This paper proposes a multi-view collaborative matching strategy for reliable track construction in complex scenarios. We observe that the pairwise matching paradigms applied to image set matching often result in ambiguous estimation when the selected independent pairs exhibit significant occlusions or extreme viewpoint changes. This challenge primarily stems from the inherent uncertainty in interpreting intricate 3D structures based on limited two-view observations, as the 3D-to-2D projection leads to significant information loss. To address this, we introduce CoMatcher, a deep multi-view matcher to (i) leverage complementary context cues from different views to form a holistic 3D scene understanding and (ii) utilize cross-view projection consistency to infer a reliable global solution. Building on CoMatcher, we develop a groupwise framework that fully exploits cross-view relationships for large-scale matching tasks. Extensive experiments on various complex scenarios demonstrate the superiority of our method over the mainstream two-view matching paradigm.
Accurate classification of building roof types from aerial imagery is crucial for various remote sensing applications, including urban planning, disaster management, and infrastructure monitoring. However, this task is often hindered by the limited availability of labeled data for supervised learning approaches. To address this challenge, this paper investigates the effectiveness of self supervised learning with EfficientNet architectures, known for their computational efficiency, for building roof type classification. We propose a novel framework that incorporates a Convolutional Block Attention Module (CBAM) to enhance the feature extraction capabilities of EfficientNet. Furthermore, we explore the benefits of pretraining on a domain-specific dataset, the Aerial Image Dataset (AID), compared to ImageNet pretraining. Our experimental results demonstrate the superiority of our approach. Employing Simple Framework for Contrastive Learning of Visual Representations (SimCLR) with EfficientNet-B3 and CBAM achieves a 95.5% accuracy on our validation set, matching the performance of state-of-the-art transformer-based models while utilizing significantly fewer parameters. We also provide a comprehensive evaluation on two challenging test sets, demonstrating the generalization capability of our method. Notably, our findings highlight the effectiveness of domain-specific pretraining, consistently leading to higher accuracy compared to models pretrained on the generic ImageNet dataset. Our work establishes EfficientNet based self-supervised learning as a computationally efficient and highly effective approach for building roof type classification, particularly beneficial in scenarios with limited labeled data.
What representation do deep neural networks learn? How similar are images to each other for neural networks? Despite the overwhelming success of deep learning methods key questions about their internal workings still remain largely unanswered, due to their internal high dimensionality and complexity. To address this, one approach is to measure the similarity of activation responses to various inputs. Representational Similarity Matrices (RSMs) distill this similarity into scalar values for each input pair. These matrices encapsulate the entire similarity structure of a system, indicating which input leads to similar responses. While the similarity between images is ambiguous, we argue that the spatial location of semantic objects does neither influence human perception nor deep learning classifiers. Thus this should be reflected in the definition of similarity between image responses for computer vision systems. Revisiting the established similarity calculations for RSMs we expose their sensitivity to spatial alignment. In this paper, we propose to solve this through semantic RSMs, which are invariant to spatial permutation. We measure semantic similarity between input responses by formulating it as a set-matching problem. Further, we quantify the superiority of semantic RSMs over spatio-semantic RSMs through image retrieval and by comparing the similarity between representations to the similarity between predicted class probabilities.
Histopathological imaging is vital for cancer research and clinical practice, with multiplexed Immunofluorescence (MxIF) and Hematoxylin and Eosin (H&E) providing complementary insights. However, aligning different stains at the cell level remains a challenge due to modality differences. In this paper, we present a novel framework for multimodal image alignment using cell segmentation outcomes. By treating cells as point sets, we apply Coherent Point Drift (CPD) for initial alignment and refine it with Graph Matching (GM). Evaluated on ovarian cancer tissue microarrays (TMAs), our method achieves high alignment accuracy, enabling integration of cell-level features across modalities and generating virtual H&E images from MxIF data for enhanced clinical interpretation.
The task of Text-to-SQL enables anyone to retrieve information from SQL databases using natural language. Despite several challenges, recent models have made remarkable advancements in this task using large language models (LLMs). Interestingly, we find that LLM-based models without fine-tuning exhibit distinct natures compared to their fine-tuned counterparts, leading to inadequacies in current evaluation metrics to accurately convey their performance. Thus, we analyze the two primary metrics, Test Suite Execution Accuracy (EXE) and Exact Set Matching Accuracy (ESM), to examine their robustness for this task and address shortcomings. We compare the performance of 9 LLM-based models using EXE, the original ESM, and our improved ESM (called ESM+). Our results show that EXE and ESM have high false positive and negative rates of 11.3% and 13.9%, while ESM+ gives those of 0.1% and 2.6% respectively, providing a significantly more stable evaluation. We release the ESM+ script as open-source for the community to contribute, while enjoying a more reliable assessment of Text-to-SQL.
Learning general-purpose models from diverse datasets has achieved great success in machine learning. In robotics, however, existing methods in multi-task learning are typically constrained to a single robot and workspace, while recent work such as RT-X requires a non-trivial action normalization procedure to manually bridge the gap between different action spaces in diverse environments. In this paper, we propose the visual kinematics chain as a precise and universal representation of quasi-static actions for robot learning over diverse environments, which requires no manual adjustment since the visual kinematic chains can be automatically obtained from the robot's model and camera parameters. We propose the Visual Kinematics Transformer (VKT), a convolution-free architecture that supports an arbitrary number of camera viewpoints, and that is trained with a single objective of forecasting kinematic structures through optimal point-set matching. We demonstrate the superior performance of VKT over BC transformers as a general agent on Calvin, RLBench, Open-X, and real robot manipulation tasks. Video demonstrations can be found at https://mlzxy.github.io/visual-kinetic-chain.
Several accounts of human cognition posit that our intelligence is rooted in our ability to form abstract composable concepts, ground them in our environment, and reason over these grounded entities. This trifecta of human thought has remained elusive in modern intelligent machines. In this work, we investigate whether slot representations extracted from visual scenes serve as appropriate compositional abstractions for grounding and reasoning. We present the Neural Slot Interpreter (NSI), which learns to ground object semantics in slots. At the core of NSI is a nested schema that uses simple syntax rules to organize the object semantics of a scene into object-centric schema primitives. Then, the NSI metric learns to ground primitives into slots through a structured contrastive learning objective that reasons over the intermodal alignment. Experiments with a bi-modal object-property and scene retrieval task demonstrate the grounding efficacy and interpretability of correspondences learned by NSI. From a scene representation standpoint, we find that emergent NSI slots that move beyond the image grid by binding to spatial objects facilitate improved visual grounding compared to conventional bounding-box-based approaches. From a data efficiency standpoint, we empirically validate that NSI learns more generalizable representations from a fixed amount of annotation data than the traditional approach. We also show that the grounded slots surpass unsupervised slots in real-world object discovery and scale with scene complexity. Finally, we investigate the downstream efficacy of the grounded slots. Vision Transformers trained on grounding-aware NSI tokenizers using as few as ten tokens outperform patch-based tokens on challenging few-shot classification tasks.
Point clouds acquired from 3D sensors are usually sparse and noisy. Point cloud upsampling is an approach to increase the density of the point cloud so that detailed geometric information can be restored. In this paper, we propose a Dual Back-Projection network for point cloud upsampling (DBPnet). A Dual Back-Projection is formulated in an up-down-up manner for point cloud upsampling. It not only back projects feature residues but also coordinates residues so that the network better captures the point correlations in the feature and space domains, achieving lower reconstruction errors on both uniform and non-uniform sparse point clouds. Our proposed method is also generalizable for arbitrary upsampling tasks (e.g. 4x, 5.5x). Experimental results show that the proposed method achieves the lowest point set matching losses with respect to the benchmark. In addition, the success of our approach demonstrates that generative networks are not necessarily needed for non-uniform point clouds.
We introduce Sketch-based Video Object Localization (SVOL), a new task aimed at localizing spatio-temporal object boxes in video queried by the input sketch. We first outline the challenges in the SVOL task and build the Sketch-Video Attention Network (SVANet) with the following design principles: (i) to consider temporal information of video and bridge the domain gap between sketch and video; (ii) to accurately identify and localize multiple objects simultaneously; (iii) to handle various styles of sketches; (iv) to be classification-free. In particular, SVANet is equipped with a Cross-modal Transformer that models the interaction between learnable object tokens, query sketch, and video through attention operations, and learns upon a per-frame set matching strategy that enables frame-wise prediction while utilizing global video context. We evaluate SVANet on a newly curated SVOL dataset. By design, SVANet successfully learns the mapping between the query sketches and video objects, achieving state-of-the-art results on the SVOL benchmark. We further confirm the effectiveness of SVANet via extensive ablation studies and visualizations. Lastly, we demonstrate its transfer capability on unseen datasets and novel categories, suggesting its high scalability in real-world applications.
The problem of matching two sets of multiple elements, namely set-to-set matching, has received a great deal of attention in recent years. In particular, it has been reported that good experimental results can be obtained by preparing a neural network as a matching function, especially in complex cases where, for example, each element of the set is an image. However, theoretical analysis of set-to-set matching with such black-box functions is lacking. This paper aims to perform a generalization error analysis in set-to-set matching to reveal the behavior of the model in that task.
Room layout estimation is a long-existing robotic vision task that benefits both environment sensing and motion planning. However, layout estimation using point clouds (PCs) still suffers from data scarcity due to annotation difficulty. As such, we address the semi-supervised setting of this task based upon the idea of model exponential moving averaging. But adapting this scheme to the state-of-the-art (SOTA) solution for PC-based layout estimation is not straightforward. To this end, we define a quad set matching strategy and several consistency losses based upon metrics tailored for layout quads. Besides, we propose a new online pseudo-label harvesting algorithm that decomposes the distribution of a hybrid distance measure between quads and PC into two components. This technique does not need manual threshold selection and intuitively encourages quads to align with reliable layout points. Surprisingly, this framework also works for the fully-supervised setting, achieving a new SOTA on the ScanNet benchmark. Last but not least, we also push the semi-supervised setting to the realistic omni-supervised setting, demonstrating significantly promoted performance on a newly annotated ARKitScenes testing set. Our codes, data and models are released in this repository.
Recent attempts mainly focus on learning deep representations for each video individually under the episodic meta-learning regime and then performing temporal alignment to match query and support videos. However, they still suffer from two drawbacks: (i) learning individual features without considering the entire task may result in limited representation capability, and (ii) existing alignment strategies are sensitive to noises and misaligned instances. To handle the two limitations, we propose a novel Hybrid Relation guided temporal Set Matching (HyRSM++) approach for few-shot action recognition. The core idea of HyRSM++ is to integrate all videos within the task to learn discriminative representations and involve a robust matching technique. To be specific, HyRSM++ consists of two key components, a hybrid relation module and a temporal set matching metric. Given the basic representations from the feature extractor, the hybrid relation module is introduced to fully exploit associated relations within and cross videos in an episodic task and thus can learn task-specific embeddings. Subsequently, in the temporal set matching metric, we carry out the distance measure between query and support videos from a set matching perspective and design a Bi-MHM to improve the resilience to misaligned instances. In addition, we explicitly exploit the temporal coherence in videos to regularize the matching process. Furthermore, we extend the proposed HyRSM++ to deal with the more challenging semi-supervised few-shot action recognition and unsupervised few-shot action recognition tasks. Experimental results on multiple benchmarks demonstrate that our method achieves state-of-the-art performance under various few-shot settings. The source code is available at https://github.com/alibaba-mmai-research/HyRSMPlusPlus.
Existing object detection methods are bounded in a fixed-set vocabulary by costly labeled data. When dealing with novel categories, the model has to be retrained with more bounding box annotations. Natural language supervision is an attractive alternative for its annotation-free attributes and broader object concepts. However, learning open-vocabulary object detection from language is challenging since image-text pairs do not contain fine-grained object-language alignments. Previous solutions rely on either expensive grounding annotations or distilling classification-oriented vision models. In this paper, we propose a novel open-vocabulary object detection framework directly learning from image-text pair data. We formulate object-language alignment as a set matching problem between a set of image region features and a set of word embeddings. It enables us to train an open-vocabulary object detector on image-text pairs in a much simple and effective way. Extensive experiments on two benchmark datasets, COCO and LVIS, demonstrate our superior performance over the competing approaches on novel categories, e.g. achieving 32.0% mAP on COCO and 21.7% mask mAP on LVIS. Code is available at: https://github.com/clin1223/VLDet.
In this paper, we provide the observation that too few queries assigned as positive samples in DETR with one-to-one set matching leads to sparse supervision on the encoder's output which considerably hurt the discriminative feature learning of the encoder and vice visa for attention learning in the decoder. To alleviate this, we present a novel collaborative hybrid assignments training scheme, namely $\mathcal{C}$o-DETR, to learn more efficient and effective DETR-based detectors from versatile label assignment manners. This new training scheme can easily enhance the encoder's learning ability in end-to-end detectors by training the multiple parallel auxiliary heads supervised by one-to-many label assignments such as ATSS and Faster RCNN. In addition, we conduct extra customized positive queries by extracting the positive coordinates from these auxiliary heads to improve the training efficiency of positive samples in the decoder. In inference, these auxiliary heads are discarded and thus our method introduces no additional parameters and computational cost to the original detector while requiring no hand-crafted non-maximum suppression (NMS). We conduct extensive experiments to evaluate the effectiveness of the proposed approach on DETR variants, including DAB-DETR, Deformable-DETR, and DINO-Deformable-DETR. The state-of-the-art DINO-Deformable-DETR with Swin-L can be improved from 58.5% to 59.5% AP on COCO val. Surprisingly, incorporated with ViT-L backbone, we achieve 66.0% AP on COCO test-dev and 67.9% AP on LVIS val, outperforming previous methods by clear margins with much fewer model sizes. Codes are available at \url{https://github.com/Sense-X/Co-DETR}.
There is no, nor will there ever be, single best clustering algorithm. Nevertheless, we would still like to be able to distinguish between methods that work well on certain task types and those that systematically underperform. Clustering algorithms are traditionally evaluated using either internal or external validity measures. Internal measures quantify different aspects of the obtained partitions, e.g., the average degree of cluster compactness or point separability. However, their validity is questionable because the clusterings they endorse can sometimes be meaningless. External measures, on the other hand, compare the algorithms' outputs to fixed ground truth groupings provided by experts. In this paper, we argue that the commonly used classical partition similarity scores, such as the normalised mutual information, Fowlkes-Mallows, or adjusted Rand index, miss some desirable properties. In particular, they do not identify worst-case scenarios correctly, nor are they easily interpretable. As a consequence, the evaluation of clustering algorithms on diverse benchmark datasets can be difficult. To remedy these issues, we propose and analyse a new measure: a version of the optimal set-matching accuracy, which is normalised, monotonic with respect to some similarity relation, scale-invariant, and corrected for the imbalancedness of cluster sizes (but neither symmetric nor adjusted for chance).
One-to-one set matching is a key design for DETR to establish its end-to-end capability, so that object detection does not require a hand-crafted NMS (non-maximum suppression) to remove duplicate detections. This end-to-end signature is important for the versatility of DETR, and it has been generalized to broader vision tasks. However, we note that there are few queries assigned as positive samples and the one-to-one set matching significantly reduces the training efficacy of positive samples. We propose a simple yet effective method based on a hybrid matching scheme that combines the original one-to-one matching branch with an auxiliary one-to-many matching branch during training. Our hybrid strategy has been shown to significantly improve accuracy. In inference, only the original one-to-one match branch is used, thus maintaining the end-to-end merit and the same inference efficiency of DETR. The method is named H-DETR, and it shows that a wide range of representative DETR methods can be consistently improved across a wide range of visual tasks, including DeformableDETR, PETRv2, PETR, and TransTrack, among others. The code is available at: https://github.com/HDETR
Arbitrary-oriented object detection (AOOD) is a challenging task to detect objects in the wild with arbitrary orientations and cluttered arrangements. Existing approaches are mainly based on anchor-based boxes or dense points, which rely on complicated hand-designed processing steps and inductive bias, such as anchor generation, transformation, and non-maximum suppression reasoning. Recently, the emerging transformer-based approaches view object detection as a direct set prediction problem that effectively removes the need for hand-designed components and inductive biases. In this paper, we propose an Arbitrary-Oriented Object DEtection TRansformer framework, termed AO2-DETR, which comprises three dedicated components. More precisely, an oriented proposal generation mechanism is proposed to explicitly generate oriented proposals, which provides better positional priors for pooling features to modulate the cross-attention in the transformer decoder. An adaptive oriented proposal refinement module is introduced to extract rotation-invariant region features and eliminate the misalignment between region features and objects. And a rotation-aware set matching loss is used to ensure the one-to-one matching process for direct set prediction without duplicate predictions. Our method considerably simplifies the overall pipeline and presents a new AOOD paradigm. Comprehensive experiments on several challenging datasets show that our method achieves superior performance on the AOOD task.
Current few-shot action recognition methods reach impressive performance by learning discriminative features for each video via episodic training and designing various temporal alignment strategies. Nevertheless, they are limited in that (a) learning individual features without considering the entire task may lose the most relevant information in the current episode, and (b) these alignment strategies may fail in misaligned instances. To overcome the two limitations, we propose a novel Hybrid Relation guided Set Matching (HyRSM) approach that incorporates two key components: hybrid relation module and set matching metric. The purpose of the hybrid relation module is to learn task-specific embeddings by fully exploiting associated relations within and cross videos in an episode. Built upon the task-specific features, we reformulate distance measure between query and support videos as a set matching problem and further design a bidirectional Mean Hausdorff Metric to improve the resilience to misaligned instances. By this means, the proposed HyRSM can be highly informative and flexible to predict query categories under the few-shot settings. We evaluate HyRSM on six challenging benchmarks, and the experimental results show its superiority over the state-of-the-art methods by a convincing margin. Project page: https://hyrsm-cvpr2022.github.io/.
In image classification, it is common practice to train deep networks to extract a single feature vector per input image. Few-shot classification methods also mostly follow this trend. In this work, we depart from this established direction and instead propose to extract sets of feature vectors for each image. We argue that a set-based representation intrinsically builds a richer representation of images from the base classes, which can subsequently better transfer to the few-shot classes. To do so, we propose to adapt existing feature extractors to instead produce sets of feature vectors from images. Our approach, dubbed SetFeat, embeds shallow self-attention mechanisms inside existing encoder architectures. The attention modules are lightweight, and as such our method results in encoders that have approximately the same number of parameters as their original versions. During training and inference, a set-to-set matching metric is used to perform image classification. The effectiveness of our proposed architecture and metrics is demonstrated via thorough experiments on standard few-shot datasets -- namely miniImageNet, tieredImageNet, and CUB -- in both the 1- and 5-shot scenarios. In all cases but one, our method outperforms the state-of-the-art.
Usual relations between entities could be captured using graphs; but those of a higher-order -- more so between two different types of entities (which we term "left" and "right") -- calls for a "bipartite hypergraph". For example, given a left set of symptoms and right set of diseases, the relation between a set subset of symptoms (that a patient experiences at a given point of time) and a subset of diseases (that he/she might be diagnosed with) could be well-represented using a bipartite hyperedge. The state-of-the-art in embedding nodes of a hypergraph is based on learning the self-attention structure between node-pairs from a hyperedge. In the present work, given a bipartite hypergraph, we aim at capturing relations between node pairs from the cross-product between the left and right hyperedges, and term it a "cross-attention" (CAT) based model. More precisely, we pose "bipartite hyperedge link prediction" as a set-matching (SETMAT) problem and propose a novel neural network architecture called CATSETMAT for the same. We perform extensive experiments on multiple bipartite hypergraph datasets to show the superior performance of CATSETMAT, which we compare with multiple techniques from the state-of-the-art. Our results also elucidate information flow in self- and cross-attention scenarios.