achieves the competitive performance for oriented bounding box (OBB) object detection. Our results also establish a baseline for future research.
The recent trend in 2D multiple object tracking (MOT) is jointly solving detection and tracking, where object detection and appearance feature (or motion) are learned simultaneously. Despite competitive performance, in crowded scenes, joint detection and tracking usually fail to find accurate object associations due to missed or false detections. In this paper, we jointly model counting, detection and re-identification in an end-to-end framework, named CountingMOT, tailored for crowded scenes. By imposing mutual object-count constraints between detection and counting, the CountingMOT tries to find a balance between object detection and crowd density map estimation, which can help it to recover missed detections or reject false detections. Our approach is an attempt to bridge the gap of object detection, counting, and re-Identification. This is in contrast to prior MOT methods that either ignore the crowd density and thus are prone to failure in crowded scenes,or depend on local correlations to build a graphical relationship for matching targets. The proposed MOT tracker can perform online and real-time tracking, and achieves the state-of-the-art results on public benchmarks MOT16 (MOTA of 79.7), MOT17 (MOTA of 81.3%) and MOT20 (MOTA of 78.9%).
In this paper, we address the limitations of the DETR-based semi-supervised object detection (SSOD) framework, particularly focusing on the challenges posed by the quality of object queries. In DETR-based SSOD, the one-to-one assignment strategy provides inaccurate pseudo-labels, while the one-to-many assignments strategy leads to overlapping predictions. These issues compromise training efficiency and degrade model performance, especially in detecting small or occluded objects. We introduce Sparse Semi-DETR, a novel transformer-based, end-to-end semi-supervised object detection solution to overcome these challenges. Sparse Semi-DETR incorporates a Query Refinement Module to enhance the quality of object queries, significantly improving detection capabilities for small and partially obscured objects. Additionally, we integrate a Reliable Pseudo-Label Filtering Module that selectively filters high-quality pseudo-labels, thereby enhancing detection accuracy and consistency. On the MS-COCO and Pascal VOC object detection benchmarks, Sparse Semi-DETR achieves a significant improvement over current state-of-the-art methods that highlight Sparse Semi-DETR's effectiveness in semi-supervised object detection, particularly in challenging scenarios involving small or partially obscured objects.
In this paper, we introduce a novel fusion method that can enhance object detection performance by fusing decisions from two different types of computer vision tasks: object detection and image classification. In the proposed work, the class label of an image obtained from image classification is viewed as prior knowledge about existence or non-existence of certain objects. The prior knowledge is then fused with the decisions of object detection to improve detection accuracy by mitigating false positives of an object detector that are strongly contradicted with the prior knowledge. A recently introduced novel fusion approach called dynamic belief fusion (DBF) is used to fuse the detector output with the classification prior. Experimental results show that the detection performance of all the detection algorithms used in the proposed work is improved on benchmark datasets via the proposed fusion framework.