Xuan Li

Xuan Li, Yi-Ling Qiao, Peter Yichen Chen et al. · mit

Existing approaches to system identification (estimating the physical parameters of an object) from videos assume known object geometries. This precludes their applicability in a vast majority of scenes where object geometries are complex or unknown. In this work, we aim to identify parameters characterizing a physical system from a set of multi-view videos without any assumption on object geometry or topology. To this end, we propose "Physics Augmented Continuum Neural Radiance Fields" (PAC-NeRF), to estimate both the unknown geometry and physical parameters of highly dynamic objects from multi-view videos. We design PAC-NeRF to only ever produce physically plausible states by enforcing the neural radiance field to follow the conservation laws of continuum mechanics. For this, we design a hybrid Eulerian-Lagrangian representation of the neural radiance field, i.e., we use the Eulerian grid representation for NeRF density and color fields, while advecting the neural radiance fields via Lagrangian particles. This hybrid Eulerian-Lagrangian representation seamlessly blends efficient neural rendering with the material point method (MPM) for robust differentiable physics simulation. We validate the effectiveness of our proposed framework on geometry and physical parameter estimation over a vast range of materials, including elastic bodies, plasticine, sand, Newtonian and non-Newtonian fluids, and demonstrate significant performance gain on most tasks.

Tianyi Xie, Zeshun Zong, Yuxing Qiu et al.

We introduce PhysGaussian, a new method that seamlessly integrates physically grounded Newtonian dynamics within 3D Gaussians to achieve high-quality novel motion synthesis. Employing a custom Material Point Method (MPM), our approach enriches 3D Gaussian kernels with physically meaningful kinematic deformation and mechanical stress attributes, all evolved in line with continuum mechanics principles. A defining characteristic of our method is the seamless integration between physical simulation and visual rendering: both components utilize the same 3D Gaussian kernels as their discrete representations. This negates the necessity for triangle/tetrahedron meshing, marching cubes, "cage meshes," or any other geometry embedding, highlighting the principle of "what you see is what you simulate (WS$^2$)." Our method demonstrates exceptional versatility across a wide variety of materials--including elastic entities, metals, non-Newtonian fluids, and granular materials--showcasing its strong capabilities in creating diverse visual content with novel viewpoints and movements. Our project page is at: https://xpandora.github.io/PhysGaussian/

Xuan Li, Paule-J Toussaint, Alan Evans et al.

The lack of a comprehensive high-resolution atlas of the cerebellum has hampered studies of cerebellar involvement in normal brain function and disease. A good representation of the tightly foliated aspect of the cerebellar cortex is difficult to achieve because of the highly convoluted surface and the time it would take for manual delineation. The quality of manual segmentation is influenced by human expert judgment, and automatic labelling is constrained by the limited robustness of existing segmentation algorithms. The 20umisotropic BigBrain dataset provides an unprecedented high resolution framework for semantic segmentation compared to the 1000um(1mm) resolution afforded by magnetic resonance imaging. To dispense with the manual annotation requirement, we propose to train a model to adaptively transfer the annotation from the cerebellum on the Allen Brain Human Brain Atlas to the BigBrain in an unsupervised manner, taking into account the different staining and spacing between sections. The distinct visual discrepancy between the Allen Brain and BigBrain prevents existing approaches to provide meaningful segmentation masks, and artifacts caused by sectioning and histological slice preparation in the BigBrain data pose an extra challenge. To address these problems, we propose a two-stage framework where we first transfer the Allen Brain cerebellum to a space sharing visual similarity with the BigBrain. We then introduce a self-training strategy with a confidence map to guide the model learning from the noisy pseudo labels iteratively. Qualitative results validate the effectiveness of our approach, and quantitative experiments reveal that our method can achieve over 2.6% loss reduction compared with other approaches.

Siyu Teng, Xuan Li, Yucheng Li et al.

In recent years, open-pit mining has seen significant advancement, the cooperative operation of various specialized machinery substantially enhancing the efficiency of mineral extraction. However, the harsh environment and complex conditions in open-pit mines present substantial challenges for the implementation of autonomous transportation systems. This research introduces a novel paradigm that integrates Scenario Engineering (SE) with autonomous transportation systems to significantly improve the trustworthiness, robustness, and efficiency in open-pit mines by incorporating the four key components of SE, including Scenario Feature Extractor, Intelligence and Index (I&I), Calibration and Certification (C&C), and Verification and Validation (V&V). This paradigm has been validated in two famous open-pit mines, the experiment results demonstrate marked improvements in robustness, trustworthiness, and efficiency. By enhancing the capacity, scalability, and diversity of autonomous transportation, this paradigm fosters the integration of SE and parallel driving and finally propels the achievement of the '6S' objectives.

Siyu Teng, Xuan Li, Yuchen Li et al.

One critical bottleneck that impedes the development and deployment of autonomous transportation in open-pit mines is guaranteed robustness and trustworthiness in prohibitively extreme scenarios. In this research, a novel scenarios engineering (SE) methodology for the autonomous mining truck is proposed for open-pit mines. SE increases the trustworthiness and robustness of autonomous trucks from four key components: Scenario Feature Extractor, Intelligence & Index (I&I), Calibration & Certification (C&C), and Verification & Validation (V&V). Scenario feature extractor is a comprehensive pipeline approach that captures complex interactions and latent dependencies in complex mining scenarios. I&I effectively enhances the quality of the training dataset, thereby establishing a solid foundation for autonomous transportation in mining areas. C&C is grounded in the intrinsic regulation, capabilities, and contributions of the intelligent systems employed in autonomous transportation to align with traffic participants in the real world and ensure their performance through certification. V&V process ensures that the autonomous transportation system can be correctly implemented, while validation focuses on evaluating the ability of the well-trained model to operate efficiently in the complex and dynamic conditions of the open-pit mines. This methodology addresses the unique challenges of autonomous transportation in open-pit mining, promoting productivity, safety, and performance in mining operations.

Xuan Li, Liqiong Chang, Xue Liu

Attributed to the ever-increasing large image datasets, Convolutional Neural Networks (CNNs) have become popular for vision-based tasks. It is generally admirable to have larger-sized datasets for higher network training accuracies. However, the impact of dataset quality has not to be involved. It is reasonable to assume the near-duplicate images exist in the datasets. For instance, the Street View House Numbers (SVHN) dataset having cropped house plate digits from 0 to 9 are likely to have repetitive digits from the same/similar house plates. Redundant images may take up a certain portion of the dataset without consciousness. While contributing little to no accuracy improvement for the CNNs training, these duplicated images unnecessarily pose extra resource and computation consumption. To this end, this paper proposes a framework to assess the impact of the near-duplicate images on CNN training performance, called CE-Dedup. Specifically, CE-Dedup associates a hashing-based image deduplication approach with downstream CNNs-based image classification tasks. CE-Dedup balances the tradeoff between a large deduplication ratio and a stable accuracy by adjusting the deduplication threshold. The effectiveness of CE-Dedup is validated through extensive experiments on well-known CNN benchmarks. On one hand, while maintaining the same validation accuracy, CE-Dedup can reduce the dataset size by 23%. On the other hand, when allowing a small validation accuracy drop (by 5%), CE-Dedup can trim the dataset size by 75%.

Yonglin Tian, Xuan Li, Kunfeng Wang et al.

In the area of computer vision, deep learning has produced a variety of state-of-the-art models that rely on massive labeled data. However, collecting and annotating images from the real world has a great demand for labor and money investments and is usually too passive to build datasets with specific characteristics, such as small area of objects and high occlusion level. Under the framework of Parallel Vision, this paper presents a purposeful way to design artificial scenes and automatically generate virtual images with precise annotations. A virtual dataset named ParallelEye is built, which can be used for several computer vision tasks. Then, by training the DPM (Deformable Parts Model) and Faster R-CNN detectors, we prove that the performance of models can be significantly improved by combining ParallelEye with publicly available real-world datasets during the training phase. In addition, we investigate the potential of testing the trained models from a specific aspect using intentionally designed virtual datasets, in order to discover the flaws of trained models. From the experimental results, we conclude that our virtual dataset is viable to train and test the object detectors.

Xuan Li, Kunfeng Wang, Yonglin Tian et al.

Video image datasets are playing an essential role in design and evaluation of traffic vision algorithms. Nevertheless, a longstanding inconvenience concerning image datasets is that manually collecting and annotating large-scale diversified datasets from real scenes is time-consuming and prone to error. For that virtual datasets have begun to function as a proxy of real datasets. In this paper, we propose to construct large-scale artificial scenes for traffic vision research and generate a new virtual dataset called "ParallelEye". First of all, the street map data is used to build 3D scene model of Zhongguancun Area, Beijing. Then, the computer graphics, virtual reality, and rule modeling technologies are utilized to synthesize large-scale, realistic virtual urban traffic scenes, in which the fidelity and geography match the real world well. Furthermore, the Unity3D platform is used to render the artificial scenes and generate accurate ground-truth labels, e.g., semantic/instance segmentation, object bounding box, object tracking, optical flow, and depth. The environmental conditions in artificial scenes can be controlled completely. As a result, we present a viable implementation pipeline for constructing large-scale artificial scenes for traffic vision research. The experimental results demonstrate that this pipeline is able to generate photorealistic virtual datasets with low modeling time and high accuracy labeling.