2022-11-01 更新
Boosting Monocular 3D Object Detection with Object-Centric Auxiliary Depth Supervision
Authors:Youngseok Kim, Sanmin Kim, Sangmin Sim, Jun Won Choi, Dongsuk Kum
Recent advances in monocular 3D detection leverage a depth estimation network explicitly as an intermediate stage of the 3D detection network. Depth map approaches yield more accurate depth to objects than other methods thanks to the depth estimation network trained on a large-scale dataset. However, depth map approaches can be limited by the accuracy of the depth map, and sequentially using two separated networks for depth estimation and 3D detection significantly increases computation cost and inference time. In this work, we propose a method to boost the RGB image-based 3D detector by jointly training the detection network with a depth prediction loss analogous to the depth estimation task. In this way, our 3D detection network can be supervised by more depth supervision from raw LiDAR points, which does not require any human annotation cost, to estimate accurate depth without explicitly predicting the depth map. Our novel object-centric depth prediction loss focuses on depth around foreground objects, which is important for 3D object detection, to leverage pixel-wise depth supervision in an object-centric manner. Our depth regression model is further trained to predict the uncertainty of depth to represent the 3D confidence of objects. To effectively train the 3D detector with raw LiDAR points and to enable end-to-end training, we revisit the regression target of 3D objects and design a network architecture. Extensive experiments on KITTI and nuScenes benchmarks show that our method can significantly boost the monocular image-based 3D detector to outperform depth map approaches while maintaining the real-time inference speed.
PDF Accepted by IEEE Transaction on Intelligent Transportation System (T-ITS)
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ResiDualGAN: Resize-Residual DualGAN for Cross-Domain Remote Sensing Images Semantic Segmentation
Authors:Yang Zhao, Peng Guo, Zihao Sun, Xiuwan Chen, Han Gao
The performance of a semantic segmentation model for remote sensing (RS) images pretrained on an annotated dataset would greatly decrease when testing on another unannotated dataset because of the domain gap. Adversarial generative methods, e.g., DualGAN, are utilized for unpaired image-to-image translation to minimize the pixel-level domain gap, which is one of the common approaches for unsupervised domain adaptation (UDA). However, the existing image translation methods are facing two problems when performing RS images translation: 1) ignoring the scale discrepancy between two RS datasets which greatly affects the accuracy performance of scale-invariant objects, 2) ignoring the characteristic of real-to-real translation of RS images which brings an unstable factor for the training of the models. In this paper, ResiDualGAN is proposed for RS images translation, where an in-network resizer module is used for addressing the scale discrepancy of RS datasets, and a residual connection is used for strengthening the stability of real-to-real images translation and improving the performance in cross-domain semantic segmentation tasks. Combined with an output space adaptation method, the proposed method greatly improves the accuracy performance on common benchmarks, which demonstrates the superiority and reliability of ResiDuanGAN. At the end of the paper, a thorough discussion is also conducted to give a reasonable explanation for the improvement of ResiDualGAN. Our source code is available at https://github.com/miemieyanga/ResiDualGAN-DRDG.
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Time-rEversed diffusioN tEnsor Transformer: A new TENET of Few-Shot Object Detection
Authors:Shan Zhang, Naila Murray, Lei Wang, Piotr Koniusz
In this paper, we tackle the challenging problem of Few-shot Object Detection. Existing FSOD pipelines (i) use average-pooled representations that result in information loss; and/or (ii) discard position information that can help detect object instances. Consequently, such pipelines are sensitive to large intra-class appearance and geometric variations between support and query images. To address these drawbacks, we propose a Time-rEversed diffusioN tEnsor Transformer (TENET), which i) forms high-order tensor representations that capture multi-way feature occurrences that are highly discriminative, and ii) uses a transformer that dynamically extracts correlations between the query image and the entire support set, instead of a single average-pooled support embedding. We also propose a Transformer Relation Head (TRH), equipped with higher-order representations, which encodes correlations between query regions and the entire support set, while being sensitive to the positional variability of object instances. Our model achieves state-of-the-art results on PASCAL VOC, FSOD, and COCO.
PDF Accepted at the 17th European Conference on Computer Vision (ECCV 2022)
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Bridging the View Disparity Between Radar and Camera Features for Multi-modal Fusion 3D Object Detection
Authors:Taohua Zhou, Yining Shi, Junjie Chen, Kun Jiang, Mengmeng Yang, Diange Yang
Environmental perception with the multi-modal fusion of radar and camera is crucial in autonomous driving to increase accuracy, completeness, and robustness. This paper focuses on utilizing millimeter-wave (MMW) radar and camera sensor fusion for 3D object detection. A novel method that realizes the feature-level fusion under the bird’s-eye view (BEV) for a better feature representation is proposed. Firstly, radar points are augmented with temporal accumulation and sent to a spatial-temporal encoder for radar feature extraction. Meanwhile, multi-scale image 2D features which adapt to various spatial scales are obtained by image backbone and neck model. Then, image features are transformed to BEV with the designed view transformer. In addition, this work fuses the multi-modal features with a two-stage fusion model called point-fusion and ROI-fusion, respectively. Finally, a detection head regresses objects category and 3D locations. Experimental results demonstrate that the proposed method realizes the state-of-the-art (SOTA) performance under the most crucial detection metrics-mean average precision (mAP) and nuScenes detection score (NDS) on the challenging nuScenes dataset.
PDF 12 pages,6 figures
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Foreign Object Debris Detection for Airport Pavement Images based on Self-supervised Localization and Vision Transformer
Authors:Travis Munyer, Daniel Brinkman, Xin Zhong, Chenyu Huang, Iason Konstantzos
Supervised object detection methods provide subpar performance when applied to Foreign Object Debris (FOD) detection because FOD could be arbitrary objects according to the Federal Aviation Administration (FAA) specification. Current supervised object detection algorithms require datasets that contain annotated examples of every to-be-detected object. While a large and expensive dataset could be developed to include common FOD examples, it is infeasible to collect all possible FOD examples in the dataset representation because of the open-ended nature of FOD. Limitations of the dataset could cause FOD detection systems driven by those supervised algorithms to miss certain FOD, which can become dangerous to airport operations. To this end, this paper presents a self-supervised FOD localization by learning to predict the runway images, which avoids the enumeration of FOD annotation examples. The localization method utilizes the Vision Transformer (ViT) to improve localization performance. The experiments show that the method successfully detects arbitrary FOD in real-world runway situations. The paper also provides an extension to the localization result to perform classification; a feature that can be useful to downstream tasks. To train the localization, this paper also presents a simple and realistic dataset creation framework that only collects clean runway images. The training and testing data for this method are collected at a local airport using unmanned aircraft systems (UAS). Additionally, the developed dataset is provided for public use and further studies.
PDF This paper has been accepted for publication by the 2022 International Conference on Computational Science & Computational Intelligence (CSCI’22), Research Track on Signal & Image Processing, Computer Vision & Pattern Recognition
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Benchmarking performance of object detection under image distortions in an uncontrolled environment
Authors:Ayman Beghdadi, Malik Mallem, Lotfi Beji
The robustness of object detection algorithms plays a prominent role in real-world applications, especially in uncontrolled environments due to distortions during image acquisition. It has been proven that the performance of object detection methods suffers from in-capture distortions. In this study, we present a performance evaluation framework for the state-of-the-art object detection methods using a dedicated dataset containing images with various distortions at different levels of severity. Furthermore, we propose an original strategy of image distortion generation applied to the MS-COCO dataset that combines some local and global distortions to reach much better performances. We have shown that training using the proposed dataset improves the robustness of object detection by 31.5\%. Finally, we provide a custom dataset including natural images distorted from MS-COCO to perform a more reliable evaluation of the robustness against common distortions. The database and the generation source codes of the different distortions are made publicly available
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Multi-Camera Calibration Free BEV Representation for 3D Object Detection
Authors:Hongxiang Jiang, Wenming Meng, Hongmei Zhu, Qian Zhang, Jihao Yin
In advanced paradigms of autonomous driving, learning Bird’s Eye View (BEV) representation from surrounding views is crucial for multi-task framework. However, existing methods based on depth estimation or camera-driven attention are not stable to obtain transformation under noisy camera parameters, mainly with two challenges, accurate depth prediction and calibration. In this work, we present a completely Multi-Camera Calibration Free Transformer (CFT) for robust BEV representation, which focuses on exploring implicit mapping, not relied on camera intrinsics and extrinsics. To guide better feature learning from image views to BEV, CFT mines potential 3D information in BEV via our designed position-aware enhancement (PA). Instead of camera-driven point-wise or global transformation, for interaction within more effective region and lower computation cost, we propose a view-aware attention which also reduces redundant computation and promotes converge. CFT achieves 49.7% NDS on the nuScenes detection task leaderboard, which is the first work removing camera parameters, comparable to other geometry-guided methods. Without temporal input and other modal information, CFT achieves second highest performance with a smaller image input 1600 * 640. Thanks to view-attention variant, CFT reduces memory and transformer FLOPs for vanilla attention by about 12% and 60%, respectively, with improved NDS by 1.0%. Moreover, its natural robustness to noisy camera parameters makes CFT more competitive.
PDF 15 pages, 7 figures
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Max Pooling with Vision Transformers reconciles class and shape in weakly supervised semantic segmentation
Authors:Simone Rossetti, Damiano Zappia, Marta Sanzari, Marco Schaerf, Fiora Pirri
Weakly Supervised Semantic Segmentation (WSSS) research has explored many directions to improve the typical pipeline CNN plus class activation maps (CAM) plus refinements, given the image-class label as the only supervision. Though the gap with the fully supervised methods is reduced, further abating the spread seems unlikely within this framework. On the other hand, WSSS methods based on Vision Transformers (ViT) have not yet explored valid alternatives to CAM. ViT features have been shown to retain a scene layout, and object boundaries in self-supervised learning. To confirm these findings, we prove that the advantages of transformers in self-supervised methods are further strengthened by Global Max Pooling (GMP), which can leverage patch features to negotiate pixel-label probability with class probability. This work proposes a new WSSS method dubbed ViT-PCM (ViT Patch-Class Mapping), not based on CAM. The end-to-end presented network learns with a single optimization process, refined shape and proper localization for segmentation masks. Our model outperforms the state-of-the-art on baseline pseudo-masks (BPM), where we achieve $69.3\%$ mIoU on PascalVOC 2012 $val$ set. We show that our approach has the least set of parameters, though obtaining higher accuracy than all other approaches. In a sentence, quantitative and qualitative results of our method reveal that ViT-PCM is an excellent alternative to CNN-CAM based architectures.
PDF 28 pages, 9 images, ECCV 2022 conference
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