Ke Cao

Ruiping Liu, Jiaming Zhang, Kunyu Peng et al.

Grounded Situation Recognition (GSR) is capable of recognizing and interpreting visual scenes in a contextually intuitive way, yielding salient activities (verbs) and the involved entities (roles) depicted in images. In this work, we focus on the application of GSR in assisting people with visual impairments (PVI). However, precise localization information of detected objects is often required to navigate their surroundings confidently and make informed decisions. For the first time, we propose an Open Scene Understanding (OpenSU) system that aims to generate pixel-wise dense segmentation masks of involved entities instead of bounding boxes. Specifically, we build our OpenSU system on top of GSR by additionally adopting an efficient Segment Anything Model (SAM). Furthermore, to enhance the feature extraction and interaction between the encoder-decoder structure, we construct our OpenSU system using a solid pure transformer backbone to improve the performance of GSR. In order to accelerate the convergence, we replace all the activation functions within the GSR decoders with GELU, thereby reducing the training duration. In quantitative analysis, our model achieves state-of-the-art performance on the SWiG dataset. Moreover, through field testing on dedicated assistive technology datasets and application demonstrations, the proposed OpenSU system can be used to enhance scene understanding and facilitate the independent mobility of people with visual impairments. Our code will be available at https://github.com/RuipingL/OpenSU.

Ke Cao, Ruiping Liu, Ze Wang et al.

The mobile robot relies on SLAM (Simultaneous Localization and Mapping) to provide autonomous navigation and task execution in complex and unknown environments. However, it is hard to develop a dedicated algorithm for mobile robots due to dynamic and challenging situations, such as poor lighting conditions and motion blur. To tackle this issue, we propose a tightly-coupled LiDAR-visual SLAM based on geometric features, which includes two sub-systems (LiDAR and monocular visual SLAM) and a fusion framework. The fusion framework associates the depth and semantics of the multi-modal geometric features to complement the visual line landmarks and to add direction optimization in Bundle Adjustment (BA). This further constrains visual odometry. On the other hand, the entire line segment detected by the visual subsystem overcomes the limitation of the LiDAR subsystem, which can only perform the local calculation for geometric features. It adjusts the direction of linear feature points and filters out outliers, leading to a higher accurate odometry system. Finally, we employ a module to detect the subsystem's operation, providing the LiDAR subsystem's output as a complementary trajectory to our system while visual subsystem tracking fails. The evaluation results on the public dataset M2DGR, gathered from ground robots across various indoor and outdoor scenarios, show that our system achieves more accurate and robust pose estimation compared to current state-of-the-art multi-modal methods.

Zhifeng Teng, Jiaming Zhang, Kailun Yang et al.

Seeing only a tiny part of the whole is not knowing the full circumstance. Bird's-eye-view (BEV) perception, a process of obtaining allocentric maps from egocentric views, is restricted when using a narrow Field of View (FoV) alone. In this work, mapping from 360° panoramas to BEV semantics, the 360BEV task, is established for the first time to achieve holistic representations of indoor scenes in a top-down view. Instead of relying on narrow-FoV image sequences, a panoramic image with depth information is sufficient to generate a holistic BEV semantic map. To benchmark 360BEV, we present two indoor datasets, 360BEV-Matterport and 360BEV-Stanford, both of which include egocentric panoramic images and semantic segmentation labels, as well as allocentric semantic maps. Besides delving deep into different mapping paradigms, we propose a dedicated solution for panoramic semantic mapping, namely 360Mapper. Through extensive experiments, our methods achieve 44.32% and 45.78% in mIoU on both datasets respectively, surpassing previous counterparts with gains of +7.60% and +9.70% in mIoU. Code and datasets are available at the project page: https://jamycheung.github.io/360BEV.html.

Ke Cao, Xuanhua He, Tao Hu et al.

Multi-modal image fusion integrates complementary information from different modalities to produce enhanced and informative images. Although State-Space Models, such as Mamba, are proficient in long-range modeling with linear complexity, most Mamba-based approaches use fixed scanning strategies, which can introduce biased prior information. To mitigate this issue, we propose a novel Bayesian-inspired scanning strategy called Random Shuffle, supplemented by a theoretically feasible inverse shuffle to maintain information coordination invariance, aiming to eliminate biases associated with fixed sequence scanning. Based on this transformation pair, we customized the Shuffle Mamba Framework, penetrating modality-aware information representation and cross-modality information interaction across spatial and channel axes to ensure robust interaction and an unbiased global receptive field for multi-modal image fusion. Furthermore, we develop a testing methodology based on Monte-Carlo averaging to ensure the model's output aligns more closely with expected results. Extensive experiments across multiple multi-modal image fusion tasks demonstrate the effectiveness of our proposed method, yielding excellent fusion quality compared to state-of-the-art alternatives. The code is available at https://github.com/caoke-963/Shuffle-Mamba.

Xuanhua He, Ke Cao, Keyu Yan et al.

Pan-sharpening involves integrating information from low-resolution multi-spectral and high-resolution panchromatic images to generate high-resolution multi-spectral counterparts. While recent advancements in the state space model, particularly the efficient long-range dependency modeling achieved by Mamba, have revolutionized computer vision community, its untapped potential in pan-sharpening motivates our exploration. Our contribution, Pan-Mamba, represents a novel pan-sharpening network that leverages the efficiency of the Mamba model in global information modeling. In Pan-Mamba, we customize two core components: channel swapping Mamba and cross-modal Mamba, strategically designed for efficient cross-modal information exchange and fusion. The former initiates a lightweight cross-modal interaction through the exchange of partial panchromatic and multi-spectral channels, while the latter facilities the information representation capability by exploiting inherent cross-modal relationships. Through extensive experiments across diverse datasets, our proposed approach surpasses state-of-the-art methods, showcasing superior fusion results in pan-sharpening. To the best of our knowledge, this work is the first attempt in exploring the potential of the Mamba model and establishes a new frontier in the pan-sharpening techniques. The source code is available at \url{https://github.com/alexhe101/Pan-Mamba}.

Xuanhua He, Quande Liu, Shengju Qian et al.

Generating high-fidelity human video with specified identities has attracted significant attention in the content generation community. However, existing techniques struggle to strike a balance between training efficiency and identity preservation, either requiring tedious case-by-case fine-tuning or usually missing identity details in the video generation process. In this study, we present \textbf{ID-Animator}, a zero-shot human-video generation approach that can perform personalized video generation given a single reference facial image without further training. ID-Animator inherits existing diffusion-based video generation backbones with a face adapter to encode the ID-relevant embeddings from learnable facial latent queries. To facilitate the extraction of identity information in video generation, we introduce an ID-oriented dataset construction pipeline that incorporates unified human attributes and action captioning techniques from a constructed facial image pool. Based on this pipeline, a random reference training strategy is further devised to precisely capture the ID-relevant embeddings with an ID-preserving loss, thus improving the fidelity and generalization capacity of our model for ID-specific video generation. Extensive experiments demonstrate the superiority of ID-Animator to generate personalized human videos over previous models. Moreover, our method is highly compatible with popular pre-trained T2V models like animatediff and various community backbone models, showing high extendability in real-world applications for video generation where identity preservation is highly desired. Our codes and checkpoints are released at https://github.com/ID-Animator/ID-Animator.

Xuanhua He, Lang Li, Yingying Wang et al.

Image restoration aims to reconstruct the latent clear images from their degraded versions. Despite the notable achievement, existing methods predominantly focus on handling specific degradation types and thus require specialized models, impeding real-world applications in dynamic degradation scenarios. To address this issue, we propose Large Model Driven Image Restoration framework (LMDIR), a novel multiple-in-one image restoration paradigm that leverages the generic priors from large multi-modal language models (MMLMs) and the pretrained diffusion models. In detail, LMDIR integrates three key prior knowledges: 1) global degradation knowledge from MMLMs, 2) scene-aware contextual descriptions generated by MMLMs, and 3) fine-grained high-quality reference images synthesized by diffusion models guided by MMLM descriptions. Standing on above priors, our architecture comprises a query-based prompt encoder, degradation-aware transformer block injecting global degradation knowledge, content-aware transformer block incorporating scene description, and reference-based transformer block incorporating fine-grained image priors. This design facilitates single-stage training paradigm to address various degradations while supporting both automatic and user-guided restoration. Extensive experiments demonstrate that our designed method outperforms state-of-the-art competitors on multiple evaluation benchmarks.

Ruiping Liu, Jiaming Zhang, Kunyu Peng et al.

Integrating information from multiple modalities enhances the robustness of scene perception systems in autonomous vehicles, providing a more comprehensive and reliable sensory framework. However, the modality incompleteness in multi-modal segmentation remains under-explored. In this work, we establish a task called Modality-Incomplete Scene Segmentation (MISS), which encompasses both system-level modality absence and sensor-level modality errors. To avoid the predominant modality reliance in multi-modal fusion, we introduce a Missing-aware Modal Switch (MMS) strategy to proactively manage missing modalities during training. Utilizing bit-level batch-wise sampling enhances the model's performance in both complete and incomplete testing scenarios. Furthermore, we introduce the Fourier Prompt Tuning (FPT) method to incorporate representative spectral information into a limited number of learnable prompts that maintain robustness against all MISS scenarios. Akin to fine-tuning effects but with fewer tunable parameters (1.1%). Extensive experiments prove the efficacy of our proposed approach, showcasing an improvement of 5.84% mIoU over the prior state-of-the-art parameter-efficient methods in modality missing. The source code is publicly available at https://github.com/RuipingL/MISS.

Ran Zhang, Xuanhua He, Li Xueheng et al.

The field of pan-sharpening has recently seen a trend towards increasingly large and complex models, often trained on single, specific satellite datasets. This one-dataset, one-model approach leads to high computational overhead and impractical deployment. More critically, it overlooks a core challenge: poor generalization from reduced-resolution (RR) training to real-world full-resolution (FR) data. In response to this issue, we challenge this paradigm. We introduce a multiple-in-one training strategy, where a single, compact model is trained simultaneously on three distinct satellite datasets (WV2, WV3, and GF2). Our experiments show the primary benefit of this unified strategy is a significant and universal boost in FR generalization (QNR) across all tested models, directly addressing this overlooked problem. This paradigm also inherently solves the one-model-per-dataset challenge, and we support it with a highly reproducible, dependency-free codebase for true usability. Finally, we propose PanTiny, a lightweight framework designed specifically for this new, robust paradigm. We demonstrate it achieves a superior performance-to-efficiency balance, proving that principled, simple and robust design is more effective than brute-force scaling in this practical setting. Our work advocates for a community-wide shift towards creating efficient, deployable, and truly generalizable models for pan-sharpening. The code is open-sourced at https://github.com/Zirconium233/PanTiny.

Ran Zhang, Xuanhua He, Ke Cao et al.

Multi-modality image fusion aims to synthesize a single, comprehensive image from multiple source inputs. Traditional approaches, such as CNNs and GANs, offer efficiency but struggle to handle low-quality or complex inputs. Recent advances in text-guided methods leverage large model priors to overcome these limitations, but at the cost of significant computational overhead, both in memory and inference time. To address this challenge, we propose a novel framework for distilling large model priors, eliminating the need for text guidance during inference while dramatically reducing model size. Our framework utilizes a teacher-student architecture, where the teacher network incorporates large model priors and transfers this knowledge to a smaller student network via a tailored distillation process. Additionally, we introduce spatial-channel cross-fusion module to enhance the model's ability to leverage textual priors across both spatial and channel dimensions. Our method achieves a favorable trade-off between computational efficiency and fusion quality. The distilled network, requiring only 10% of the parameters and inference time of the teacher network, retains 90% of its performance and outperforms existing SOTA methods. Extensive experiments demonstrate the effectiveness of our approach. The implementation will be made publicly available as an open-source resource.

Jing Wang, Ao Ma, Ke Cao et al.

Recent rapid advancements in text-to-video (T2V) generation, such as SoRA and Kling, have shown great potential for building world simulators. However, current T2V models struggle to grasp abstract physical principles and generate videos that adhere to physical laws. This challenge arises primarily from a lack of clear guidance on physical information due to a significant gap between abstract physical principles and generation models. To this end, we introduce the World Simulator Assistant (WISA), an effective framework for decomposing and incorporating physical principles into T2V models. Specifically, WISA decomposes physical principles into textual physical descriptions, qualitative physical categories, and quantitative physical properties. To effectively embed these physical attributes into the generation process, WISA incorporates several key designs, including Mixture-of-Physical-Experts Attention (MoPA) and a Physical Classifier, enhancing the model's physics awareness. Furthermore, most existing datasets feature videos where physical phenomena are either weakly represented or entangled with multiple co-occurring processes, limiting their suitability as dedicated resources for learning explicit physical principles. We propose a novel video dataset, WISA-32K, collected based on qualitative physical categories. It consists of 32,000 videos, representing 17 physical laws across three domains of physics: dynamics, thermodynamics, and optics. Experimental results demonstrate that WISA can effectively enhance the compatibility of T2V models with real-world physical laws, achieving a considerable improvement on the VideoPhy benchmark. The visual exhibitions of WISA and WISA-32K are available in the https://360cvgroup.github.io/WISA/.