2022-11-18 更新
Egocentric Hand-object Interaction Detection
Authors:Yao Lu, Yanan Liu
In this paper, we propose a method to jointly determine the status of hand-object interaction. This is crucial for egocentric human activity understanding and interaction. From a computer vision perspective, we believe that determining whether a hand is interacting with an object depends on whether there is an interactive hand pose and whether the hand is touching the object. Thus, we extract the hand pose, hand-object masks to jointly determine the interaction status. In order to solve the problem of hand pose estimation due to in-hand object occlusion, we use a multi-cam system to capture hand pose data from multiple perspectives. We evaluate and compare our method with the most recent work from Shan et al. \cite{Shan20} on selected images from EPIC-KITCHENS \cite{damen2018scaling} dataset and achieve $89\%$ accuracy on HOI (hand-object interaction) detection which is comparative to Shan’s ($92\%$). However, for real-time performance, our method can run over $\textbf{30}$ FPS which is much more efficient than Shan’s ($\textbf{1}\sim\textbf{2}$ FPS). A demo can be found from https://www.youtube.com/watch?v=XVj3zBuynmQ
PDF arXiv admin note: substantial text overlap with arXiv:2109.14734
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Visual Semantic Segmentation Based on Few/Zero-Shot Learning: An Overview
Authors:Wenqi Ren, Yang Tang, Qiyu Sun, Chaoqiang Zhao, Qing-Long Han
Visual semantic segmentation aims at separating a visual sample into diverse blocks with specific semantic attributes and identifying the category for each block, and it plays a crucial role in environmental perception. Conventional learning-based visual semantic segmentation approaches count heavily on large-scale training data with dense annotations and consistently fail to estimate accurate semantic labels for unseen categories. This obstruction spurs a craze for studying visual semantic segmentation with the assistance of few/zero-shot learning. The emergence and rapid progress of few/zero-shot visual semantic segmentation make it possible to learn unseen-category from a few labeled or zero-labeled samples, which advances the extension to practical applications. Therefore, this paper focuses on the recently published few/zero-shot visual semantic segmentation methods varying from 2D to 3D space and explores the commonalities and discrepancies of technical settlements under different segmentation circumstances. Specifically, the preliminaries on few/zero-shot visual semantic segmentation, including the problem definitions, typical datasets, and technical remedies, are briefly reviewed and discussed. Moreover, three typical instantiations are involved to uncover the interactions of few/zero-shot learning with visual semantic segmentation, including image semantic segmentation, video object segmentation, and 3D segmentation. Finally, the future challenges of few/zero-shot visual semantic segmentation are discussed.
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MSMDFusion: A Gated Multi-Scale LiDAR-Camera Fusion Framework with Multi-Depth Seeds for 3D Object Detection
Authors:Yang Jiao, Zequn Jie, Shaoxiang Chen, Jingjing Chen, Lin Ma, Yu-Gang Jiang
Fusing LiDAR and camera information is essential for achieving accurate and reliable 3D object detection in autonomous driving systems. This is challenging due to the difficulty of combining multi-granularity geometric and semantic features from two drastically different modalities. Recent approaches aim at exploring the semantic densities of camera features through lifting points in 2D camera images (referred to as seeds) into 3D space, and then incorporate 2D semantics via cross-modal interaction or fusion techniques. However, depth information is under-investigated in these approaches when lifting points into 3D space, thus 2D semantics can not be reliably fused with 3D points. Moreover, their multi-modal fusion strategy, which is implemented as concatenation or attention, either can not effectively fuse 2D and 3D information or is unable to perform fine-grained interactions in the voxel space. To this end, we propose a novel framework with better utilization of the depth information and fine-grained cross-modal interaction between LiDAR and camera, which consists of two important components. First, a Multi-Depth Unprojection (MDU) method with depth-aware designs is used to enhance the depth quality of the lifted points at each interaction level. Second, a Gated Modality-Aware Convolution (GMA-Conv) block is applied to modulate voxels involved with the camera modality in a fine-grained manner and then aggregate multi-modal features into a unified space. Together they provide the detection head with more comprehensive features from LiDAR and camera. On the nuScenes test benchmark, our proposed method, abbreviated as MSMDFusion, achieves state-of-the-art 3D object detection results with 71.5% mAP and 74.0% NDS, and strong tracking results with 74.0% AMOTA without using test-time-augmentation and ensemble techniques.
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Object-Based Augmentation Improves Quality of Remote Sensing Semantic Segmentation
Authors:Svetlana Illarionova, Sergey Nesteruk, Dmitrii Shadrin, Vladimir Ignatiev, Mariia Pukalchik, Ivan Oseledets
Today deep convolutional neural networks (CNNs) push the limits for most computer vision problems, define trends, and set state-of-the-art results. In remote sensing tasks such as object detection and semantic segmentation, CNNs reach the SotA performance. However, for precise performance, CNNs require much high-quality training data. Rare objects and the variability of environmental conditions strongly affect prediction stability and accuracy. To overcome these data restrictions, it is common to consider various approaches including data augmentation techniques. This study focuses on the development and testing of object-based augmentation. The practical usefulness of the developed augmentation technique is shown in the remote sensing domain, being one of the most demanded ineffective augmentation techniques. We propose a novel pipeline for georeferenced image augmentation that enables a significant increase in the number of training samples. The presented pipeline is called object-based augmentation (OBA) and exploits objects’ segmentation masks to produce new realistic training scenes using target objects and various label-free backgrounds. We test the approach on the buildings segmentation dataset with six different CNN architectures and show that the proposed method benefits for all the tested models. We also show that further augmentation strategy optimization can improve the results. The proposed method leads to the meaningful improvement of U-Net model predictions from 0.78 to 0.83 F1-score.
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Revisiting Image Pyramid Structure for High Resolution Salient Object Detection
Authors:Taehun Kim, Kunhee Kim, Joonyeong Lee, Dongmin Cha, Jiho Lee, Daijin Kim
Salient object detection (SOD) has been in the spotlight recently, yet has been studied less for high-resolution (HR) images. Unfortunately, HR images and their pixel-level annotations are certainly more labor-intensive and time-consuming compared to low-resolution (LR) images and annotations. Therefore, we propose an image pyramid-based SOD framework, Inverse Saliency Pyramid Reconstruction Network (InSPyReNet), for HR prediction without any of HR datasets. We design InSPyReNet to produce a strict image pyramid structure of saliency map, which enables to ensemble multiple results with pyramid-based image blending. For HR prediction, we design a pyramid blending method which synthesizes two different image pyramids from a pair of LR and HR scale from the same image to overcome effective receptive field (ERF) discrepancy. Our extensive evaluations on public LR and HR SOD benchmarks demonstrate that InSPyReNet surpasses the State-of-the-Art (SotA) methods on various SOD metrics and boundary accuracy.
PDF 27 pages, 15 figures, 7 tables. To appear in the 16th Asian Conference on Computer Vision (ACCV2022), December 4-8, 2022, Macau SAR, China. DOI will be added soon. Results on DIS5K are added in appendices which will not be in the published version
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Robust Online Video Instance Segmentation with Track Queries
Authors:Zitong Zhan, Daniel McKee, Svetlana Lazebnik
Recently, transformer-based methods have achieved impressive results on Video Instance Segmentation (VIS). However, most of these top-performing methods run in an offline manner by processing the entire video clip at once to predict instance mask volumes. This makes them incapable of handling the long videos that appear in challenging new video instance segmentation datasets like UVO and OVIS. We propose a fully online transformer-based video instance segmentation model that performs comparably to top offline methods on the YouTube-VIS 2019 benchmark and considerably outperforms them on UVO and OVIS. This method, called Robust Online Video Segmentation (ROVIS), augments the Mask2Former image instance segmentation model with track queries, a lightweight mechanism for carrying track information from frame to frame, originally introduced by the TrackFormer method for multi-object tracking. We show that, when combined with a strong enough image segmentation architecture, track queries can exhibit impressive accuracy while not being constrained to short videos.
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RLIP: Relational Language-Image Pre-training for Human-Object Interaction Detection
Authors:Hangjie Yuan, Jianwen Jiang, Samuel Albanie, Tao Feng, Ziyuan Huang, Dong Ni, Mingqian Tang
The task of Human-Object Interaction (HOI) detection targets fine-grained visual parsing of humans interacting with their environment, enabling a broad range of applications. Prior work has demonstrated the benefits of effective architecture design and integration of relevant cues for more accurate HOI detection. However, the design of an appropriate pre-training strategy for this task remains underexplored by existing approaches. To address this gap, we propose Relational Language-Image Pre-training (RLIP), a strategy for contrastive pre-training that leverages both entity and relation descriptions. To make effective use of such pre-training, we make three technical contributions: (1) a new Parallel entity detection and Sequential relation inference (ParSe) architecture that enables the use of both entity and relation descriptions during holistically optimized pre-training; (2) a synthetic data generation framework, Label Sequence Extension, that expands the scale of language data available within each minibatch; (3) mechanisms to account for ambiguity, Relation Quality Labels and Relation Pseudo-Labels, to mitigate the influence of ambiguous/noisy samples in the pre-training data. Through extensive experiments, we demonstrate the benefits of these contributions, collectively termed RLIP-ParSe, for improved zero-shot, few-shot and fine-tuning HOI detection performance as well as increased robustness to learning from noisy annotations. Code will be available at https://github.com/JacobYuan7/RLIP.
PDF Accepted to NeurIPS 2022 as a Spotlight paper
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BEVDistill: Cross-Modal BEV Distillation for Multi-View 3D Object Detection
Authors:Zehui Chen, Zhenyu Li, Shiquan Zhang, Liangji Fang, Qinhong Jiang, Feng Zhao
3D object detection from multiple image views is a fundamental and challenging task for visual scene understanding. Owing to its low cost and high efficiency, multi-view 3D object detection has demonstrated promising application prospects. However, accurately detecting objects through perspective views is extremely difficult due to the lack of depth information. Current approaches tend to adopt heavy backbones for image encoders, making them inapplicable for real-world deployment. Different from the images, LiDAR points are superior in providing spatial cues, resulting in highly precise localization. In this paper, we explore the incorporation of LiDAR-based detectors for multi-view 3D object detection. Instead of directly training a depth prediction network, we unify the image and LiDAR features in the Bird-Eye-View (BEV) space and adaptively transfer knowledge across non-homogenous representations in a teacher-student paradigm. To this end, we propose \textbf{BEVDistill}, a cross-modal BEV knowledge distillation (KD) framework for multi-view 3D object detection. Extensive experiments demonstrate that the proposed method outperforms current KD approaches on a highly-competitive baseline, BEVFormer, without introducing any extra cost in the inference phase. Notably, our best model achieves 59.4 NDS on the nuScenes test leaderboard, achieving new state-of-the-art in comparison with various image-based detectors. Code will be available at https://github.com/zehuichen123/BEVDistill.
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ImLiDAR: Cross-Sensor Dynamic Message Propagation Network for 3D Object Detection
Authors:Yiyang Shen, Rongwei Yu, Peng Wu, Haoran Xie, Lina Gong, Jing Qin, Mingqiang Wei
LiDAR and camera, as two different sensors, supply geometric (point clouds) and semantic (RGB images) information of 3D scenes. However, it is still challenging for existing methods to fuse data from the two cross sensors, making them complementary for quality 3D object detection (3OD). We propose ImLiDAR, a new 3OD paradigm to narrow the cross-sensor discrepancies by progressively fusing the multi-scale features of camera Images and LiDAR point clouds. ImLiDAR enables to provide the detection head with cross-sensor yet robustly fused features. To achieve this, two core designs exist in ImLiDAR. First, we propose a cross-sensor dynamic message propagation module to combine the best of the multi-scale image and point features. Second, we raise a direct set prediction problem that allows designing an effective set-based detector to tackle the inconsistency of the classification and localization confidences, and the sensitivity of hand-tuned hyperparameters. Besides, the novel set-based detector can be detachable and easily integrated into various detection networks. Comparisons on both the KITTI and SUN-RGBD datasets show clear visual and numerical improvements of our ImLiDAR over twenty-three state-of-the-art 3OD methods.
PDF 12 pages
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PAI3D: Painting Adaptive Instance-Prior for 3D Object Detection
Authors:Hao Liu, Zhuoran Xu, Dan Wang, Baofeng Zhang, Guan Wang, Bo Dong, Xin Wen, Xinyu Xu
3D object detection is a critical task in autonomous driving. Recently multi-modal fusion-based 3D object detection methods, which combine the complementary advantages of LiDAR and camera, have shown great performance improvements over mono-modal methods. However, so far, no methods have attempted to utilize the instance-level contextual image semantics to guide the 3D object detection. In this paper, we propose a simple and effective Painting Adaptive Instance-prior for 3D object detection (PAI3D) to fuse instance-level image semantics flexibly with point cloud features. PAI3D is a multi-modal sequential instance-level fusion framework. It first extracts instance-level semantic information from images, the extracted information, including objects categorical label, point-to-object membership and object position, are then used to augment each LiDAR point in the subsequent 3D detection network to guide and improve detection performance. PAI3D outperforms the state-of-the-art with a large margin on the nuScenes dataset, achieving 71.4 in mAP and 74.2 in NDS on the test split. Our comprehensive experiments show that instance-level image semantics contribute the most to the performance gain, and PAI3D works well with any good-quality instance segmentation models and any modern point cloud 3D encoders, making it a strong candidate for deployment on autonomous vehicles.
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