Jun Li

Zheng Li, Xiang Li, Lingfeng Yang et al.

Most existing distillation methods ignore the flexible role of the temperature in the loss function and fix it as a hyper-parameter that can be decided by an inefficient grid search. In general, the temperature controls the discrepancy between two distributions and can faithfully determine the difficulty level of the distillation task. Keeping a constant temperature, i.e., a fixed level of task difficulty, is usually sub-optimal for a growing student during its progressive learning stages. In this paper, we propose a simple curriculum-based technique, termed Curriculum Temperature for Knowledge Distillation (CTKD), which controls the task difficulty level during the student's learning career through a dynamic and learnable temperature. Specifically, following an easy-to-hard curriculum, we gradually increase the distillation loss w.r.t. the temperature, leading to increased distillation difficulty in an adversarial manner. As an easy-to-use plug-in technique, CTKD can be seamlessly integrated into existing knowledge distillation frameworks and brings general improvements at a negligible additional computation cost. Extensive experiments on CIFAR-100, ImageNet-2012, and MS-COCO demonstrate the effectiveness of our method. Our code is available at https://github.com/zhengli97/CTKD.

Jinchao Yang, Fei Guo, Shuo Chen et al.

We propose a novel style transfer method to quickly create a new visual product with a nice appearance for industrial designers' reference. Given a source product, a target product, and an art style image, our method produces a neural warping field that warps the source shape to imitate the geometric style of the target and a neural texture transformation network that transfers the artistic style to the warped source product. Our model, Industrial Style Transfer (InST), consists of large-scale geometric warping (LGW) and interest-consistency texture transfer (ICTT). LGW aims to explore an unsupervised transformation between the shape masks of the source and target products for fitting large-scale shape warping. Furthermore, we introduce a mask smoothness regularization term to prevent the abrupt changes of the details of the source product. ICTT introduces an interest regularization term to maintain important contents of the warped product when it is stylized by using the art style image. Extensive experimental results demonstrate that InST achieves state-of-the-art performance on multiple visual product design tasks, e.g., companies' snail logos and classical bottles (please see Fig. 1). To the best of our knowledge, we are the first to extend the neural style transfer method to create industrial product appearances. Project page: \ulr{https://jcyang98.github.io/InST/home.html}. Code available at: \url{https://github.com/jcyang98/InST}.

Lei Yang, Xinyu Zhang, Li Wang et al.

Monocular 3D object detection is an essential perception task for autonomous driving. However, the high reliance on large-scale labeled data make it costly and time-consuming during model optimization. To reduce such over-reliance on human annotations, we propose Mix-Teaching, an effective semi-supervised learning framework applicable to employ both labeled and unlabeled images in training stage. Mix-Teaching first generates pseudo-labels for unlabeled images by self-training. The student model is then trained on the mixed images possessing much more intensive and precise labeling by merging instance-level image patches into empty backgrounds or labeled images. This is the first to break the image-level limitation and put high-quality pseudo labels from multi frames into one image for semi-supervised training. Besides, as a result of the misalignment between confidence score and localization quality, it's hard to discriminate high-quality pseudo-labels from noisy predictions using only confidence-based criterion. To that end, we further introduce an uncertainty-based filter to help select reliable pseudo boxes for the above mixing operation. To the best of our knowledge, this is the first unified SSL framework for monocular 3D object detection. Mix-Teaching consistently improves MonoFlex and GUPNet by significant margins under various labeling ratios on KITTI dataset. For example, our method achieves around +6.34% AP@0.7 improvement against the GUPNet baseline on validation set when using only 10% labeled data. Besides, by leveraging full training set and the additional 48K raw images of KITTI, it can further improve the MonoFlex by +4.65% improvement on AP@0.7 for car detection, reaching 18.54% AP@0.7, which ranks the 1st place among all monocular based methods on KITTI test leaderboard. The code and pretrained models will be released at https://github.com/yanglei18/Mix-Teaching.

Liang Peng, Jun Li, Wenbo Shao et al.

Perception algorithms in autonomous driving systems confront great challenges in long-tail traffic scenarios, where the problems of Safety of the Intended Functionality (SOTIF) could be triggered by the algorithm performance insufficiencies and dynamic operational environment. However, such scenarios are not systematically included in current open-source datasets, and this paper fills the gap accordingly. Based on the analysis and enumeration of trigger conditions, a high-quality diverse dataset is released, including various long-tail traffic scenarios collected from multiple resources. Considering the development of probabilistic object detection (POD), this dataset marks trigger sources that may cause perception SOTIF problems in the scenarios as key objects. In addition, an evaluation protocol is suggested to verify the effectiveness of POD algorithms in identifying the key objects via uncertainty. The dataset never stops expanding, and the first batch of open-source data includes 1126 frames with an average of 2.27 key objects and 2.47 normal objects in each frame. To demonstrate how to use this dataset for SOTIF research, this paper further quantifies the perception SOTIF entropy to confirm whether a scenario is unknown and unsafe for a perception system. The experimental results show that the quantified entropy can effectively and efficiently reflect the failure of the perception algorithm.

Zhiqiang Yan, Kun Wang, Xiang Li et al.

Unsupervised depth completion aims to recover dense depth from the sparse one without using the ground-truth annotation. Although depth measurement obtained from LiDAR is usually sparse, it contains valid and real distance information, i.e., scale-consistent absolute depth values. Meanwhile, scale-agnostic counterparts seek to estimate relative depth and have achieved impressive performance. To leverage both the inherent characteristics, we thus suggest to model scale-consistent depth upon unsupervised scale-agnostic frameworks. Specifically, we propose the decomposed scale-consistent learning (DSCL) strategy, which disintegrates the absolute depth into relative depth prediction and global scale estimation, contributing to individual learning benefits. But unfortunately, most existing unsupervised scale-agnostic frameworks heavily suffer from depth holes due to the extremely sparse depth input and weak supervised signal. To tackle this issue, we introduce the global depth guidance (GDG) module, which attentively propagates dense depth reference into the sparse target via novel dense-to-sparse attention. Extensive experiments show the superiority of our method on outdoor KITTI benchmark, ranking 1st and outperforming the best KBNet more than 12% in RMSE. In addition, our approach achieves state-of-the-art performance on indoor NYUv2 dataset.

Jiayi Yuan, Haobo Jiang, Xiang Li et al.

Image guidance is an effective strategy for depth super-resolution. Generally, most existing methods employ hand-crafted operators to decompose the high-frequency (HF) and low-frequency (LF) ingredients from low-resolution depth maps and guide the HF ingredients by directly concatenating them with image features. However, the hand-designed operators usually cause inferior HF maps (e.g., distorted or structurally missing) due to the diverse appearance of complex depth maps. Moreover, the direct concatenation often results in weak guidance because not all image features have a positive effect on the HF maps. In this paper, we develop a recurrent structure attention guided (RSAG) framework, consisting of two important parts. First, we introduce a deep contrastive network with multi-scale filters for adaptive frequency-domain separation, which adopts contrastive networks from large filters to small ones to calculate the pixel contrasts for adaptive high-quality HF predictions. Second, instead of the coarse concatenation guidance, we propose a recurrent structure attention block, which iteratively utilizes the latest depth estimation and the image features to jointly select clear patterns and boundaries, aiming at providing refined guidance for accurate depth recovery. In addition, we fuse the features of HF maps to enhance the edge structures in the decomposed LF maps. Extensive experiments show that our approach obtains superior performance compared with state-of-the-art depth super-resolution methods.

Haibo Chen, Lei Zhao, Jun Li et al.

Artistic style transfer aims to create new artistic images by rendering a given photograph with the target artistic style. Existing methods learn styles simply based on global statistics or local patches, lacking careful consideration of the drawing process in practice. Consequently, the stylization results either fail to capture abundant and diversified local style patterns, or contain undesired semantic information of the style image and deviate from the global style distribution. To address this issue, we imitate the drawing process of humans and propose a Two-Stage Statistics-Aware Transformation (TSSAT) module, which first builds the global style foundation by aligning the global statistics of content and style features and then further enriches local style details by swapping the local statistics (instead of local features) in a patch-wise manner, significantly improving the stylization effects. Moreover, to further enhance both content and style representations, we introduce two novel losses: an attention-based content loss and a patch-based style loss, where the former enables better content preservation by enforcing the semantic relation in the content image to be retained during stylization, and the latter focuses on increasing the local style similarity between the style and stylized images. Extensive qualitative and quantitative experiments verify the effectiveness of our method.

Zhiqiang Yan, Yupeng Zheng, Chongyi Li et al.

Depth completion is the task of recovering dense depth maps from sparse ones, usually with the help of color images. Existing image-guided methods perform well on daytime depth perception self-driving benchmarks, but struggle in nighttime scenarios with poor visibility and complex illumination. To address these challenges, we propose a simple yet effective framework called LDCNet. Our key idea is to use Recurrent Inter-Convolution Differencing (RICD) and Illumination-Affinitive Intra-Convolution Differencing (IAICD) to enhance the nighttime color images and reduce the negative effects of the varying illumination, respectively. RICD explicitly estimates global illumination by differencing two convolutions with different kernels, treating the small-kernel-convolution feature as the center of the large-kernel-convolution feature in a new perspective. IAICD softly alleviates local relative light intensity by differencing a single convolution, where the center is dynamically aggregated based on neighboring pixels and the estimated illumination map in RICD. On both nighttime depth completion and depth estimation tasks, extensive experiments demonstrate the effectiveness of our LDCNet, reaching the state of the art.

Jiayi Yuan, Haobo Jiang, Xiang Li et al.

Real depth super-resolution (DSR), unlike synthetic settings, is a challenging task due to the structural distortion and the edge noise caused by the natural degradation in real-world low-resolution (LR) depth maps. These defeats result in significant structure inconsistency between the depth map and the RGB guidance, which potentially confuses the RGB-structure guidance and thereby degrades the DSR quality. In this paper, we propose a novel structure flow-guided DSR framework, where a cross-modality flow map is learned to guide the RGB-structure information transferring for precise depth upsampling. Specifically, our framework consists of a cross-modality flow-guided upsampling network (CFUNet) and a flow-enhanced pyramid edge attention network (PEANet). CFUNet contains a trilateral self-attention module combining both the geometric and semantic correlations for reliable cross-modality flow learning. Then, the learned flow maps are combined with the grid-sampling mechanism for coarse high-resolution (HR) depth prediction. PEANet targets at integrating the learned flow map as the edge attention into a pyramid network to hierarchically learn the edge-focused guidance feature for depth edge refinement. Extensive experiments on real and synthetic DSR datasets verify that our approach achieves excellent performance compared to state-of-the-art methods.

Guang Yang, Yin Tang, Zhijian Wu et al.

Recent mainstream masked distillation methods function by reconstructing selectively masked areas of a student network from the feature map of its teacher counterpart. In these methods, the masked regions need to be properly selected, such that reconstructed features encode sufficient discrimination and representation capability like the teacher feature. However, previous masked distillation methods only focus on spatial masking, making the resulting masked areas biased towards spatial importance without encoding informative channel clues. In this study, we devise a Dual Masked Knowledge Distillation (DMKD) framework which can capture both spatially important and channel-wise informative clues for comprehensive masked feature reconstruction. More specifically, we employ dual attention mechanism for guiding the respective masking branches, leading to reconstructed feature encoding dual significance. Furthermore, fusing the reconstructed features is achieved by self-adjustable weighting strategy for effective feature distillation. Our experiments on object detection task demonstrate that the student networks achieve performance gains of 4.1% and 4.3% with the help of our method when RetinaNet and Cascade Mask R-CNN are respectively used as the teacher networks, while outperforming the other state-of-the-art distillation methods.

Jiahua Dong, Yang Cong, Gan Sun et al.

3D object recognition has successfully become an appealing research topic in the real-world. However, most existing recognition models unreasonably assume that the categories of 3D objects cannot change over time in the real-world. This unrealistic assumption may result in significant performance degradation for them to learn new classes of 3D objects consecutively, due to the catastrophic forgetting on old learned classes. Moreover, they cannot explore which 3D geometric characteristics are essential to alleviate the catastrophic forgetting on old classes of 3D objects. To tackle the above challenges, we develop a novel Incremental 3D Object Recognition Network (i.e., InOR-Net), which could recognize new classes of 3D objects continuously via overcoming the catastrophic forgetting on old classes. Specifically, a category-guided geometric reasoning is proposed to reason local geometric structures with distinctive 3D characteristics of each class by leveraging intrinsic category information. We then propose a novel critic-induced geometric attention mechanism to distinguish which 3D geometric characteristics within each class are beneficial to overcome the catastrophic forgetting on old classes of 3D objects, while preventing the negative influence of useless 3D characteristics. In addition, a dual adaptive fairness compensations strategy is designed to overcome the forgetting brought by class imbalance, by compensating biased weights and predictions of the classifier. Comparison experiments verify the state-of-the-art performance of the proposed InOR-Net model on several public point cloud datasets.

Xinyu Zhang, Zhiwei Li, Zhenhong Zou et al. · tsinghua

Noise has always been nonnegligible trouble in object detection by creating confusion in model reasoning, thereby reducing the informativeness of the data. It can lead to inaccurate recognition due to the shift in the observed pattern, that requires a robust generalization of the models. To implement a general vision model, we need to develop deep learning models that can adaptively select valid information from multi-modal data. This is mainly based on two reasons. Multi-modal learning can break through the inherent defects of single-modal data, and adaptive information selection can reduce chaos in multi-modal data. To tackle this problem, we propose a universal uncertainty-aware multi-modal fusion model. It adopts a multi-pipeline loosely coupled architecture to combine the features and results from point clouds and images. To quantify the correlation in multi-modal information, we model the uncertainty, as the inverse of data information, in different modalities and embed it in the bounding box generation. In this way, our model reduces the randomness in fusion and generates reliable output. Moreover, we conducted a completed investigation on the KITTI 2D object detection dataset and its derived dirty data. Our fusion model is proven to resist severe noise interference like Gaussian, motion blur, and frost, with only slight degradation. The experiment results demonstrate the benefits of our adaptive fusion. Our analysis on the robustness of multi-modal fusion will provide further insights for future research.

Kun Wang, Zhiqiang Yan, Zhenyu Zhang et al.

Reconstructing category-specific objects using Neural Radiance Field (NeRF) from a single image is a promising yet challenging task. Existing approaches predominantly rely on projection-based feature retrieval to associate 3D points in the radiance field with local image features from the reference image. However, this process is computationally expensive, dependent on known camera intrinsics, and susceptible to occlusions. To address these limitations, we propose Variable Radiance Field (VRF), a novel framework capable of efficiently reconstructing category-specific objects without requiring known camera intrinsics and demonstrating robustness against occlusions. First, we replace the local feature retrieval with global latent representations, generated through a single feed-forward pass, which improves efficiency and eliminates reliance on camera intrinsics. Second, to tackle coordinate inconsistencies inherent in real-world dataset, we define a canonical space by introducing a learnable, category-specific shape template and explicitly aligning each training object to this template using a learnable 3D transformation. This approach also reduces the complexity of geometry prediction to modeling deformations from the template to individual instances. Finally, we employ a hyper-network-based method for efficient NeRF creation and enhance the reconstruction performance through a contrastive learning-based pretraining strategy. Evaluations on the CO3D dataset demonstrate that VRF achieves state-of-the-art performance in both reconstruction quality and computational efficiency.

Li Wang, Xinyu Zhang, Fachuan Zhao et al.

Non-maximum suppression (NMS) is an essential post-processing module used in many 3D object detection frameworks to remove overlapping candidate bounding boxes. However, an overreliance on classification scores and difficulties in determining appropriate thresholds can affect the resulting accuracy directly. To address these issues, we introduce fuzzy learning into NMS and propose a novel generalized Fuzzy-NMS module to achieve finer candidate bounding box filtering. The proposed Fuzzy-NMS module combines the volume and clustering density of candidate bounding boxes, refining them with a fuzzy classification method and optimizing the appropriate suppression thresholds to reduce uncertainty in the NMS process. Adequate validation experiments are conducted using the mainstream KITTI and large-scale Waymo 3D object detection benchmarks. The results of these tests demonstrate the proposed Fuzzy-NMS module can improve the accuracy of numerous recently NMS-based detectors significantly, including PointPillars, PV-RCNN, and IA-SSD, etc. This effect is particularly evident for small objects such as pedestrians and bicycles. As a plug-and-play module, Fuzzy-NMS does not need to be retrained and produces no obvious increases in inference time.

Hao Tan, Zichang Tan, Jun Li et al.

Multi-label image recognition is a fundamental task in computer vision. Recently, Vision-Language Models (VLMs) have made notable advancements in this area. However, previous methods fail to effectively leverage the rich knowledge in language models and often incorporate label semantics into visual features unidirectionally. To overcome these problems, we propose a Split-and-Synthesize Prompting with Gated Alignments (SSPA) framework to amplify the potential of VLMs. Specifically, we develop an in-context learning approach to associate the inherent knowledge from LLMs. Then we propose a novel Split-and-Synthesize Prompting (SSP) strategy to first model the generic knowledge and downstream label semantics individually and then aggregate them carefully through the quaternion network. Moreover, we present Gated Dual-Modal Alignments (GDMA) to bidirectionally interact visual and linguistic modalities while eliminating redundant cross-modal information, enabling more efficient region-level alignments. Rather than making the final prediction by a sharp manner in previous works, we propose a soft aggregator to jointly consider results from all image regions. With the help of flexible prompting and gated alignments, SSPA is generalizable to specific domains. Extensive experiments on nine datasets from three domains (i.e., natural, pedestrian attributes and remote sensing) demonstrate the state-of-the-art performance of SSPA. Further analyses verify the effectiveness of SSP and the interpretability of GDMA. The code will be made public.

Zhourui Zhang, Jun Li, Zhijian Wu et al.

In recent years, current mainstream feature masking distillation methods mainly function by reconstructing selectively masked regions of a student network from the feature maps of a teacher network. In these methods, attention mechanisms can help to identify spatially important regions and crucial object-aware channel clues, such that the reconstructed features are encoded with sufficient discriminative and representational power similar to teacher features. However, previous feature-masking distillation methods mainly address homogeneous knowledge distillation without fully taking into account the heterogeneous knowledge distillation scenario. In particular, the huge discrepancy between the teacher and the student frameworks within the heterogeneous distillation paradigm is detrimental to feature masking, leading to deteriorating reconstructed student features. In this study, a novel dual feature-masking heterogeneous distillation framework termed DFMSD is proposed for object detection. More specifically, a stage-wise adaptation learning module is incorporated into the dual feature-masking framework, and thus the student model can be progressively adapted to the teacher models for bridging the gap between heterogeneous networks. Furthermore, a masking enhancement strategy is combined with stage-wise learning such that object-aware masking regions are adaptively strengthened to improve feature-masking reconstruction. In addition, semantic alignment is performed at each Feature Pyramid Network (FPN) layer between the teacher and the student networks for generating consistent feature distributions. Our experiments for the object detection task demonstrate the promise of our approach, suggesting that DFMSD outperforms both the state-of-the-art heterogeneous and homogeneous distillation methods.

Lei Yang, Xinyu Zhang, Li Wang et al.

3D object detection with a single image is an essential and challenging task for autonomous driving. Recently, keypoint-based monocular 3D object detection has made tremendous progress and achieved great speed-accuracy trade-off. However, there still exists a huge gap with LIDAR-based methods in terms of accuracy. To improve their performance without sacrificing efficiency, we propose a sort of lightweight feature pyramid network called Lite-FPN to achieve multi-scale feature fusion in an effective and efficient way, which can boost the multi-scale detection capability of keypoint-based detectors. Besides, the misalignment between classification score and localization precision is further relieved by introducing a novel regression loss named attention loss. With the proposed loss, predictions with high confidence but poor localization are treated with more attention during the training phase. Comparative experiments based on several state-of-the-art keypoint-based detectors on the KITTI dataset show that our proposed methods manage to achieve significant improvements in both accuracy and frame rate. The code and pretrained models will be released at \url{https://github.com/yanglei18/Lite-FPN}.

Wei Luo, Hengmin Zhang, Jun Li et al.

We aim to provide a computationally cheap yet effective approach for fine-grained image classification (FGIC) in this letter. Unlike previous methods that rely on complex part localization modules, our approach learns fine-grained features by enhancing the semantics of sub-features of a global feature. Specifically, we first achieve the sub-feature semantic by arranging feature channels of a CNN into different groups through channel permutation. Meanwhile, to enhance the discriminability of sub-features, the groups are guided to be activated on object parts with strong discriminability by a weighted combination regularization. Our approach is parameter parsimonious and can be easily integrated into the backbone model as a plug-and-play module for end-to-end training with only image-level supervision. Experiments verified the effectiveness of our approach and validated its comparable performance to the state-of-the-art methods. Code is available at https://github.com/cswluo/SEF

Xiang Li, Wenhai Wang, Lijun Wu et al.

One-stage detector basically formulates object detection as dense classification and localization. The classification is usually optimized by Focal Loss and the box location is commonly learned under Dirac delta distribution. A recent trend for one-stage detectors is to introduce an individual prediction branch to estimate the quality of localization, where the predicted quality facilitates the classification to improve detection performance. This paper delves into the representations of the above three fundamental elements: quality estimation, classification and localization. Two problems are discovered in existing practices, including (1) the inconsistent usage of the quality estimation and classification between training and inference and (2) the inflexible Dirac delta distribution for localization when there is ambiguity and uncertainty in complex scenes. To address the problems, we design new representations for these elements. Specifically, we merge the quality estimation into the class prediction vector to form a joint representation of localization quality and classification, and use a vector to represent arbitrary distribution of box locations. The improved representations eliminate the inconsistency risk and accurately depict the flexible distribution in real data, but contain continuous labels, which is beyond the scope of Focal Loss. We then propose Generalized Focal Loss (GFL) that generalizes Focal Loss from its discrete form to the continuous version for successful optimization. On COCO test-dev, GFL achieves 45.0\% AP using ResNet-101 backbone, surpassing state-of-the-art SAPD (43.5\%) and ATSS (43.6\%) with higher or comparable inference speed, under the same backbone and training settings. Notably, our best model can achieve a single-model single-scale AP of 48.2\%, at 10 FPS on a single 2080Ti GPU. Code and models are available at https://github.com/implus/GFocal.

Zhiqiang Yan, Zhengxue Wang, Kun Wang et al.

In this paper, we introduce the Selective Image Guided Network (SigNet), a novel degradation-aware framework that transforms depth completion into depth enhancement for the first time. Moving beyond direct completion using convolutional neural networks (CNNs), SigNet initially densifies sparse depth data through non-CNN densification tools to obtain coarse yet dense depth. This approach eliminates the mismatch and ambiguity caused by direct convolution over irregularly sampled sparse data. Subsequently, SigNet redefines completion as enhancement, establishing a self-supervised degradation bridge between the coarse depth and the targeted dense depth for effective RGB-D fusion. To achieve this, SigNet leverages the implicit degradation to adaptively select high-frequency components (e.g., edges) of RGB data to compensate for the coarse depth. This degradation is further integrated into a multi-modal conditional Mamba, dynamically generating the state parameters to enable efficient global high-frequency information interaction. We conduct extensive experiments on the NYUv2, DIML, SUN RGBD, and TOFDC datasets, demonstrating the state-of-the-art (SOTA) performance of SigNet.

Hao Tan, Zichang Tan, Jun Li et al.

Multi-label image recognition is a fundamental task in computer vision. Recently, vision-language models have made notable advancements in this area. However, previous methods often failed to effectively leverage the rich knowledge within language models and instead incorporated label semantics into visual features in a unidirectional manner. In this paper, we propose a Prompt-driven Visual-Linguistic Representation Learning (PVLR) framework to better leverage the capabilities of the linguistic modality. In PVLR, we first introduce a dual-prompting strategy comprising Knowledge-Aware Prompting (KAP) and Context-Aware Prompting (CAP). KAP utilizes fixed prompts to capture the intrinsic semantic knowledge and relationships across all labels, while CAP employs learnable prompts to capture context-aware label semantics and relationships. Later, we propose an Interaction and Fusion Module (IFM) to interact and fuse the representations obtained from KAP and CAP. In contrast to the unidirectional fusion in previous works, we introduce a Dual-Modal Attention (DMA) that enables bidirectional interaction between textual and visual features, yielding context-aware label representations and semantic-related visual representations, which are subsequently used to calculate similarities and generate final predictions for all labels. Extensive experiments on three popular datasets including MS-COCO, Pascal VOC 2007, and NUS-WIDE demonstrate the superiority of PVLR.

Qianliang Wu, Haobo Jiang, Yaqing Ding et al.

Establishing reliable correspondences is crucial for all registration tasks, including 2D image registration, 3D point cloud registration, and 2D-3D image-to-point cloud registration. However, these tasks are often complicated by challenges such as scale inconsistencies, symmetry, and large deformations, which can lead to ambiguous matches. Previous feature-based and correspondence-based methods typically rely on geometric or semantic features to generate or polish initial potential correspondences. Some methods typically leverage specific geometric priors, such as topological preservation, to devise diverse and innovative strategies tailored to a given enhancement goal, which cannot be exhaustively enumerated. Additionally, many previous approaches rely on a single-step prediction head, which can struggle with local minima in complex matching scenarios. To address these challenges, we introduce an innovative paradigm that leverages a diffusion model in matrix space for robust matching matrix estimation. Our model treats correspondence estimation as a denoising diffusion process in the matching matrix space, gradually refining the intermediate matching matrix to the optimal one. Specifically, we apply the diffusion model in the doubly stochastic matrix space for 3D-3D and 2D-3D registration tasks. In the 2D image registration task, we deploy the diffusion model in a matrix subspace where dual-softmax projection regularization is applied. For all three registration tasks, we provide adaptive matching matrix embedding implementations tailored to the specific characteristics of each task while maintaining a consistent "match-to-warp" encoding pattern. Furthermore, we adopt a lightweight design for the denoising module. In inference, once points or image features are extracted and fixed, this module performs multi-step denoising predictions through reverse sampling.

Zhiqiang Yan, Xiang Li, Le Hui et al.

Depth completion aims to recover dense depth maps from sparse ones, where color images are often used to facilitate this task. Recent depth methods primarily focus on image guided learning frameworks. However, blurry guidance in the image and unclear structure in the depth still impede their performance. To tackle these challenges, we explore a repetitive design in our image guided network to gradually and sufficiently recover depth values. Specifically, the repetition is embodied in both the image guidance branch and depth generation branch. In the former branch, we design a dense repetitive hourglass network (DRHN) to extract discriminative image features of complex environments, which can provide powerful contextual instruction for depth prediction. In the latter branch, we present a repetitive guidance (RG) module based on dynamic convolution, in which an efficient convolution factorization is proposed to reduce the complexity while modeling high-frequency structures progressively. Furthermore, in the semantic guidance branch, we utilize the well-known large vision model, i.e., segment anything (SAM), to supply RG with semantic prior. In addition, we propose a region-aware spatial propagation network (RASPN) for further depth refinement based on the semantic prior constraint. Finally, we collect a new dataset termed TOFDC for the depth completion task, which is acquired by the time-of-flight (TOF) sensor and the color camera on smartphones. Extensive experiments demonstrate that our method achieves state-of-the-art performance on KITTI, NYUv2, Matterport3D, 3D60, VKITTI, and our TOFDC.

Shangwei Guo, Jun Li, Zhengchao Lai et al.

Deep learning on the point cloud is increasingly developing. Grouping the point with its neighbors and conducting convolution-like operation on them can learn the local feature of the point cloud, but this method is weak to extract the long-distance global feature. Performing the attention-based transformer on the whole point cloud can effectively learn the global feature of it, but this method is hardly to extract the local detailed feature. In this paper, we propose a novel module that can simultaneously extract and fuse local and global features, which is named as CT-block. The CT-block is composed of two branches, where the letter C represents the convolution-branch and the letter T represents the transformer-branch. The convolution-branch performs convolution on the grouped neighbor points to extract the local feature. Meanwhile, the transformer-branch performs offset-attention process on the whole point cloud to extract the global feature. Through the bridge constructed by the feature transmission element in the CT-block, the local and global features guide each other during learning and are fused effectively. We apply the CT-block to construct point cloud classification and segmentation networks, and evaluate the performance of them by several public datasets. The experimental results show that, because the features learned by CT-block are much expressive, the performance of the networks constructed by the CT-block on the point cloud classification and segmentation tasks achieve state of the art.

Xi Cheng, Jun Li, Qiang Dai et al.

Structured illumination microscopy (SIM) is an important super-resolution based microscopy technique that breaks the diffraction limit and enhances optical microscopy systems. With the development of biology and medical engineering, there is a high demand for real-time and robust SIM imaging under extreme low light and short exposure environments. Existing SIM techniques typically require multiple structured illumination frames to produce a high-resolution image. In this paper, we propose a single-frame structured illumination microscopy (SF-SIM) based on deep learning. Our SF-SIM only needs one shot of a structured illumination frame and generates similar results compared with the traditional SIM systems that typically require 15 shots. In our SF-SIM, we propose a noise estimator which can effectively suppress the noise in the image and enable our method to work under the low light and short exposure environment, without the need for stacking multiple frames for non-local denoising. We also design a bandpass attention module that makes our deep network more sensitive to the change of frequency and enhances the imaging quality. Our proposed SF-SIM is almost 14 times faster than traditional SIM methods when achieving similar results. Therefore, our method is significantly valuable for the development of microbiology and medicine.

Li Wang, Chenfei Wang, Xinyu Zhang et al.

3D object detection plays a crucial role in environmental perception for autonomous vehicles, which is the prerequisite of decision and control. This paper analyses partition-based methods' inherent drawbacks. In the partition operation, a single instance such as a pedestrian is sliced into several pieces, which we call it the partition effect. We propose the Spatial-Attention Graph Convolution (S-AT GCN), forming the Feature Enhancement (FE) layers to overcome this drawback. The S-AT GCN utilizes the graph convolution and the spatial attention mechanism to extract local geometrical structure features. This allows the network to have more meaningful features for the foreground. Our experiments on the KITTI 3D object and bird's eye view detection show that S-AT Conv and FE layers are effective, especially for small objects. FE layers boost the pedestrian class performance by 3.62\% and cyclist class by 4.21\% 3D mAP. The time cost of these extra FE layers are limited. PointPillars with FE layers can achieve 48 PFS, satisfying the real-time requirement.

Jun Li, Wanrong Hong, Yusheng Xiang

Machine learning methods based on statistical principles have proven highly successful in dealing with a wide variety of data analysis and analytics tasks. Traditional data models are mostly concerned with independent identically distributed data. The recent success of end-to-end modelling scheme using deep neural networks equipped with effective structures such as convolutional layers or skip connections allows the extension to more sophisticated and structured practical data, such as natural language, images, videos, etc. On the application side, vector fields are an extremely useful type of data in empirical sciences, as well as signal processing, e.g. non-parametric transformations of 3D point clouds using 3D vector fields, the modelling of the fluid flow in earth science, and the modelling of physical fields. This review article is dedicated to recent computational tools of vector fields, including vector data representations, predictive model of spatial data, as well as applications in computer vision, signal processing, and empirical sciences.

Bin Sun, Jun Li, Ming Shao et al.

Deep learning has become popular in recent years primarily due to the powerful computing device such as GPUs. However, deploying these deep models to end-user devices, smart phones, or embedded systems with limited resources is challenging. To reduce the computation and memory costs, we propose a novel lightweight deep learning module by low-rank pointwise residual (LPR) convolution, called LPRNet. Essentially, LPR aims at using low-rank approximation in pointwise convolution to further reduce the module size, while keeping depthwise convolutions as the residual module to rectify the LPR module. This is critical when the low-rankness undermines the convolution process. We embody our design by replacing modules of identical input-output dimension in MobileNet and ShuffleNetv2. Experiments on visual recognition tasks including image classification and face alignment on popular benchmarks show that our LPRNet achieves competitive performance but with significant reduction of Flops and memory cost compared to the state-of-the-art deep models focusing on model compression.

Chengjie Niu, Jun Li, Kai Xu

We propose to recover 3D shape structures from single RGB images, where structure refers to shape parts represented by cuboids and part relations encompassing connectivity and symmetry. Given a single 2D image with an object depicted, our goal is automatically recover a cuboid structure of the object parts as well as their mutual relations. We develop a convolutional-recursive auto-encoder comprised of structure parsing of a 2D image followed by structure recovering of a cuboid hierarchy. The encoder is achieved by a multi-scale convolutional network trained with the task of shape contour estimation, thereby learning to discern object structures in various forms and scales. The decoder fuses the features of the structure parsing network and the original image, and recursively decodes a hierarchy of cuboids. Since the decoder network is learned to recover part relations including connectivity and symmetry explicitly, the plausibility and generality of part structure recovery can be ensured. The two networks are jointly trained using the training data of contour-mask and cuboid structure pairs. Such pairs are generated by rendering stock 3D CAD models coming with part segmentation. Our method achieves unprecedentedly faithful and detailed recovery of diverse 3D part structures from single-view 2D images. We demonstrate two applications of our method including structure-guided completion of 3D volumes reconstructed from single-view images and structure-aware interactive editing of 2D images.

Hongfu Liu, Jun Li, Yue Wu et al.

Cluster analysis and outlier detection are strongly coupled tasks in data mining area. Cluster structure can be easily destroyed by few outliers; on the contrary, outliers are defined by the concept of cluster, which are recognized as the points belonging to none of the clusters. Unfortunately, most existing studies do not notice the coupled relationship between these two task and handle them separately. In light of this, we consider the joint cluster analysis and outlier detection problem, and propose the Clustering with Outlier Removal (COR) algorithm. Generally speaking, the original space is transformed into the binary space via generating basic partitions in order to define clusters. Then an objective function based Holoentropy is designed to enhance the compactness of each cluster with a few outliers removed. With further analyses on the objective function, only partial of the problem can be handled by K-means optimization. To provide an integrated solution, an auxiliary binary matrix is nontrivally introduced so that COR completely and efficiently solves the challenging problem via a unified K-means-- with theoretical supports. Extensive experimental results on numerous data sets in various domains demonstrate the effectiveness and efficiency of COR significantly over state-of-the-art methods in terms of cluster validity and outlier detection. Some key factors in COR are further analyzed for practical use. Finally, an application on flight trajectory is provided to demonstrate the effectiveness of COR in the real-world scenario.