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Anomaly Detection in Autonomous Driving: A Survey

Anomaly Detection in Autonomous Driving: A Survey

引用

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

作者： Bogdoll, Daniel Nitsche, Maximilian Zoellner, J. Marius FZI Res Ctr Informat Technol Karlsruhe Germany KIT Karlsruhe Inst Technol Karlsruhe Germany

ISBN: (纸本)9781665487399

Nowadays, there are outstanding strides towards a future with autonomous vehicles on our roads. While the perception of autonomous vehicles performs well under closed-set conditions, they still struggle to handle the unexpected. This survey provides an extensive overview of anomaly detection techniques based on camera, lidar, radar, multimodal and abstract object level data. We provide a systematization including detection approach, corner case level, ability for an online application, and further attributes. We outline the state-of-the-art and point out current research gaps.

关键词： computer vision Laser radar Roads conferences Radar detection Benchmark testing Cameras

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OVER-NAV: Elevating Iterative vision-and-Language Navigation with Open-Vocabulary Detection and StructurEd Representation

OVER-NAV: Elevating Iterative Vision-and-Language Navigation...

引用

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

作者： Zhao, Ganlong Li, Guanbin Chen, Weikai Yu, Yizhou Univ Hong Kong Hong Kong Peoples R China Sun Yat Sen Univ Guangzhou Guangdong Peoples R China GuangDong Prov Key Lab Informat Secur Technol Guangzhou Guangdong Peoples R China Tencent Games Digital Content Technol Ctr Shenzhen Guangdong Peoples R China

ISBN: (纸本)9798350353006

Recent advances in Iterative vision-and-Language Navigation (IVLN) introduce a more meaningful and practical paradigm of VLN by maintaining the agent's memory across tours of scenes. Although the long-term memory aligns better with the persistent nature of the VLN task, it poses more challenges on how to utilize the highly unstructured navigation memory with extremely sparse supervision. Towards this end, we propose OVER-NAV, which aims to go over and beyond the current arts of IVLN techniques. In particular, we propose to incorporate LLMs and open-vocabulary detectors to distill key information and establish correspondence between multi-modal signals. Such a mechanism introduces reliable cross-modal supervision and enables on-the-fly generalization to unseen scenes without the need of extra annotation and re-training. To fully exploit the interpreted navigation data, we further introduce a structured representation, coded Omnigraph, to effectively integrate multi-modal information along the tour. Accompanied with a novel omnigraph fusion mechanism, OVER-NAV is able to extract the most relevant knowledge from omnigraph for a more accurate navigating action. In addition, OVER-NAV seamlessly supports both discrete and continuous environments under a unified framework. We demonstrate the superiority of OVER-NAV in extensive experiments.

关键词： Multi-Modal Learning Open-vocabulary vision-and-Language Navigation

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Investigating Compositional Challenges in vision-Language Models for Visual Grounding

Investigating Compositional Challenges in Vision-Language Mo...

引用

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

作者： Zeng, Yunan Huang, Yan Zhang, Jinjin Jie, Zequn Chai, Zhenhua Wang, Liang Ctr Res Intelligent Percept & Comp CRIPAC Beijing Peoples R China Chinese Acad Sci CASIA Inst Automat Beijing Peoples R China Meituan Beijing Peoples R China

ISBN: (纸本)9798350353006

Pre-trained vision-language models (VLMs) have achieved high performance on various downstream tasks, which have been widely used for visual grounding tasks in a weakly supervised manner. However, despite the performance gains contributed by large vision and language pre-training, we find that state-of-the-art VLMs struggle with compositional reasoning on grounding tasks. To demonstrate this, we propose Attribute, Relation, and Priority grounding (ARPGrounding) benchmark to test VLMs' compositional reasoning ability on visual grounding tasks. ARPGrounding contains 11,425 samples and evaluates the compositional understanding of VLMs in three dimensions: 1) attribute, denoting comprehension of objects' properties;2) relation, indicating an understanding of relation between objects;3) priority, reflecting an awareness of the part of speech associated with nouns. Using the ARPGrounding benchmark, we evaluate several mainstream VLMs. We empirically find that these models perform quite well on conventional visual grounding datasets, achieving performance comparable to or surpassing state-of-the-art methods but showing strong deficiencies in compositional reasoning. Furthermore, we propose a composition-aware fine- tuning pipeline, demonstrating the potential to leverage cost- effective image-text annotations for enhancing the compositional understanding of VLMs in grounding tasks. Code is available at link.

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One Prompt Word is Enough to Boost Adversarial Robustness for Pre-trained vision-Language Models

One Prompt Word is Enough to Boost Adversarial Robustness fo...

引用

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

作者： Lin, L. Guan, Haoyan Qiu, Jianing Spratling, Michael Kings Coll London London England Imperial Coll London London England

ISBN: (纸本)9798350353006

Large pre-trained vision-Language Models (VLMs) like CLIP, despite having remarkable generalization ability, are highly vulnerable to adversarial examples. This work studies the adversarial robustness of VLMs from the novel perspective of the text prompt instead of the extensively studied model weights (frozen in this work). We first show that the effectiveness of both adversarial attack and defense are sensitive to the used text prompt. Inspired by this, we propose a method to improve resilience to adversarial attacks by learning a robust text prompt for VLMs. The proposed method, named Adversarial Prompt Tuning (APT), is effective while being both computationally and data efficient. Extensive experiments are conducted across 15 datasets and 4 data sparsity schemes (from 1-shot to full training data settings) to show APT's superiority over hand-engineered prompts and other state-of-the-art adaption methods. APT demonstrated excellent abilities in terms of the in-distribution performance and the generalization under input distribution shift and across datasets. Surprisingly, by simply adding one learned word to the prompts, APT can significantly boost the accuracy and robustness ((sic)=4/255 ) over the hand-engineered prompts by +13% and +8.5% on average respectively. The improvement further increases, in our most effective setting, to +26.4% for accuracy and +16.7% for robustness. Code is available at https://***/TreeLLi/APT.

关键词： adversarial examples adversarial robustness CLIP text prompting vision-language models VLMs

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Conditioned and composed image retrieval combining and partially fine-tuning CLIP-based features

Conditioned and composed image retrieval combining and parti...

引用

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

作者： Baldrati, Alberto Bertini, Marco Uricchio, Tiberio Del Bimbo, Alberto Univ Firenze MICC Florence Italy Univ Pisa Pisa Italy

ISBN: (数字)9781665487399

ISBN: (纸本)9781665487399

In this paper, we present an approach for conditioned and composed image retrieval based on CLIP features. In this extension of content-based image retrieval (CBIR) an image is combined with a text that provides information regarding user intentions, and is relevant for application domains like e-commerce. The proposed method is based on an initial training stage where a simple combination of visual and textual features is used, to fine-tune the CLIP text encoder. Then in a second training stage we learn a more complex combiner network that merges visual and textual features. Contrastive learning is used in both stages. The proposed approach obtains state-of-the-art performance for conditioned CBIR on the FashionIQ dataset and for composed CBIR on the more recent CIRR dataset.

关键词： Training Visualization computer vision conferences Image retrieval Solids pattern recognition

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Visual Program Distillation: Distilling Tools and Programmatic Reasoning into vision-Language Models

Visual Program Distillation: Distilling Tools and Programmat...

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

作者： Hu, Yushi Stretcu, Otilia Lu, Chun-Ta Viswanathan, Krishnamurthy Hata, Kenji Luo, Enming Krishna, Ranjay Fuxman, Ariel Google Res Mountain View CA 94043 USA Univ Washington Seattle WA 98195 USA

ISBN: (纸本)9798350353006

Solving complex visual tasks such as "Who invented the musical instrument on the right?" involves a composition of skills: understanding space, recognizing instruments, and also retrieving prior knowledge. Recent work shows promise by decomposing such tasks using a large language model (LLM) into an executable program that invokes specialized vision models. However, generated programs are error-prone: they omit necessary steps, include spurious ones, and are unable to recover when the specialized models give incorrect outputs. Moreover, they require loading multiple models, incurring high latency and computation costs. We propose Visual Program Distillation (VPD), an instruction tuning framework that produces a vision-language model (VLM) capable of solving complex visual tasks with a single forward pass. VPD distills the reasoning ability of LLMs by using them to sample multiple candidate programs, which are then executed and verified to identify a correct one. It translates each correct program into a language description of the reasoning steps, which are then distilled into a VLM. Extensive experiments show that VPD improves the VLM's ability to count, understand spatial relations, and reason compositionally. Our VPD-trained PaLI-X outperforms all prior VLMs, achieving state-of-the-art performance across complex vision tasks, including MMBench, OK-VQA, A-OKVQA, TallyQA, POPE, and Hateful Memes. An evaluation with human annotators also confirms that VPD improves model response factuality and consistency. Finally, experiments on content moderation demonstrate that VPD is also helpful for adaptation to real-world applications with limited data.

关键词： cross-modal reasoning distillation instruction tuning large language model multimodal synthetic data tools vision-language model visual programming

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Language-only Efficient Training of Zero-shot Composed Image Retrieval

Language-only Efficient Training of Zero-shot Composed Image...

引用

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

作者： Gu, Geonmo Chun, Sanghyuk Kim, Wonjae Kang, Yoohoon Yun, Sangdoo NAVER Vis Seongnam South Korea NAVER AI Lab Bundangdong South Korea

ISBN: (纸本)9798350353006

Composed image retrieval (CIR) task takes a composed query of image and text, aiming to search relative images for both conditions. Conventional CIR approaches need a training dataset composed of triplets of query image, query text, and target image, which is very expensive to collect. Several recent works have worked on the zero-shot (ZS) CIR paradigm to tackle the issue without using pre-collected triplets. However, the existing ZS-CIR methods show limited backbone scalability and generalizability due to the lack of diversity of the input texts during training. We propose a novel CIR framework, only using language for its training. Our LinCIR (Language-only training for CIR) can be trained only with text datasets by a novel self-supervision named self-masking projection (SMP). We project the text latent embedding to the token embedding space and construct a new text by replacing the keyword tokens of the original text. Then, we let the new and original texts have the same latent embedding vector. With this simple strategy, LinCIR is surprisingly efficient and highly effective;LinCIR with CLIP ViT-G backbone is trained in 48 minutes and shows the best ZS-CIR performances on four different CIR benchmarks, CIRCO, GeneCIS, FashionIQ, and CIRR, even outperforming supervised method on FashionIQ. Code is available at ***/navervision/lincir

关键词： composed image retrieval language-only training vision and language zero-shot composed image retrieval zs-cir

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EfficientSAM: Leveraged Masked Image Pretraining for Efficient Segment Anything

EfficientSAM: Leveraged Masked Image Pretraining for Efficie...

引用

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

作者： Xiong, Yunyang Varadarajan, Bala Wu, Lemeng Xiang, Xiaoyu Xiao, Fanyi Zhu, Chenchen Dai, Xiaoliang Wang, Dilin Sun, Fei Iandola, Forrest Krishnamoorthi, Raghuraman Chandra, Vikas Meta AI Res Menlo Pk CA 94025 USA

ISBN: (纸本)9798350353006

Segment Anything Model (SAM) has emerged as a powerful tool for numerous vision applications. A key component that drives the impressive performance for zero-shot transfer and high versatility is a super large Transformer model trained on the extensive high-quality SA-1B dataset. While beneficial, the huge computation cost of SAM model has limited its applications to wider real-world applications. To address this limitation, we propose EfficientSAMs, lightweight SAM models that exhibits decent performance with largely reduced complexity. Our idea is based on leveraging masked image pretraining, SAMI, which learns to reconstruct features from SAM image encoder for effective visual representation learning. Further, we take SAMI-pretrained light-weight image encoders and mask decoder to build EfficientSAMs, and finetune the models on SA-1B for segment anything task. We perform evaluations on multiple vision tasks including image classification, object detection, instance segmentation, and semantic segmentation, and find that our proposed pretraining method, SAMI, consistently outperforms other masked image pretraining methods. On segment anything task such as zero-shot instance segmentation, our EfficientSAMs with SAMI-pretrained lightweight image encoders perform favorably with a significant gain (e.g., similar to 4 AP on COCO/LVIS) over other fast SAM models. Our EfficientSAM code and models are available at here.

关键词： EfficientSAM Masked Image Pretraining SAMI Segment Anything vision Transformer

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Material Palette: Extraction of Materials from a Single Image

Material Palette: Extraction of Materials from a Single Imag...

引用

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

作者： Lopes, Ivan Pizzati, Fabio de Charette, Raoul INRIA Paris France Univ Oxford Oxford England

ISBN: (纸本)9798350353013;9798350353006

Physically-Based Rendering (PBR) is key to modeling the interaction between light and materials, and finds extensive applications across computer graphics domains. However, acquiring PBR materials is costly and requires special apparatus. In this paper, we propose a method to extract PBR materials from a single real-world image. We do so in two steps: first, we map regions of the image to material concept tokens using a diffusion model, allowing the sampling of texture images resembling each material in the scene. Second, we leverage a separate network to decompose the generated textures into spatially varying BRDFs (SVBRDFs), offering us readily usable materials for rendering applications. Our approach relies on existing synthetic material libraries with SVBRDF ground truth. It exploits a diffusion-generated RGB texture dataset to allow generalization to new samples using unsupervised domain adaptation (UDA). Our contributions are thoroughly evaluated on synthetic and real-world datasets. We further demonstrate the applicability of our method for editing 3D scenes with materials estimated from real photographs. Along with video, we share code and models as open-source on the project page: https://***/astra-vision/MaterialPalette

关键词： brdf computer graphics generative ai inversion Material estimation

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Referring Expression Counting

Referring Expression Counting

引用

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

作者： Dai, Siyang Liu, Jun Cheung, Ngai-Man Singapore Univ Technol & Design Singapore Singapore

ISBN: (纸本)9798350353006

Existing counting tasks are limited to the class level, which don't account for fine-grained details within the class. In real applications, it often requires in-context or referring human input for counting target objects. Take urban analysis as an example, fine-grained information such as traffic flow in different directions, pedestrians and vehicles waiting or moving at different sides of the junction, is more beneficial. Current settings of both class-specific and class-agnostic counting treat objects of the same class indifferently, which pose limitations in real use cases. To this end, we propose a new task named Referring Expression Counting (REC) which aims to count objects with different attributes within the same class. To evaluate the REC task, we create a novel dataset named REC-8K which contains 8011 images and 17122 referring expressions. Experiments on REC-8K show that our proposed method achieves state-of-the-art performance compared with several text-based counting methods and an open-set object detection model. We also outperform prior models on the class agnostic counting (CAC) benchmark [36] for the zero-shot setting, and perform on par with the few-shot methods. Code and dataset is available at https://***/sydai/referring-expression-counting.

关键词： counting object detection referring expression vision-language model zero-shot

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