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From a Bird's Eye View to See: Joint Camera and Subject Registration without the Camera Calibration

From a Bird's Eye View to See: Joint Camera and Subject Regi...

引用

ieee/CVF conference on computer vision and pattern recognition (cvpr)

作者： Qian, Zekun Han, Ruize Feng, Wei Wang, Song Tianjin Univ Coll Intelligence & Comp Tianjin Peoples R China Chinese Acad Sci Shenzhen Inst Adv Technol Shenzhen Peoples R China City Univ Hong Kong Hong Kong Peoples R China Univ South Carolina Columbia SC 29208 USA

ISBN: (纸本)9798350353013;9798350353006

We tackle a new problem of multi-view camera and subject registration in the bird's eye view (BEV) without pre-given camera calibration, which promotes the multi-view subject registration problem to a new calibration-free stage. This greatly alleviates the limitation in many practical applications. However, this is a very challenging problem since its only input is several RGB images from different first-person views (FPVs), without the BEV image and the calibration of the FPVs, while the output is a unified plane aggregated from all views with the positions and orientations of both the subjects and cameras in a BEV. For this purpose, we propose an end-to-end framework solving camera and subject registration together by taking advantage of their mutual dependence, whose main idea is as below: i) creating a subject view-transform module (VTM) to project each pedestrian from FPV to a virtual BEV, ii) deriving a multi-view geometry-based spatial alignment module (SAM) to estimate the relative camera pose in a unified BEV, iii) selecting and refining the subject and camera registration results within the unified BEV. We collect a new large-scale synthetic dataset with rich annotations for training and evaluation. Additionally, we also collect a real dataset for cross-domain evaluation. The experimental results show the remarkable effectiveness of our method. The code and proposed datasets are available at BEVSee.

关键词： Camera Registration computer vision Multiview Detection Subject Registration

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HEAL-SWIN: A vision Transformer On The Sphere

HEAL-SWIN: A Vision Transformer On The Sphere

引用

ieee/CVF conference on computer vision and pattern recognition (cvpr)

作者： Carlsson, Oscar Gerken, Jan E. Linander, Hampus Spiess, Heiner Ohlsson, Fredrik Petersson, Christoffer Persson, Daniel Univ Gothenburg Chalmers Univ Technol Dept Math Sci SE-41296 Gothenburg Sweden Tech Univ Berlin Neural Informat Proc Sci Intelligence DE-10623 Berlin Germany Umea Univ Dept Math & Math Stat Umea degrees SE-90187 Umea Sweden Zenseact SE-41756 Gothenburg Sweden

ISBN: (纸本)9798350353013;9798350353006

High-resolution wide-angle fisheye images are becoming more and more important for robotics applications such as autonomous driving. However, using ordinary convolutional neural networks or vision transformers on this data is problematic due to projection and distortion losses introduced when projecting to a rectangular grid on the plane. We introduce the HEAL-SWIN transformer, which combines the highly uniform Hierarchical Equal Area iso-Latitude Pixelation (HEALPix) grid used in astrophysics and cosmology with the Hierarchical Shifted-Window (SWIN) transformer to yield an efficient and flexible model capable of training on high-resolution, distortion-free spherical data. In HEAL-SWIN, the nested structure of the HEALPix grid is used to perform the patching and windowing operations of the SWIN transformer, enabling the network to process spherical representations with minimal computational overhead. We demonstrate the superior performance of our model on both synthetic and real automotive datasets, as well as a selection of other image datasets, for semantic segmentation, depth regression and classification tasks. Our code is publicly available(1).

关键词： depth estimation fisheye images image classification omni-directional images semantic segmentation spherical grid transformer

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Initialization Noise in Image Gradients and Saliency Maps

Initialization Noise in Image Gradients and Saliency Maps

引用

ieee/CVF conference on computer vision and pattern recognition (cvpr)

作者： Woerl, Ann-Christin Disselhoff, Jan Wand, Michael Johannes Gutenberg Univ Mainz Inst Comp Sci Mainz Germany

ISBN: (纸本)9798350301298

In this paper, we examine gradients of logits of image classification CNNs by input pixel values. We observe that these fluctuate considerably with training randomness, such as the random initialization of the networks. We extend our study to gradients of intermediate layers, obtained via GradCAM, as well as popular network saliency estimators such as DeepLIFT, SHAP, LIME, Integrated Gradients, and SmoothGrad. While empirical noise levels vary, qualitatively different attributions to image features are still possible with all of these, which comes with implications for interpreting such attributions, in particular when seeking data-driven explanations of the phenomenon generating the data. Finally, we demonstrate that the observed artefacts can be removed by marginalization over the initialization distribution by simple stochastic integration.

关键词： Explainable computer vision

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Taming Self-Training for Open-Vocabulary Object Detection

Taming Self-Training for Open-Vocabulary Object Detection

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ieee/CVF conference on computer vision and pattern recognition (cvpr)

作者： Zhao, Shiyu Schulter, Samuel Zhao, Long Zhang, Zhixing Kumar, Vijay B. G. Suh, Yumin Chandraker, Manmohan Metaxas, Dimitris N. Rutgers State Univ New Brunswick NJ 08901 USA NEC Labs Amer Princeton NJ USA Google Res Mountain View CA USA Univ Calif San Diego San Diego CA USA

ISBN: (纸本)9798350353006

Recent studies have shown promising performance in open-vocabulary object detection (OVD) by utilizing pseudo labels (PLs) from pretrained vision and language models (VLMs). However, teacher-student self-training, a powerful and widely used paradigm to leverage PLs, is rarely explored for OVD. This work identifies two challenges of using self-training in OVD: noisy PLs from VLMs and frequent distribution changes of PLs. To address these challenges, we propose SAS-Det that tames self-training for OVD from two key perspectives. First, we present a split-and-fusion (SAF) head that splits a standard detection into an open-branch and a closed-branch. This design can reduce noisy supervision from pseudo boxes. Moreover, the two branches learn complementary knowledge from different training data, significantly enhancing performance when fused together. Second, in our view, unlike in closed-set tasks, the PL distributions in OVD are solely determined by the teacher model. We introduce a periodic update strategy to decrease the number of updates to the teacher, thereby decreasing the frequency of changes in PL distributions, which stabilizes the training process. Extensive experiments demonstrate SAS-Det is both efficient and effective. SAS-Det outperforms recent models of the same scale by a clear margin and achieves 37.4 AP50 and 29.1 APr on novel categories of the COCO and LVIS benchmarks, respectively. Code is available at https://***/xiaofeng94/SAS-Det.

关键词： open-vocabulary object detection pseudo label self-training vision and language

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SelfOcc: Self-Supervised vision-Based 3D Occupancy Prediction

SelfOcc: Self-Supervised Vision-Based 3D Occupancy Predictio...

引用

ieee/CVF conference on computer vision and pattern recognition (cvpr)

作者： Huang, Yuanhui Zheng, Wenzhao Zhang, Borui Zhou, Jie Lu, Jiwen Tsinghua Univ Beijing Natl Res Ctr Informat Sci & Technol Dept Automat Beijing Peoples R China

ISBN: (纸本)9798350353006

3D occupancy prediction is an important task for the robustness of vision-centric autonomous driving, which aims to predict whether each point is occupied in the surrounding 3D space. Existing methods usually require 3D occupancy labels to produce meaningful results. However, it is very laborious to annotate the occupancy status of each voxel. In this paper, we propose SelfOcc to explore a self-supervised way to learn 3D occupancy using only video sequences. We first transform the images into the 3D space (e.g., bird's eye view) to obtain 3D representation of the scene. We directly impose constraints on the 3D representations by treating them as signed distance fields. We can then render 2D images of previous and future frames as self-supervision signals to learn the 3D representations. We propose an MVS-embedded strategy to directly optimize the SDF-induced weights with multiple depth proposals. Our SelfOcc outperforms the previous best method SceneRF by 58.7% using a single frame as input on SemanticKITTI and is the first self-supervised work that produces reasonable 3D occupancy for surround cameras on nuScenes. SelfOcc produces high-quality depth and achieves state-of-the-art results on novel depth synthesis, monocular depth estimation, and surround-view depth estimation on the SemanticKITTI, KITTI-2015, and nuScenes, respectively. Code: https://***/huang-yh/SelfOcc.

关键词： 3D reconstruction autonomous driving NeRF occupancy self-supervised

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COTR: Compact Occupancy TRansformer for vision-based 3D Occupancy Prediction

COTR: Compact Occupancy TRansformer for Vision-based 3D Occu...

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ieee/CVF conference on computer vision and pattern recognition (cvpr)

作者： Ma, Qihang Tan, Xin Qu, Yanyun Ma, Lizhuang Zhang, Zhizhong Xie, Yuan East China Normal Univ Shanghai Peoples R China East China Normal Univ Chongqing Inst Chongqing Peoples R China Xiamen Univ Fujian Peoples R China

ISBN: (纸本)9798350353006

The autonomous driving community has shown significant interest in 3D occupancy prediction, driven by its exceptional geometric perception and general object recognition capabilities. To achieve this, current works try to construct a Tri-Perspective View (TPV) or Occupancy (OCC) representation extending from the Bird-Eye-View perception. However, compressed views like TPV representation lose 3D geometry information while raw and sparse OCC representation requires heavy but redundant computational costs. To address the above limitations, we propose Compact Occupancy TRansformer (COTR), with a geometry-aware occupancy encoder and a semantic-aware group decoder to reconstruct a compact 3D OCC representation. The occupancy encoder first generates a compact geometrical OCC feature through efficient explicit-implicit view transformation. Then, the occupancy decoder further enhances the semantic discriminability of the compact OCC representation by a coarse-to-fine semantic grouping strategy. Empirical experiments show that there are evident performance gains across multiple baselines, e.g., COTR outperforms baselines with a relative improvement of 8%-15%, demonstrating the superiority of our method. The code is available at https://***/NotACracker/COTR.

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Humans as Light Bulbs: 3D Human Reconstruction from Thermal Reflection

Humans as Light Bulbs: 3D Human Reconstruction from Thermal ...

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ieee/CVF conference on computer vision and pattern recognition (cvpr)

作者： Liu, Ruoshi Vondrick, Carl Columbia Univ New York NY 10027 USA

ISBN: (纸本)9798350301298

The relatively hot temperature of the human body causes people to turn into long-wave infrared light sources. Since this emitted light has a larger wavelength than visible light, many surfaces in typical scenes act as infrared mirrors with strong specular reflections. We exploit the thermal reflections of a person onto objects in order to locate their position and reconstruct their pose, even if they are not visible to a normal camera. We propose an analysis-by-synthesis framework that jointly models the objects, people, and their thermal reflections, which combines generative models with differentiable rendering of reflections. Quantitative and qualitative experiments show our approach works in highly challenging cases, such as with curved mirrors or when the person is completely unseen by a normal camera.

关键词： vision + graphics

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Lacunarity Pooling Layers for Plant Image Classification using Texture Analysis

Lacunarity Pooling Layers for Plant Image Classification usi...

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ieee/CVF conference on computer vision and pattern recognition (cvpr)

作者： Mohan, Akshatha Peeples, Joshua Texas A&M Univ Dept Elect & Comp Engn College Stn TX 77840 USA

ISBN: (纸本)9798350365474

Pooling layers (e.g., max and average) may overlook important information encoded in the spatial arrangement of pixel intensity and/or feature values. We propose a novel lacunarity pooling layer that aims to capture the spatial heterogeneity of the feature maps by evaluating the variability within local windows. The layer operates at multiple scales, allowing the network to adaptively learn hierarchical features. The lacunarity pooling layer can be seamlessly integrated into any artificial neural network architecture. Experimental results demonstrate the layer's effectiveness in capturing intricate spatial patterns, leading to improved feature extraction capabilities. The proposed approach holds promise in various domains, especially in agricultural image analysis tasks. This work contributes to the evolving landscape of artificial neural network architectures by introducing a novel pooling layer that enriches the representation of spatial features. Our code is publicly available. (1)

关键词： computer vision Image Classification Machine Learning Texture Analysis

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Text-image Alignment for Diffusion-based Perception

Text-image Alignment for Diffusion-based Perception

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ieee/CVF conference on computer vision and pattern recognition (cvpr)

作者： Kondapanenil, Neehar Marksl, Markus Knott, Manuel Guimaraes, Rogerio Perona, Pietro CALTECH Pasadena CA 91125 USA Swiss Data Sci Ctr Empa ETH Zurich Zurich Switzerland

ISBN: (纸本)9798350353006

Diffusion models are generative models with impressive text-to-image synthesis capabilities and have spurred a new wave of creative methods for classical machine learning tasks. However, the best way to harness the perceptual knowledge of these generative models for visual tasks is still an open question. Specifically, it is unclear how to use the prompting interface when applying diffusion backbones to vision tasks. We find that automatically generated captions can improve text-image alignment and significantly enhance a model's cross-attention maps, leading to better perceptual performance. Our approach improves upon the current state-of-the-art (SOTA) in diffusion-based semantic segmentation on ADE20K and the current overall SOTA for depth estimation on NYUv2. Furthermore, our method generalizes to the cross-domain setting. We use model personalization and caption modifications to align our model to the target domain and find improvements over unaligned baselines. Our cross-domain object detection model, trained on Pascal VOC, achieves SOTA results on Watercolor2K. Our cross-domain segmentation method, trained on Cityscapes, achieves SOTA results on Dark Zurich-val and Nighttime Driving. Project page: ***/TADP/Code page: ***/damaggu/TADP

关键词： ADE20K Alignment Cityscapes Cross-Attention Cross-Domain Depth Estimation Diffusion Domain Shift Generative Models Model Personalization NYUv2 Object Detection Segmentation vision-Language Models

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A General Framework for Jersey Number recognition in Sports Video

A General Framework for Jersey Number Recognition in Sports ...

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ieee/CVF conference on computer vision and pattern recognition (cvpr)

作者： Koshkina, Maria Elder, James H. York Univ Toronto ON Canada

ISBN: (纸本)9798350365474

Jersey number recognition is an important task in sports video analysis, partly due to its importance for long-term player tracking. It can be viewed as a variant of scene text recognition. However, there is a lack of published attempts to apply scene text recognition models on jersey number data. Here we introduce a novel public jersey number recognition dataset for hockey and study how scene text recognition methods can be adapted to this problem. We address issues of occlusions and assess the degree to which training on one sport (hockey) can be generalized to another (soccer). For the latter, we also consider how jersey number recognition at the single-image level can be aggregated across frames to yield tracklet-level jersey number labels. We demonstrate high performance on image- and tracklet-level tasks, achieving 91.4% accuracy for hockey images and 87.4% for soccer tracklets. Code, models, and data are available at https://***/mkoshkina/jersey-number-pipeline.

关键词： jersey number dataset jersey number recognition player identification scene text recognition

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