Patrick Perez

Awet Haileslassie Gebrehiwot, Patrik Vacek, David Hurych et al.

Automatic pseudo-labeling is a powerful tool to tap into large amounts of sequential unlabeled data. It is specially appealing in safety-critical applications of autonomous driving, where performance requirements are extreme, datasets are large, and manual labeling is very challenging. We propose to leverage sequences of point clouds to boost the pseudolabeling technique in a teacher-student setup via training multiple teachers, each with access to different temporal information. This set of teachers, dubbed Concordance, provides higher quality pseudo-labels for student training than standard methods. The output of multiple teachers is combined via a novel pseudo label confidence-guided criterion. Our experimental evaluation focuses on the 3D point cloud domain and urban driving scenarios. We show the performance of our method applied to 3D semantic segmentation and 3D object detection on three benchmark datasets. Our approach, which uses only 20% manual labels, outperforms some fully supervised methods. A notable performance boost is achieved for classes rarely appearing in training data.

Adrien Ramanana Rahary, Nicolas Dufour, Patrick Perez et al.

Monocular novel-view synthesis has long required multi-view image pairs for supervision, limiting training data scale and diversity. We argue it is not necessary: one view is enough. We present OVIE, trained entirely on unpaired internet images. We leverage a monocular depth estimator as a geometric scaffold at training time: we lift a source image into 3D, apply a sampled camera transformation, and project to obtain a pseudo-target view. To handle disocclusions, we introduce a masked training formulation that restricts geometric, perceptual, and textural losses to valid regions, enabling training on 30 million uncurated images. At inference, OVIE is geometry-free, requiring no depth estimator or 3D representation. Trained exclusively on in-the-wild images, OVIE outperforms prior methods in a zero-shot setting, while being 600x faster than the second-best baseline. Code and models are publicly available at https://github.com/AdrienRR/ovie.

Eslam Abdelrahman, Liangbing Zhao, Vincent Tao Hu et al.

Diffusion models break down the challenging task of generating data from high-dimensional distributions into a series of easier denoising steps. Inspired by this paradigm, we propose a novel approach that extends the diffusion framework into modality space, decomposing the complex task of RGB image generation into simpler, interpretable stages. Our method, termed ToddlerDiffusion, cascades modality-specific models, each responsible for generating an intermediate representation, such as contours, palettes, and detailed textures, ultimately culminating in a high-quality RGB image. Instead of relying on the naive LDM concatenation conditioning mechanism to connect the different stages together, we employ Schrödinger Bridge to determine the optimal transport between different modalities. Although employing a cascaded pipeline introduces more stages, which could lead to a more complex architecture, each stage is meticulously formulated for efficiency and accuracy, surpassing Stable-Diffusion (LDM) performance. Modality composition not only enhances overall performance but enables emerging proprieties such as consistent editing, interaction capabilities, high-level interpretability, and faster convergence and sampling rate. Extensive experiments on diverse datasets, including LSUN-Churches, ImageNet, CelebHQ, and LAION-Art, demonstrate the efficacy of our approach, consistently outperforming state-of-the-art methods. For instance, ToddlerDiffusion achieves notable efficiency, matching LDM performance on LSUN-Churches while operating 2$\times$ faster with a 3$\times$ smaller architecture. The project website is available at: https://toddlerdiffusion.github.io/website/

Patrik Vacek, David Hurych, Karel Zimmermann et al.

Learning without supervision how to predict 3D scene flows from point clouds is essential to many perception systems. We propose a novel learning framework for this task which improves the necessary regularization. Relying on the assumption that scene elements are mostly rigid, current smoothness losses are built on the definition of "rigid clusters" in the input point clouds. The definition of these clusters is challenging and has a significant impact on the quality of predicted flows. We introduce two new consistency losses that enlarge clusters while preventing them from spreading over distinct objects. In particular, we enforce \emph{temporal} consistency with a forward-backward cyclic loss and \emph{spatial} consistency by considering surface orientation similarity in addition to spatial proximity. The proposed losses are model-independent and can thus be used in a plug-and-play fashion to significantly improve the performance of existing models, as demonstrated on two most widely used architectures. We also showcase the effectiveness and generalization capability of our framework on four standard sensor-unique driving datasets, achieving state-of-the-art performance in 3D scene flow estimation. Our codes are available on https://github.com/ctu-vras/sac-flow.

Arnaud Dapogny, Matthieu Cord, Patrick Perez

Image completion is the problem of generating whole images from fragments only. It encompasses inpainting (generating a patch given its surrounding), reverse inpainting/extrapolation (generating the periphery given the central patch) as well as colorization (generating one or several channels given other ones). In this paper, we employ a deep network to perform image completion, with adversarial training as well as perceptual and completion losses, and call it the ``missing data encoder'' (MDE). We consider several configurations based on how the seed fragments are chosen. We show that training MDE for ``random extrapolation and colorization'' (MDE-REC), i.e. using random channel-independent fragments, allows a better capture of the image semantics and geometry. MDE training makes use of a novel ``hide-and-seek'' adversarial loss, where the discriminator seeks the original non-masked regions, while the generator tries to hide them. We validate our models both qualitatively and quantitatively on several datasets, showing their interest for image completion, unsupervised representation learning as well as face occlusion handling.

Senthil Yogamani, Ciaran Hughes, Jonathan Horgan et al.

Fisheye cameras are commonly employed for obtaining a large field of view in surveillance, augmented reality and in particular automotive applications. In spite of their prevalence, there are few public datasets for detailed evaluation of computer vision algorithms on fisheye images. We release the first extensive fisheye automotive dataset, WoodScape, named after Robert Wood who invented the fisheye camera in 1906. WoodScape comprises of four surround view cameras and nine tasks including segmentation, depth estimation, 3D bounding box detection and soiling detection. Semantic annotation of 40 classes at the instance level is provided for over 10,000 images and annotation for other tasks are provided for over 100,000 images. With WoodScape, we would like to encourage the community to adapt computer vision models for fisheye camera instead of using naive rectification.

Huy V. Vo, Francis Bach, Minsu Cho et al.

Learning with complete or partial supervision is powerful but relies on ever-growing human annotation efforts. As a way to mitigate this serious problem, as well as to serve specific applications, unsupervised learning has emerged as an important field of research. In computer vision, unsupervised learning comes in various guises. We focus here on the unsupervised discovery and matching of object categories among images in a collection, following the work of Cho et al. 2015. We show that the original approach can be reformulated and solved as a proper optimization problem. Experiments on several benchmarks establish the merit of our approach.

Victor Talpaert, Ibrahim Sobh, B Ravi Kiran et al.

Deep Reinforcement Learning (DRL) has become increasingly powerful in recent years, with notable achievements such as Deepmind's AlphaGo. It has been successfully deployed in commercial vehicles like Mobileye's path planning system. However, a vast majority of work on DRL is focused on toy examples in controlled synthetic car simulator environments such as TORCS and CARLA. In general, DRL is still at its infancy in terms of usability in real-world applications. Our goal in this paper is to encourage real-world deployment of DRL in various autonomous driving (AD) applications. We first provide an overview of the tasks in autonomous driving systems, reinforcement learning algorithms and applications of DRL to AD systems. We then discuss the challenges which must be addressed to enable further progress towards real-world deployment.

Juan-Manuel Perez-Rua, Tomas Crivelli, Patrick Bouthemy et al.

Polynomial regression is a recurrent problem with a large number of applications. In computer vision it often appears in motion analysis. Whatever the application, standard methods for regression of polynomial models tend to deliver biased results when the input data is heavily contaminated by outliers. Moreover, the problem is even harder when outliers have strong structure. Departing from problem-tailored heuristics for robust estimation of parametric models, we explore deep convolutional neural networks. Our work aims to find a generic approach for training deep regression models without the explicit need of supervised annotation. We bypass the need for a tailored loss function on the regression parameters by attaching to our model a differentiable hard-wired decoder corresponding to the polynomial operation at hand. We demonstrate the value of our findings by comparing with standard robust regression methods. Furthermore, we demonstrate how to use such models for a real computer vision problem, i.e., video stabilization. The qualitative and quantitative experiments show that neural networks are able to learn robustness for general polynomial regression, with results that well overpass scores of traditional robust estimation methods.

Huy V. Vo, Ngoc Q. K. Duong, Patrick Perez

Scene-agnostic visual inpainting remains very challenging despite progress in patch-based methods. Recently, Pathak et al. 2016 have introduced convolutional "context encoders" (CEs) for unsupervised feature learning through image completion tasks. With the additional help of adversarial training, CEs turned out to be a promising tool to complete complex structures in real inpainting problems. In the present paper we propose to push further this key ability by relying on perceptual reconstruction losses at training time. We show on a wide variety of visual scenes the merit of the approach for structural inpainting, and confirm it through a user study. Combined with the optimization-based refinement of Yang et al. 2016 with neural patches, our context encoder opens up new opportunities for prior-free visual inpainting.

Erwan Le Merrer, Patrick Perez, Gilles Trédan

The state of the art performance of deep learning models comes at a high cost for companies and institutions, due to the tedious data collection and the heavy processing requirements. Recently, [35, 22] proposed to watermark convolutional neural networks for image classification, by embedding information into their weights. While this is a clear progress towards model protection, this technique solely allows for extracting the watermark from a network that one accesses locally and entirely. Instead, we aim at allowing the extraction of the watermark from a neural network (or any other machine learning model) that is operated remotely, and available through a service API. To this end, we propose to mark the model's action itself, tweaking slightly its decision frontiers so that a set of specific queries convey the desired information. In the present paper, we formally introduce the problem and propose a novel zero-bit watermarking algorithm that makes use of adversarial model examples. While limiting the loss of performance of the protected model, this algorithm allows subsequent extraction of the watermark using only few queries. We experimented the approach on three neural networks designed for image classification, in the context of MNIST digit recognition task.

Pablo Garrido, Levi Valgaerts, Ole Rehmsen et al.

We propose an image-based, facial reenactment system that replaces the face of an actor in an existing target video with the face of a user from a source video, while preserving the original target performance. Our system is fully automatic and does not require a database of source expressions. Instead, it is able to produce convincing reenactment results from a short source video captured with an off-the-shelf camera, such as a webcam, where the user performs arbitrary facial gestures. Our reenactment pipeline is conceived as part image retrieval and part face transfer: The image retrieval is based on temporal clustering of target frames and a novel image matching metric that combines appearance and motion to select candidate frames from the source video, while the face transfer uses a 2D warping strategy that preserves the user's identity. Our system excels in simplicity as it does not rely on a 3D face model, it is robust under head motion and does not require the source and target performance to be similar. We show convincing reenactment results for videos that we recorded ourselves and for low-quality footage taken from the Internet.

Praveen Kulkarni, Joaquin Zepeda, Frederic Jurie et al.

Deep Convolutional Neural Networks (DCNN) have established a remarkable performance benchmark in the field of image classification, displacing classical approaches based on hand-tailored aggregations of local descriptors. Yet DCNNs impose high computational burdens both at training and at testing time, and training them requires collecting and annotating large amounts of training data. Supervised adaptation methods have been proposed in the literature that partially re-learn a transferred DCNN structure from a new target dataset. Yet these require expensive bounding-box annotations and are still computationally expensive to learn. In this paper, we address these shortcomings of DCNN adaptation schemes by proposing a hybrid approach that combines conventional, unsupervised aggregators such as Bag-of-Words (BoW), with the DCNN pipeline by treating the output of intermediate layers as densely extracted local descriptors. We test a variant of our approach that uses only intermediate DCNN layers on the standard PASCAL VOC 2007 dataset and show performance significantly higher than the standard BoW model and comparable to Fisher vector aggregation but with a feature that is 150 times smaller. A second variant of our approach that includes the fully connected DCNN layers significantly outperforms Fisher vector schemes and performs comparably to DCNN approaches adapted to Pascal VOC 2007, yet at only a small fraction of the training and testing cost.