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360Loc: A Dataset and Benchmark for Omnidirectional Visual Localization with Cross-device Queries

360Loc: A Dataset and Benchmark for Omnidirectional Visual L...

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

作者： Huang, Huajian Liu, Changkun Zhu, Yipeng Cheng, Hui Braud, Tristan Yeung, Sai-Kit Hong Kong Univ Sci & Technol Hong Kong Peoples R China Sun Yat Sen Univ Guangzhou Peoples R China

ISBN: (纸本)9798350353006

Portable 360 degrees cameras are becoming a cheap and efficient tool to establish large visual databases. By capturing omnidirectional views of a scene, these cameras could expedite building environment models that are essential for visual localization. However, such an advantage is often overlooked due to the lack of valuable datasets. This paper introduces a new benchmark dataset, 360Loc, composed of 360 degrees images with ground truth poses for visual localization. We present a practical implementation of 360 degrees mapping combining 360 degrees images with lidar data to generate the ground truth 6DoF poses. 360Loc is the first dataset and benchmark that explores the challenge of cross-device visual positioning, involving 360 degrees reference frames, and query frames from pinhole, ultra-wide FoV fisheye, and 360 degrees cameras. We propose a virtual camera approach to generate lower-FoV query frames from 360 degrees images, which ensures a fair comparison of performance among different query types in visual localization tasks. We also extend this virtual camera approach to feature matching-based and pose regression-based methods to alleviate the performance loss caused by the cross-device domain gap, and evaluate its effectiveness against state-of-the-art baselines. We demonstrate that omnidirectional visual localization is more robust in challenging large-scale scenes with symmetries and repetitive structures. These results provide new insights into 360-camera mapping and omnidirectional visual localization with cross-device queries. Project Page and dataset: https://***/research/360Loc/.

关键词： omnidirectional vision visual lozalization

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OpenEQA: Embodied Question Answering in the Era of Foundation Models

OpenEQA: Embodied Question Answering in the Era of Foundatio...

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

作者： Majumdar, Arjun Ajay, Anurag Zhang, Xi Aohan Punya, Pranav Yenamandra, Sriram Henaff, Mikael Silwal, Sneha Mcvay, Paul Maksymets, Oleksandr Arnaud, Sergio Yadav, Karmesh Li, Qiyang Newman, Ben Sharma, Mohit Berges, Vincent Zhang, Shiqi Agrawal, Pulkit Bisk, Yonatan Batra, Dhruv Kalakrishnan, Mrinal Meier, Franziska Paxton, Chris Sax, Alexander Rajeswaran, Aravind Georgia Tech Atlanta GA 30332 USA MIT 77 Massachusetts Ave Cambridge MA 02139 USA SUNY Binghamton Binghamton NY USA Meta AI Menlo Pk CA USA Univ Calif Berkeley Berkeley CA USA CMU Pittsburgh PA USA Meta Fundamental AI Res FAIR Menlo Pk CA USA

ISBN: (纸本)9798350353006

We present a modern formulation of Embodied Question Answering (EQA) as the task of understanding an environment well enough to answer questions about it in natural language. An agent can achieve such an understanding by either drawing upon episodic memory, exemplified by agents on smart glasses, or by actively exploring the environment, as in the case of mobile robots. We accompany our formulation with OpenEQA - the first open-vocabulary benchmark dataset for EQA supporting both episodic memory and active exploration use cases. OpenEQA contains over 1600 high-quality human generated questions drawn from over 180 real-world environments. In addition to the dataset, we also provide an automatic LLM-powered evaluation protocol that has excellent correlation with human judgement. Using this dataset and evaluation protocol, we evaluate several state-of-the-art foundation models including GPT-4V, and find that they significantly lag behind human-level performance. Consequently, OpenEQA stands out as a straightforward, measurable, and practically relevant benchmark that poses a considerable challenge to current generation of foundation models. We hope this inspires and stimulates future research at the intersection of Embodied AI, conversational agents, and world models.

关键词： Embodied AI Embodied Question Answering vision-Language Models

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Egocentric Whole-Body Motion Capture with FisheyeViT and Diffusion-Based Motion Refinement

Egocentric Whole-Body Motion Capture with FisheyeViT and Dif...

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

作者： Wang, Jian Cao, Zhe Luvizon, Diogo Liu, Lingjie Sarkar, Kripasindhu Tang, Danhang Beeler, Thabo Theobalt, Christian MPI Informat & Saarland Informat Campus Saarbrucken Germany Google Mountain View CA USA Univ Penn Philadelphia PA USA Saarbrucken Res Ctr Visual Com Interact & Artific Saarbrucken Germany

ISBN: (纸本)9798350353013;9798350353006

In this work, we explore egocentric whole-body motion capture using a single fisheye camera, which simultaneously estimates human body and hand motion. This task presents significant challenges due to three factors: the lack of high-quality datasets, fisheye camera distortion, and human body self-occlusion. To address these challenges, we propose a novel approach that leverages FisheyeViT to extract fisheye image features, which are subsequently converted into pixel-aligned 3D heatmap representations for 3D human body pose prediction. For hand tracking, we incorporate dedicated hand detection and hand pose estimation networks for regressing 3D hand poses. Finally, we develop a diffusion-based whole-body motion prior model to refine the estimated whole-body motion while accounting for joint uncertainties. To train these networks, we collect a large synthetic dataset, EgoWholeBody, comprising 840,000 high-quality egocentric images captured across a diverse range of whole-body motion sequences. Quantitative and qualitative evaluations demonstrate the effectiveness of our method in producing high-quality whole-body motion estimates from a single egocentric camera.

关键词： Diffusion-based 3D Pose Estimation Diffusion-Based Motion Refinement Egocentric Human Pose Egocentric vision FisheyeViT Human Motion Capture Whole-Body Motion Capture

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HRVDA: High-Resolution Visual Document Assistant

HRVDA: High-Resolution Visual Document Assistant

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

作者： Liu, Chaohu Yin, Kun Cao, Haoyu Jiang, Xinghua Li, Xin Liu, Yinsong Jiang, Deqiang Sun, Xing Xu, Linli Univ Sci & Technol China Sch Comp Sci & Technol Hefei Anhui Peoples R China State Key Lab Cognit Intelligence Hefei Anhui Peoples R China Tencent YouTu Lab Shanghai Peoples R China

ISBN: (纸本)9798350353006

Leveraging vast training data, multimodal large language models (MLLMs) have demonstrated formidable general visual comprehension capabilities and achieved remarkable performance across various tasks. However, their performance in visual document understanding still leaves much room for improvement. This discrepancy is primarily attributed to the fact that visual document understanding is a fine-grained prediction task. In natural scenes, MLLMs typically use low-resolution images, leading to a substantial loss of visual information. Furthermore, general-purpose MLLMs do not excel in handling document-oriented instructions. In this paper, we propose a High-Resolution Visual Document Assistant (HRVDA), which bridges the gap between MLLMs and visual document understanding. This model employs a content filtering mechanism and an instruction filtering module to separately filter out the content-agnostic visual tokens and instruction-agnostic visual tokens, thereby achieving efficient model training and inference for high-resolution images. In addition, we construct a document-oriented visual instruction tuning dataset and apply a multi-stage training strategy to enhance the model's document modeling capabilities. Extensive experiments demonstrate that our model achieves state-of-the-art performance across multiple document understanding datasets, while maintaining training efficiency and inference speed comparable to low-resolution models.

关键词： Document understanding Multimodal vision-language model

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Seeing the Unseen: Visual Common Sense for Semantic Placement

Seeing the Unseen: Visual Common Sense for Semantic Placemen...

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

作者： Ramrakhya, Ram Kembhavi, Aniruddha Batra, Dhruv Kira, Zsolt Zeng, Kuo-Hao Weihs, Luca Georgia Inst Technol Atlanta GA 30332 USA PRIOR Allen Inst AI Seattle WA USA PRIOR AI2 Seattle WA USA

ISBN: (纸本)9798350353006

computer vision tasks typically involve describing what is present in an image (e.g. classification, detection, segmentation, and captioning). We study a visual common sense task that requires understanding 'what is not present'. Specifically, given an image (e.g. of a living room) and a name of an object ("cushion"), a vision system is asked to predict semantically-meaningful regions (masks or bounding boxes) in the image where that object could be placed or is likely be placed by humans (e.g. on the sofa). We call this task: Semantic Placement (SP) and believe that such common-sense visual understanding is critical for assitive robots (tidying a house), AR devices (automatically rendering an object in the user's space), and visually-grounded chatbots with common sense. Studying the invisible is hard. Datasets for image description are typically constructed by curating relevant images (e.g. via image search with object names) and asking humans to annotate the contents of the image;neither of those two steps are straightforward for objects not present in the image. We overcome this challenge by operating in the opposite direction: we start with an image of an object in context, which is easy to find online, and then remove that object from the image via inpainting. This automated pipeline converts unstructured web data into a dataset comprising pairs of images with/without the object. With this proposed data generation pipeline, we collect a novel dataset, containing similar to 1.3M images across 9 object categories. We then train a SP prediction model, called CLIP-UNet, on our dataset. The CLIP-UNet outperforms existing VLMs and baselines that combine semantic priors with object detectors, generalizes well to real-world and simulated images and exhibits semantics-aware reasoning for object placement. In our user studies, we find that the SP masks predicted by CLIP-UNet are favored 43.7% and 31.3% times when comparing against the 4 SP baselines on real and simulated

关键词： Common Sense Reasoning computer vision Embodied AI

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PromptSync: Bridging Domain Gaps in vision-Language Models through Class-Aware Prototype Alignment and Discrimination

PromptSync: Bridging Domain Gaps in Vision-Language Models t...

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

作者： Khandelwal, Anant Glance AI Bangalore Karnataka India

ISBN: (纸本)9798350365474

The potential for zero-shot generalization in vision-language (V-L) models such as CLIP has spurred their widespread adoption in addressing numerous downstream tasks. Previous methods have employed test-time prompt tuning to adapt the model to unseen domains, but they overlooked the issue of imbalanced class distributions. In this study, we explicitly address this problem by employing class-aware prototype alignment weighted by mean class probabilities obtained for the test sample and filtered augmented views. Additionally, we ensure that the class probabilities are as accurate as possible by performing prototype discrimination using contrastive learning. The combination of alignment and discriminative loss serves as a geometric regularizer, preventing the prompt representation from collapsing onto a single class and effectively bridging the distribution gap between the source and test domains. Our method, named PromptSync, synchronizes the prompts for each test sample on both the text and vision branches of the V-L model. In empirical evaluations on the domain generalization benchmark, our method outperforms previous best methods by 2.33% in overall performance, by 1% in base-to-novel generalization, and by 2.84% in cross-dataset transfer tasks.

关键词： Visual languages

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Panda-70M: Captioning 70M Videos with Multiple Cross-Modality Teachers

Panda-70M: Captioning 70M Videos with Multiple Cross-Modalit...

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

作者： Chen, Tsai-Shien Siarohin, Aliaksandr Menapace, Willi Deyneka, Ekaterina Chao, Hsiang-wei Jeon, Byung Eun Fang, Yuwei Lee, Hsin-Ying Ren, Jian Yang, Ming-Hsuan Tulyakov, Sergey Snap Inc Santa Monica CA 90405 USA Univ Calif Merced Merced CA 95343 USA Univ Trento Trento Italy Snap Santa Monica CA USA

ISBN: (纸本)9798350353006

The quality of the data and annotation upper-bounds the quality of a downstream model. While there exist large text corpora and image-text pairs, high-quality video-text data is much harder to collect. First of all, manual labeling is more time-consuming, as it requires an annotator to watch an entire video. Second, videos have a temporal dimension, consisting of several scenes stacked together, and showing multiple actions. Accordingly, to establish a video dataset with high- quality captions, we propose an automatic approach leveraging multimodal inputs, such as textual video description, subtitles, and individual video frames. Specifically, we curate 3.8M high-resolution videos from the publicly available HD-VILA-100M dataset. We then split them into semantically consistent video clips, and apply multiple cross-modality teacher models to obtain captions for each video. Next, we finetune a retrieval model on a small subset where the best caption of each video is manually selected and then employ the model in the whole dataset to select the best caption as the annotation. In this way, we get 70M videos paired with high-quality text captions. We dub the dataset as Panda-70M. We show the value of the proposed dataset on three downstream tasks: video captioning, video and text retrieval, and text-driven video generation. The models trained on the proposed data score substantially better on the majority of metrics across all the tasks.

关键词： Multimodal learning Video captioning vision-language dataset

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Multi-criteria Token Fusion with One-step-ahead Attention for Efficient vision Transformers

Multi-criteria Token Fusion with One-step-ahead Attention fo...

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

作者： Lee, Sanghyeok Choi, Joonmyung Kim, Hyunwoo J. Korea Univ Dept Comp Sci & Engn Seoul South Korea

ISBN: (纸本)9798350353006

vision Transformer (ViT) has emerged as a prominent backbone for computer vision. For more efficient ViTs, recent works lessen the quadratic cost of the self- attention layer by pruning or fusing the redundant tokens. However, these works faced the speed-accuracy trade-off caused by the loss of information. Here, we argue that token fusion needs to consider diverse relations between tokens to minimize information loss. In this paper, we propose a Multi-criteria Token Fusion (MCTF), that gradually fuses the tokens based on multi-criteria (i.e., similarity, informativeness, and size of fused tokens). Further, we utilize the one-step-ahead attention, which is the improved approach to capture the informativeness of the tokens. By training the model equipped with MCTF using a token reduction consistency, we achieve the best speed-accuracy tradeoff in the image classification (ImageNet1K). Experimental results prove that MCTF consistently surpasses the previous reduction methods with and without training. Specifically, DeiT-T and DeiT-S with MCTF reduce FLOPs by about 44% while improving the performance (+0.5%, and +0.3%) over the base model, respectively. We also demonstrate the applicability of MCTF in various vision Transformers (e.g., T2T-ViT, LV-ViT), achieving at least 31% speedup without performance degradation. Code is available at https://***/mlvlab/MCTF.

关键词： Efficient ViTs Token Fusion Token Merging Token Reduction

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Making Visual Sense of Oracle Bones for You and Me

Making Visual Sense of Oracle Bones for You and Me

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

作者： Qiao, Runqi Yang, Lan Pang, Kaiyue Zhang, Honggang Beijing Univ Posts & Telecommun Sch Artificial Intelligence Beijing Peoples R China Univ Surrey CVSSP SketchX Guildford Surrey England

ISBN: (纸本)9798350353006

Visual perception evolves over time. This is particularly the case of oracle bone scripts, where visual glyphs seem intuitive to people from distant past prove difficult to be understood in contemporary eyes. While semantic correspondence of an oracle can be found via a dictionary lookup, this proves to be not enough for public viewers to connect the dots, i.e., why does this oracle mean that? Common solution relies on a laborious curation process to collect visual guide for each oracle (Fig. 1), which hinges on the case-by-case effort and taste of curators. This paper delves into one natural follow-up question: can AI take over? Begin with a comprehensive human study, we show participants could indeed make better sense of an oracle glyph subjected to a proper visual guide and its efficacy can be approximated via a novel metric termed TransOV (Transferable Oracle Visuals). We then define a new conditional visual generation task based on an oracle glyph and its semantic meaning and importantly approach it by circumventing any form of model training in the presence of fatal lack of oracle data. At its heart is to leverage foundation model like GPT-4V to reason about the visual cues hidden inside an oracle and take advantage of an existing text-to-image model for final visual guide generation. Extensive empirical evidence shows our AI-enabled visual guides achieve significantly comparable TransOV performance compared with those collected under manual efforts. Finally, we demonstrate the versatility of our system under a more complex setting, where it is required to work alongside with an AI image denoiser to cope with raw oracle scan image inputs (cf. processed clean oracle glyphs). Code is available at https://***/RQ-Lab/OBS-Visual.

关键词： vision

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SIFU: Side-view Conditioned Implicit Function for Real-world Usable Clothed Human Reconstruction

SIFU: Side-view Conditioned Implicit Function for Real-world...

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

作者： Zhang, Zechuan Yang, Zongxin Yang, Yi Zhejiang Univ CCAL ReLER Hangzhou Peoples R China

ISBN: (纸本)9798350353006

Creating high-quality 3D models of clothed humans from single images for real-world applications is crucial. Despite recent advancements, accurately reconstructing humans in complex poses or with loose clothing from in-the-wild images, along with predicting textures for unseen areas, remains a significant challenge. A key limitation of previous methods is their insufficient prior guidance in transitioning from 2D to 3D and in texture prediction. In response, we introduce SIFU (Side-view Conditioned Implicit Function for Real-world Usable Clothed Human Reconstruction), a novel approach combining a Side-view Decoupling Transformer with a 3D Consistent Texture Refinement pipeline. SIFU employs a cross-attention mechanism within the transformer, using SMPL-X normals as queries to effectively decouple side-view features in the process of mapping 2D features to 3D. This method not only improves the precision of the 3D models but also their robustness, especially when SMPL-X estimates are not perfect. Our texture refinement process leverages text-to-image diffusion-based prior to generate realistic and consistent textures for invisible views. Through extensive experiments, SIFU surpasses SOTA methods in both geometry and texture reconstruction, showcasing enhanced robustness in com-lex scenarios and achieving an unprecedented Chamfer and P2S measurement. Our approach extends to practical applications such as 3D printing and scene building, demonstrating its broad utility in real-world scenarios.

关键词： 3D reconstruction 3D vision Clothed human diffusion model single image to 3D

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