Jérôme Revaud

Philippe Weinzaepfel, Thomas Lucas, Vincent Leroy et al.

Despite impressive performance for high-level downstream tasks, self-supervised pre-training methods have not yet fully delivered on dense geometric vision tasks such as stereo matching or optical flow. The application of self-supervised concepts, such as instance discrimination or masked image modeling, to geometric tasks is an active area of research. In this work, we build on the recent cross-view completion framework, a variation of masked image modeling that leverages a second view from the same scene which makes it well suited for binocular downstream tasks. The applicability of this concept has so far been limited in at least two ways: (a) by the difficulty of collecting real-world image pairs -- in practice only synthetic data have been used -- and (b) by the lack of generalization of vanilla transformers to dense downstream tasks for which relative position is more meaningful than absolute position. We explore three avenues of improvement. First, we introduce a method to collect suitable real-world image pairs at large scale. Second, we experiment with relative positional embeddings and show that they enable vision transformers to perform substantially better. Third, we scale up vision transformer based cross-completion architectures, which is made possible by the use of large amounts of data. With these improvements, we show for the first time that state-of-the-art results on stereo matching and optical flow can be reached without using any classical task-specific techniques like correlation volume, iterative estimation, image warping or multi-scale reasoning, thus paving the way towards universal vision models.

Philippe Weinzaepfel, Vincent Leroy, Thomas Lucas et al.

Masked Image Modeling (MIM) has recently been established as a potent pre-training paradigm. A pretext task is constructed by masking patches in an input image, and this masked content is then predicted by a neural network using visible patches as sole input. This pre-training leads to state-of-the-art performance when finetuned for high-level semantic tasks, e.g. image classification and object detection. In this paper we instead seek to learn representations that transfer well to a wide variety of 3D vision and lower-level geometric downstream tasks, such as depth prediction or optical flow estimation. Inspired by MIM, we propose an unsupervised representation learning task trained from pairs of images showing the same scene from different viewpoints. More precisely, we propose the pretext task of cross-view completion where the first input image is partially masked, and this masked content has to be reconstructed from the visible content and the second image. In single-view MIM, the masked content often cannot be inferred precisely from the visible portion only, so the model learns to act as a prior influenced by high-level semantics. In contrast, this ambiguity can be resolved with cross-view completion from the second unmasked image, on the condition that the model is able to understand the spatial relationship between the two images. Our experiments show that our pretext task leads to significantly improved performance for monocular 3D vision downstream tasks such as depth estimation. In addition, our model can be directly applied to binocular downstream tasks like optical flow or relative camera pose estimation, for which we obtain competitive results without bells and whistles, i.e., using a generic architecture without any task-specific design.

Martin Humenberger, Yohann Cabon, Nicolas Guerin et al.

Visual localization tackles the challenge of estimating the camera pose from images by using correspondence analysis between query images and a map. This task is computation and data intensive which poses challenges on thorough evaluation of methods on various datasets. However, in order to further advance in the field, we claim that robust visual localization algorithms should be evaluated on multiple datasets covering a broad domain variety. To facilitate this, we introduce kapture, a new, flexible, unified data format and toolbox for visual localization and structure-from-motion (SFM). It enables easy usage of different datasets as well as efficient and reusable data processing. To demonstrate this, we present a versatile pipeline for visual localization that facilitates the use of different local and global features, 3D data (e.g. depth maps), non-vision sensor data (e.g. IMU, GPS, WiFi), and various processing algorithms. Using multiple configurations of the pipeline, we show the great versatility of kapture in our experiments. Furthermore, we evaluate our methods on eight public datasets where they rank top on all and first on many of them. To foster future research, we release code, models, and all datasets used in this paper in the kapture format open source under a permissive BSD license. github.com/naver/kapture, github.com/naver/kapture-localization

Vincent Leroy, Yohann Cabon, Jérôme Revaud

Image Matching is a core component of all best-performing algorithms and pipelines in 3D vision. Yet despite matching being fundamentally a 3D problem, intrinsically linked to camera pose and scene geometry, it is typically treated as a 2D problem. This makes sense as the goal of matching is to establish correspondences between 2D pixel fields, but also seems like a potentially hazardous choice. In this work, we take a different stance and propose to cast matching as a 3D task with DUSt3R, a recent and powerful 3D reconstruction framework based on Transformers. Based on pointmaps regression, this method displayed impressive robustness in matching views with extreme viewpoint changes, yet with limited accuracy. We aim here to improve the matching capabilities of such an approach while preserving its robustness. We thus propose to augment the DUSt3R network with a new head that outputs dense local features, trained with an additional matching loss. We further address the issue of quadratic complexity of dense matching, which becomes prohibitively slow for downstream applications if not carefully treated. We introduce a fast reciprocal matching scheme that not only accelerates matching by orders of magnitude, but also comes with theoretical guarantees and, lastly, yields improved results. Extensive experiments show that our approach, coined MASt3R, significantly outperforms the state of the art on multiple matching tasks. In particular, it beats the best published methods by 30% (absolute improvement) in VCRE AUC on the extremely challenging Map-free localization dataset.

Matthijs Douze, Jérôme Revaud, Jakob Verbeek et al.

We address the problem of specific video event retrieval. Given a query video of a specific event, e.g., a concert of Madonna, the goal is to retrieve other videos of the same event that temporally overlap with the query. Our approach encodes the frame descriptors of a video to jointly represent their appearance and temporal order. It exploits the properties of circulant matrices to efficiently compare the videos in the frequency domain. This offers a significant gain in complexity and accurately localizes the matching parts of videos. The descriptors can be compressed in the frequency domain with a product quantizer adapted to complex numbers. In this case, video retrieval is performed without decompressing the descriptors. We also consider the temporal alignment of a set of videos. We exploit the matching confidence and an estimate of the temporal offset computed for all pairs of videos by our retrieval approach. Our robust algorithm aligns the videos on a global timeline by maximizing the set of temporally consistent matches. The global temporal alignment enables synchronous playback of the videos of a given scene.