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RGBD Objects in the Wild: Scaling Real-World 3D Object Learning from RGB-D Videos

RGBD Objects in the Wild: Scaling Real-World 3D Object Learn...

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

作者： Xia, Hongchi Fu, Yang Liu, Sifei Wang, Xiaolong Shanghai Jiao Tong Univ Shanghai Peoples R China Univ Calif San Diego San Diego CA USA NVIDIA Santa Clara CA USA

ISBN: (纸本)9798350353006

We introduce a new RGB-D object dataset captured in the wild called WildRGB-D. Unlike most existing real-world object-centric datasets which only come with RGB capturing, the direct capture of the depth channel allows better 3D annotations and broader downstream applications. WildRGB-D comprises large-scale category-level RGB-D object videos, which are taken using an iPhone to go around the objects in 360 degrees. It contains around 8500 recorded objects and nearly 20000 RGB-D videos across 46 common object categories. These videos are taken with diverse cluttered backgrounds with three setups to cover as many real-world scenarios as possible: (i) a single object in one video;(ii) multiple objects in one video;and (iii) an object with a static hand in one video. The dataset is annotated with object masks, real-world scale camera poses, and reconstructed aggregated point clouds from RGBD videos. We benchmark four tasks with WildRGB-D including novel view synthesis, camera pose estimation, object 6d pose estimation, and object surface reconstruction. Our experiments show that the large-scale capture of RGB-D objects provides a large potential to advance 3D object learning. Our project page is https://***/.

关键词： computer vision

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DVMNet: Computing Relative Pose for Unseen Objects Beyond Hypotheses

DVMNet: Computing Relative Pose for Unseen Objects Beyond Hy...

引用

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

作者： Zhao, Chen Zhang, Tong Dang, Zheng Salzmann, Mathieu Ecole Polytech Fed Lausanne Lausanne Switzerland ClearSpace SA Renens Switzerland

ISBN: (纸本)9798350353006

Determining the relative pose of an object between two images is pivotal to the success of generalizable object pose estimation. Existing approaches typically approximate the continuous pose representation with a large number of discrete pose hypotheses, which incurs a computationally expensive process of scoring each hypothesis at test time. By contrast, we present a Deep Voxel Matching Network (DVMNet) that eliminates the need for pose hypotheses and computes the relative object pose in a single pass. To this end, we map the two input RGB images, reference and query, to their respective voxelized 3D representations. We then pass the resulting voxels through a pose estimation module, where the voxels are aligned and the pose is computed in an end-to-end fashion by solving a least-squares problem. To enhance robustness, we introduce a weighted closest voxel algorithm capable of mitigating the impact of noisy voxels. We conduct extensive experiments on the CO3D, LINEMOD, and Objaverse datasets, demonstrating that our method delivers more accurate relative pose estimates for novel objects at a lower computational cost compared to state-of-the-art methods. Our code is released at: https://***/sailor-z/DVMNet/.

关键词： 3D computer vision Multi-View Geometry Object Pose Estimation

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SCoFT: Self-Contrastive Fine-Tuning for Equitable Image Generation

SCoFT: Self-Contrastive Fine-Tuning for Equitable Image Gene...

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

作者： Liu, Zhixuan Schaldenbrand, Peter Okogwu, Beverley-Claire Peng, Wenxuan Yun, Youngsik Hundt, Andrew Kim, Jihie Oh, Jean Carnegie Mellon Univ Pittsburgh PA 15213 USA Nanyang Technol Univ Singapore Singapore Dongguk Univ Seoul South Korea

ISBN: (纸本)9798350353006

Accurate representation in media is known to improve the well-being of the people who consume it. Generative image models trained on large web-crawled datasets such as LAION are known to produce images with harmful stereotypes and misrepresentations of cultures. We improve inclusive representation in generated images by (1) engaging with communities to collect a culturally representative dataset that we call the Cross-Cultural Under-standing Benchmark (CCUB) and (2) proposing a novel Self- Contrastive Fine-Tuning (SCoFT, pronounced /soft/) method that leverages the model's known biases to self-improve. SCoFT is designed to prevent overfitting on small datasets, encode only high-level information from the data, and shift the generated distribution away from misrepresentations encoded in a pretrained model. Our user study conducted on 51 participants from 5 different countries based on their self-selected national cultural affiliation shows that fine-tuning on CCUB consistently generates images with higher cultural relevance and fewer stereotypes when compared to the Stable Diffusion baseline, which is further improved with our SCoFT technique. Resources and code are at https://***/SCoFT.

关键词： computer vision for Social Good Image Synthesis

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A Transformer-based Late-Fusion Mechanism for Fine-Grained Object recognition in Videos

A Transformer-based Late-Fusion Mechanism for Fine-Grained O...

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23rd ieee/CVF Winter conference on Applications of computer vision (WACV)

作者： Koch, Jannik Wolf, Stefan Beyerer, Juergen Fraunhofer IOSB Karlsruhe Germany Karlsruhe Inst Technol Vis & Future Lab Karlsruhe Germany Fraunhofer Ctr Machine Learning Munich Germany

ISBN: (纸本)9798350320565

Fine-grained image classification is limited by only considering a single view while in many cases, like surveillance, a whole video exists which provides multiple perspectives. However, the potential of videos is mostly considered in the context of action recognition while finegrained object recognition is rarely considered as an application for video classification. This leads to recent video classification architectures being inappropriate for the task of fine-grained object recognition. We propose a novel, Transformer-based late-fusion mechanism for finegrained video classification. Our approach achieves superior results to both early-fusion mechanisms, like the Video Swin Transformer, and a simple consensus-based late-fusion baseline with a modern Swin Transformer backbone. Additionally, we achieve improved efficiency, as our results show a high increase in accuracy with only a slight increase in computational complexity. Code is available at: https://***/wolfstefan/tlf.

关键词： Costs Surveillance computer architecture Streaming media Transformers Real-time systems Consensus protocol

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Volumetric Environment Representation for vision-Language Navigation

Volumetric Environment Representation for Vision-Language Na...

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

作者： Liu, Rui Wang, Wenguan Yan, Yi Zhejiang Univ CCAI ReLER Hangzhou Zhejiang Peoples R China

ISBN: (纸本)9798350353006

vision-language navigation (VLN) requires an agent to navigate through an 3D environment based on visual observations and natural language instructions. It is clear that the pivotal factor for successful navigation lies in the comprehensive scene understanding. Previous VLN agents employ monocular frameworks to extract 2D features of perspective views directly. Though straightforward, they struggle for capturing 3D geometry and semantics, leading to a partial and incomplete environment representation. To achieve a comprehensive 3D representation with fine-grained details, we introduce a Volumetric Environment Representation (VER), which voxelizes the physical world into structured 3D cells. For each cell, VER aggregates multi-view 2D features into such a unified 3D space via 2D-3D sampling. Through coarse-to-fine feature extraction and multi-task learning for VER, our agent predicts 3D occupancy, 3D room layout, and 3D bounding boxes jointly. Based on online collected VERs, our agent performs volume state estimation and builds episodic memory for predicting the next step. Experimental results show our environment representations from multi-task learning lead to evident performance gains on VLN. Our model achieves state-of-the-art performance across VLN benchmarks (R2R, REVERIE, and R4R).

关键词： Semantics

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SPIN: Simultaneous Perception, Interaction and Navigation

SPIN: Simultaneous Perception, Interaction and Navigation

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

作者： Uppal, Shagun Agarwal, Ananye Xiong, Haoyu Shaw, Kenneth Pathak, Deepak Carnegie Mellon Univ Pittsburgh PA 15213 USA

ISBN: (纸本)9798350353006

While there has been remarkable progress recently in the fields of manipulation and locomotion, mobile manipulation remains a long-standing challenge. Compared to locomotion or static manipulation, a mobile system must make a diverse range of long-horizon tasks feasible in unstructured and dynamic environments. While the applications are broad and interesting, there are a plethora of challenges in developing these systems such as coordination between the base and arm, reliance on onboard perception for perceiving and interacting with the environment, and most importantly, simultaneously integrating all these parts together. Prior works approach the problem using disentangled modular skills for mobility and manipulation that are trivially tied together. This causes several limitations such as compounding errors, delays in decision-making, and no whole-body coordination. In this work, we present a reactive mobile manipulation framework that uses an active visual system to consciously perceive and react to its environment. Similar to how humans leverage whole-body and hand-eye coordination, we develop a mobile manipulator that exploits its ability to move and see, more specifically - to move in order to see and to see in order to move. This allows it to not only move around and interact with its environment but also, choose "when" to perceive "what" using an active visual system. We observe that such an agent learns to navigate around complex cluttered scenarios while displaying agile whole-body coordination using only ego-vision without needing to create environment maps. Videos are available at https://***

关键词： Active vision End-to-end learning Mobile Manipulation Whole-body coordination

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PEM: Prototype-based Efficient MaskFormer for Image Segmentation

PEM: Prototype-based Efficient MaskFormer for Image Segmenta...

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

作者： Cavagnero, Niccolo Rosi, Gabriele Cuttano, Claudia Pistilli, Francesca Ciccone, Marco Averta, Giuseppe Cermelli, Fabio Politecn Torino Turin Italy Focoos AI Rome Italy

ISBN: (纸本)9798350353006

Recent transformer-based architectures have shown impressive results in the field of image segmentation. Thanks to their flexibility, they obtain outstanding performance in multiple segmentation tasks, such as semantic and panoptic, under a single unified framework. To achieve such impressive performance, these architectures employ intensive operations and require substantial computational resources, which are often not available, especially on edge devices. To fill this gap, we propose Prototype-based Efficient MaskFormer (PEM), an efficient transformer-based architecture that can operate in multiple segmentation tasks. PEM proposes a novel prototype-based cross-attention which leverages the redundancy of visual features to restrict the computation and improve the efficiency without harming the performance. In addition, PEM introduces an efficient multi-scale feature pyramid network, capable of extracting features that have high semantic content in an efficient way, thanks to the combination of deformable convolutions and context-based self-modulation. We benchmark the proposed PEM architecture on two tasks, semantic and panoptic segmentation, evaluated on two different datasets, Cityscapes and ADE20K. PEM demonstrates outstanding performance on every task and dataset, outperforming task-specific architectures while being comparable and even better than computationally expensive baselines. Code is available at https://***/NiccoloCavagnero/PEM.

关键词： computer vision Efficient Neural Network Image Segmentation

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Pre-trained Model Guided Fine-Tuning for Zero-Shot Adversarial Robustness

Pre-trained Model Guided Fine-Tuning for Zero-Shot Adversari...

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

作者： Wang, Sibo Zhang, Jie Yuan, Zheng Shan, Shiguang Chinese Acad Sci Inst Comp Technol Beijing Peoples R China Univ Chinese Acad Sci Beijing Peoples R China

ISBN: (纸本)9798350353006

Large-scale pre-trained vision-language models like CLIP have demonstrated impressive performance across various tasks, and exhibit remarkable zero-shot generalization capability, while they are also vulnerable to imperceptible adversarial examples. Existing works typically employ adversarial training (fine-tuning) as a defense method against adversarial examples. However, direct application to the CLIP model may result in overfitting, compromising the model's capacity for generalization. In this paper, we propose Pre-trained Model Guided Adversarial Fine-Tuning (PMG-AFT) method, which leverages supervision from the original pre-trained model by carefully designing an auxiliary branch, to enhance the model's zero-shot adversarial robustness. Specifically, PMG-AFT minimizes the distance between the features of adversarial examples in the target model and those in the pre-trained model, aiming to preserve the generalization features already captured by the pre-trained model. Extensive Experiments on 15 zero-shot datasets demonstrate that PMG-AFT significantly outper-forms the state-of-the-art method, improving the top-1 robust accuracy by an average of 4.99%. Furthermore, our approach consistently improves clean accuracy by an aver-age of 8.72%. Our code is available at here.(1)

关键词： Adversarial Robustness Large-scale vision-language models Zero-Shot

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Adapting Short-Term Transformers for Action Detection in Untrimmed Videos

Adapting Short-Term Transformers for Action Detection in Unt...

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

作者： Yang, Min Gao, Huan Guo, Ping Wang, Limin Nanjing Univ State Key Lab Novel Software Technol Nanjing Peoples R China Inchitech Beijing Peoples R China Intel Labs China Hillsboro OR USA Shanghai AI Lab Shanghai Peoples R China

ISBN: (纸本)9798350353006

vision Transformer (ViT) has shown high potential in video recognition, owing to its flexible design, adaptable self-attention mechanisms, and the efficacy of masked pretraining. Yet, it remains unclear how to adapt these pretrained short-term ViTs for temporal action detection (TAD) in untrimmed videos. The existing works treat them as off-the-shelf feature extractors for each short-trimmed snippet without capturing the fine-grained relation among different snippets in a broader temporal context. To mitigate this issue, this paper focuses on designing a new mechanism for adapting these pre-trained ViT models as a unified long-form video transformer to fully unleash its modeling power in capturing inter-snippet relation, while still keeping low computation overhead and memory consumption for efficient TAD. To this end, we design effective crosssnippet propagation modules to gradually exchange short-term video information among different snippets from two levels. For inner-backbone information propagation, we introduce a cross-snippet propagation strategy to enable multi-snippet temporal feature interaction inside the backbone. For post-backbone information propagation, we propose temporal transformer layers for further clip-level modeling. With the plain ViT-B pre-trained with VideoMAE, our end-to-end temporal action detector (ViT-TAD) yields a very competitive performance to previous temporal action detectors, riching up to 69.5 average mAP on THUMOS14, 37.40 average mAP on ActivityNet-1.3 and 17.20 average mAP on FineAction.

关键词： temporal action detection vision Transformer

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Bootstrapping SparseFormers from vision Foundation Models

Bootstrapping SparseFormers from Vision Foundation Models

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

作者： Gao, Ziteng Tong, Zhan Lin, Kevin Qinghong Chen, Joya Shou, Mike Zheng Natl Univ Singapore Show Lab Singapore Singapore

ISBN: (纸本)9798350353006

The recently proposed SparseFormer architecture provides an alternative approach to visual understanding by utilizing a significantly lower number of visual tokens via adjusting RoIs, greatly reducing computational costs while still achieving promising performance. However, training SparseFormers from scratch is still expensive, and scal-ing up the number of parameters can be challenging. In this paper, we propose to bootstrap SparseFormers from ViT-based vision foundation models in a simple and efficient way. Since the majority of SparseFormer blocks are the standard transformer ones, we can inherit weights from large-scale pre-trained vision transformers and freeze them as much as possible. Therefore, we only need to train the SparseFormer-specific lightweight focusing transformer to adjust token RoIs and fine-tune a few early pre-trained blocks to align the final token representation. In such a way, we can bootstrap SparseFormer architectures from various large-scale pre-trained models (e.g., IN-21K pre-trained AugRegs or CLIPs) using a rather smaller amount of training samples (e.g., IN-1K) and without labels or captions within just a few hours. As a result, the bootstrapped unimodal SparseFormer (from AugReg-ViT-L/16-384) can reach 84.9% accuracy on IN-1K with only 49 tokens, and the multimodal SparseFormer from CLIPs also demonstrates notable zero-shot performance with highly reduced computational cost without seeing any caption during the bootstrapping procedure. In addition, CLIP-bootstrapped SparseFormers, which align the output space with language without seeing a word, can serve as efficient vision encoders in multimodal large language models. Code and models are available at https://***/showlab/sparseformer

关键词： Cost reduction

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