Feng Jiang

Feng Jiang, Chaoping Tu, Gang Zhang et al.

LiDAR and camera are two critical sensors for multi-modal 3D semantic segmentation and are supposed to be fused efficiently and robustly to promise safety in various real-world scenarios. However, existing multi-modal methods face two key challenges: 1) difficulty with efficient deployment and real-time execution; and 2) drastic performance degradation under weak calibration between LiDAR and cameras. To address these challenges, we propose CPGNet-LCF, a new multi-modal fusion framework extending the LiDAR-only CPGNet. CPGNet-LCF solves the first challenge by inheriting the easy deployment and real-time capabilities of CPGNet. For the second challenge, we introduce a novel weak calibration knowledge distillation strategy during training to improve the robustness against the weak calibration. CPGNet-LCF achieves state-of-the-art performance on the nuScenes and SemanticKITTI benchmarks. Remarkably, it can be easily deployed to run in 20ms per frame on a single Tesla V100 GPU using TensorRT TF16 mode. Furthermore, we benchmark performance over four weak calibration levels, demonstrating the robustness of our proposed approach.

Sabrina Narimene Benassou, Wuzhen Shi, Feng Jiang

Weakly Supervised Object Localization is challenging because of the lack of bounding box annotations. Previous works tend to generate a class activation map i.e CAM to localize the object. Unfortunately, the network activates only the features that discriminate the object and does not activate the whole object. Some methods tend to remove some parts of the object to force the CNN to detect other features, whereas, others change the network structure to generate multiple CAMs from different levels of the model. In this present article, we propose to take advantage of the generalization ability of the network and train the model using clean examples and adversarial examples to localize the whole object. Adversarial examples are typically used to train robust models and are images where a perturbation is added. To get a good classification accuracy, the CNN trained with adversarial examples is forced to detect more features that discriminate the object. We futher propose to apply the shannon entropy on the CAMs generated by the network to guide it during training. Our method does not erase any part of the image neither does it change the network architecure and extensive experiments show that our Entropy Guided Adversarial model (EGA model) improved performance on state of the arts benchmarks for both localization and classification accuracy.