Siyeong Lee

Jumin Lee, Siyeong Lee, Namil Kim et al.

Long-tail distributions in driving datasets pose a fundamental challenge for 3D perception, as rare classes exhibit substantial intra-class diversity yet available samples cover this variation space only sparsely. Existing instance augmentation methods based on copy-paste or asset libraries improve rare-class exposure but are often limited in fine-grained diversity and scene-context placement. We propose VERIA, an image-first multimodal augmentation framework that synthesizes synchronized RGB--LiDAR instances using off-the-shelf foundation models and curates them with sequential semantic and geometric verification. This verification-centric design tends to select instances that better match real LiDAR statistics while spanning a wider range of intra-class variation. Stage-wise yield decomposition provides a log-based diagnostic of pipeline reliability. On nuScenes and Lyft, VERIA improves rare-class 3D object detection in both LiDAR-only and multimodal settings. Our code is available at https://sgvr.kaist.ac.kr/VERIA/.

Mincheol Chang, Siyeong Lee, Jinkyu Kim et al.

Typical LiDAR-based 3D object detection models are trained in a supervised manner with real-world data collection, which is often imbalanced over classes (or long-tailed). To deal with it, augmenting minority-class examples by sampling ground truth (GT) LiDAR points from a database and pasting them into a scene of interest is often used, but challenges still remain: inflexibility in locating GT samples and limited sample diversity. In this work, we propose to leverage pseudo-LiDAR point clouds generated (at a low cost) from videos capturing a surround view of miniatures or real-world objects of minor classes. Our method, called Pseudo Ground Truth Augmentation (PGT-Aug), consists of three main steps: (i) volumetric 3D instance reconstruction using a 2D-to-3D view synthesis model, (ii) object-level domain alignment with LiDAR intensity estimation and (iii) a hybrid context-aware placement method from ground and map information. We demonstrate the superiority and generality of our method through performance improvements in extensive experiments conducted on three popular benchmarks, i.e., nuScenes, KITTI, and Lyft, especially for the datasets with large domain gaps captured by different LiDAR configurations. Our code and data will be publicly available upon publication.

Subeen Lee, Siyeong Lee, Namil Kim et al.

For 3D perception systems to be practical in real-world applications -- from autonomous driving to embodied AI -- models must adapt to continuously evolving object definitions and sensor domains. Yet, research on continual and transfer learning in 3D point cloud perception remains underexplored compared to 2D vision -- particularly under simultaneous domain and label shifts. To address this gap, we propose the RObust Autonomous driving under Dataset shifts (ROAD) benchmark, a comprehensive evaluation suite for LiDAR-based object classification that explicitly accounts for domain shifts as well as three key forms of label evolution: class split, class expansion, and class insertion. Using large-scale datasets (Waymo, NuScenes, Argoverse2), we evaluate zero-shot transfer, linear probe, and CL, and analyze the impact of backbone architectures, training objectives, and CL methods. Our findings reveal limitations of existing approaches under realistic shifts and establish strong baselines for future research in robust 3D perception.

Kwanghee Choi, Siyeong Lee

Notable progress has been made in numerous fields of machine learning based on neural network-driven mutual information (MI) bounds. However, utilizing the conventional MI-based losses is often challenging due to their practical and mathematical limitations. In this work, we first identify the symptoms behind their instability: (1) the neural network not converging even after the loss seemed to converge, and (2) saturating neural network outputs causing the loss to diverge. We mitigate both issues by adding a novel regularization term to the existing losses. We theoretically and experimentally demonstrate that added regularization stabilizes training. Finally, we present a novel benchmark that evaluates MI-based losses on both the MI estimation power and its capability on the downstream tasks, closely following the pre-existing supervised and contrastive learning settings. We evaluate six different MI-based losses and their regularized counterparts on multiple benchmarks to show that our approach is simple yet effective.

Kyunghun Kim, Yeohun Yun, Keon-Woo Kang et al.

Image outpainting is a very intriguing problem as the outside of a given image can be continuously filled by considering as the context of the image. This task has two main challenges. The first is to maintain the spatial consistency in contents of generated regions and the original input. The second is to generate a high-quality large image with a small amount of adjacent information. Conventional image outpainting methods generate inconsistent, blurry, and repeated pixels. To alleviate the difficulty of an outpainting problem, we propose a novel image outpainting method using bidirectional boundary region rearrangement. We rearrange the image to benefit from the image inpainting task by reflecting more directional information. The bidirectional boundary region rearrangement enables the generation of the missing region using bidirectional information similar to that of the image inpainting task, thereby generating the higher quality than the conventional methods using unidirectional information. Moreover, we use the edge map generator that considers images as original input with structural information and hallucinates the edges of unknown regions to generate the image. Our proposed method is compared with other state-of-the-art outpainting and inpainting methods both qualitatively and quantitatively. We further compared and evaluated them using BRISQUE, one of the No-Reference image quality assessment (IQA) metrics, to evaluate the naturalness of the output. The experimental results demonstrate that our method outperforms other methods and generates new images with 360°panoramic characteristics.

Jung Hee Kim, Siyeong Lee, Suk-Ju Kang

Recently, high dynamic range (HDR) image reconstruction based on the multiple exposure stack from a given single exposure utilizes a deep learning framework to generate high-quality HDR images. These conventional networks focus on the exposure transfer task to reconstruct the multi-exposure stack. Therefore, they often fail to fuse the multi-exposure stack into a perceptually pleasant HDR image as the inversion artifacts occur. We tackle the problem in stack reconstruction-based methods by proposing a novel framework with a fully differentiable high dynamic range imaging (HDRI) process. By explicitly using the loss, which compares the network's output with the ground truth HDR image, our framework enables a neural network that generates the multiple exposure stack for HDRI to train stably. In other words, our differentiable HDR synthesis layer helps the deep neural network to train to create multi-exposure stacks while reflecting the precise correlations between multi-exposure images in the HDRI process. In addition, our network uses the image decomposition and the recursive process to facilitate the exposure transfer task and to adaptively respond to recursion frequency. The experimental results show that the proposed network outperforms the state-of-the-art quantitative and qualitative results in terms of both the exposure transfer tasks and the whole HDRI process.

Siyeong Lee, Gwon Hwan An, Suk-Ju Kang

In this paper, we propose a novel deep neural network model that reconstructs a high dynamic range (HDR) image from a single low dynamic range (LDR) image. The proposed model is based on a convolutional neural network composed of dilated convolutional layers, and infers LDR images with various exposures and illumination from a single LDR image of the same scene. Then, the final HDR image can be formed by merging these inference results. It is relatively easy for the proposed method to find the mapping between the LDR and an HDR with a different bit depth because of the chaining structure inferring the relationship between the LDR images with brighter (or darker) exposures from a given LDR image. The method not only extends the range, but also has the advantage of restoring the light information of the actual physical world. For the HDR images obtained by the proposed method, the HDR-VDP2 Q score, which is the most popular evaluation metric for HDR images, was 56.36 for a display with a 1920$\times$1200 resolution, which is an improvement of 6 compared with the scores of conventional algorithms. In addition, when comparing the peak signal-to-noise ratio values for tone mapped HDR images generated by the proposed and conventional algorithms, the average value obtained by the proposed algorithm is 30.86 dB, which is 10 dB higher than those obtained by the conventional algorithms.