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Cross Domain Object Detection by Target-Perceived Dual Branch Distillation

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arXiv 2022年

作者： He, Mengzhe Wang, Yali Wu, Jiaxi Wang, Yiru Li, Hanqing Li, Bo Gan, Weihao Wu, Wei Qiao, Yu ShenZhen Key Lab of Computer Vision and Pattern Recognition Shenzhen Institute of Advanced Technology Chinese Academy of Sciences China SenseTime Research University of Chinese Academy of Science China Shanghai AI Laboratory Shanghai China Beihang University China SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society China

Cross domain object detection is a realistic and challenging task in the wild. It suffers from performance degradation due to large shift of data distributions and lack of instance-level annotations in the target domain. Existing approaches mainly focus on either of these two difficulties, even though they are closely coupled in cross domain object detection. To solve this problem, we propose a novel Target-perceived Dual-branch Distillation (TDD) framework. By integrating detection branches of both source and target domains in a unified teacher-student learning scheme, it can reduce domain shift and generate reliable supervision effectively. In particular, we first introduce a distinct Target Proposal Perceiver between two domains. It can adaptively enhance source detector to perceive objects in a target image, by leveraging target proposal contexts from iterative cross-attention. Afterwards, we design a concise Dual Branch Self Distillation strategy for model training, which can progressively integrate complementary object knowledge from different domains via self-distillation in two branches. Finally, we conduct extensive experiments on a number of widely-used scenarios in cross domain object detection. The results show that our TDD significantly outperforms the state-of-the-art methods on all the benchmarks. Our code and model will be available at here. Copyright © 2022, The Authors. All rights reserved.

关键词： Distillation

Optimisation of a siamese neural network for real-time energy efficient object tracking

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TechRxiv

TechRxiv 2020年

作者： Przewlocka, Dominika Wasala, Mateusz Szolc, Hubert Blachut, Krzysztof Kryjak, Tomasz Embedded Vision Systems Group Computer Vision Laboratory Department of Automatic Control and Robotics AGH University of Science and Technology Krakow Poland

In this paper the research on optimisation of visual object tracking using a Siamese neural network for embedded vision systems is presented. It was assumed that the solution shall operate in real-time, preferably for a high resolution video stream, with the lowest possible energy consumption. To meet these requirements, techniques such as the reduction of computational precision and pruning were considered. Brevitas, a tool dedicated for optimisation and quantisation of neural networks for FPGA implementation, was used. A number of training scenarios were tested with varying levels of optimisations – from integer uniform quantisation with 16 bits to ternary and binary networks. Next, the influence of these optimisations on the tracking performance was evaluated. It was possible to reduce the size of the convolutional filters up to 10 times in relation to the original network. The obtained results indicate that using quantisation can significantly reduce the memory and computational complexity of the proposed network while still enabling precise tracking, thus allow to use it in embedded vision systems. Moreover, quantisation of weights positively affects the network training by decreasing overfitting. © 2020, CC BY-NC-SA.

关键词： Field programmable gate arrays (FPGA)

Optimisation of a siamese neural network for real-time energy efficient object tracking

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arXiv 2020年

In this paper the research on optimisation of visual object tracking using a Siamese neural network for embedded vision systems is presented. It was assumed that the solution shall operate in real-time, preferably for a high resolution video stream, with the lowest possible energy consumption. To meet these requirements, techniques such as the reduction of computational precision and pruning were considered. Brevitas, a tool dedicated for optimisation and quantisation of neural networks for FPGA implementation, was used. A number of training scenarios were tested with varying levels of optimisations - from integer uniform quantisation with 16 bits to ternary and binary networks. Next, the influence of these optimisations on the tracking performance was evaluated. It was possible to reduce the size of the convolutional filters up to 10 times in relation to the original network. The obtained results indicate that using quantisation can significantly reduce the memory and computational complexity of the proposed network while still enabling precise tracking, thus allow to use it in embedded vision systems. Moreover, quantisation of weights positively affects the network training by decreasing overfitting. Copyright © 2020, The Authors. All rights reserved.

关键词： Field programmable gate arrays (FPGA)

Learning Graph Representation of Person-specific Cognitive Processes from Audio-visual Behaviours for Automatic Personality Recognition

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arXiv 2021年

作者： Song, Siyang Shao, Zilong Jaiswal, Shashank Shen, Linlin Valstar, Michel Gunes, Hatice Department of Computer Science and Technology University of Cambridge Cambridge United Kingdom Computer Vision Institute Shenzhen University Shenzhen China Shenzhen Institute of Artificial Intelligence of Robotics of Society Shenzhen China Guangdong Key Laboratory of Intelligent Information Processing Shenzhen University Shenzhen China Computer Vision Lab University of Nottingham Nottingham United Kingdom

This paper proposes to recognise the true (self-reported) personality from the learned simulation of the target subject’s cognition. This approach builds on two following findings in cognitive science: (i) human cognition partially determines expressed behaviour and is directly linked to true personality traits;and (ii) in dyadic interactions individuals’ nonverbal behaviours are influenced by their conversational partner’s behaviours. In this context, we hypothesise that during a dyadic interaction, a target subject’s facial reactions are driven by two main factors, i.e. their internal (person-specific) cognitive process, and the externalised nonverbal behaviours of their conversational partner. Consequently, we propose to represent the target subject’s (defined as the listener) person-specific cognition in the form of a person-specific CNN architecture that has unique architectural parameters and depth, which takes audio-visual non-verbal cues displayed by the conversational partner (defined as the speaker) as input, and is able to reproduce the target subject’s facial reactions. Each person-specific CNN is explored by the Neural Architecture Search (NAS) and a novel adaptive loss function, which is then represented as a graph representation for recognising the target subject’s true personality. Experimental results not only show that the produced graph representations are well associated with target subjects’ personality traits in both human-human and human-machine interaction scenarios, and outperform the existing approaches with significant advantages, but also demonstrate that the proposed novel strategies such as adaptive loss, and the end-to-end vertices/edges feature learning, help the proposed approach in learning more reliable personality representations. Building on our earlier version of this work, this paper further proposes: (i) assigning a unique depth for each CNN;(ii) a novel end-to-end graph vertex feature learning strategy;(iii) a transformer-bas

关键词： Cognitive systems

Using Taint Analysis and Reinforcement Learning (TARL) to Repair Autonomous Robot Software

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arXiv 2020年

作者： Lyons, D. Zahra, S. Robotics & Computer Vision Laboratory Dept. of Computer & Information Science Fordham University New York10458 United States

—It is important to be able to establish formal performance bounds for autonomous systems. However, formal verification techniques require a model of the environment in which the system operates;a challenge for autonomous systems, especially those expected to operate over longer timescales. This paper describes work in progress to automate the monitor and repair of ROS-based autonomous robot software written for an a-priori partially known and possibly incorrect environment model. A taint analysis method is used to automatically extract the data-flow sequence from input topic to publish topic, and instrument that code. A unique reinforcement learning approximation of MDP utility is calculated, an empirical and non-invasive characterization of the inherent objectives of the software designers. By comparing off-line (a-priori) utility with on-line (deployed system) utility, we show, using a small but real ROS example, that it’s possible to monitor a performance criterion and relate violations of the criterion to parts of the software. The software is then patched using automated software repair techniques and evaluated against the original off-line utility. Copyright © 2020, The Authors. All rights reserved.

关键词： Reinforcement learning

Semantic segmentation of underwater imagery: Dataset and benchmark

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arXiv 2020年

作者： Islam, Md Jahidul Edge, Chelsey Xiao, Yuyang Luo, Peigen Mehtaz, Muntaqim Morse, Christopher Enan, Sadman Sakib Sattar, Junaed Interactive Robotics and Vision Laboratory Department of Computer Science and Engineering Minnesota Robotics Institute University of Minnesota Twin CitiesMN United States

In this paper, we present the first large-scale dataset for semantic Segmentation of Underwater IMagery (SUIM). It contains over 1500 images with pixel annotations for eight object categories: fish (vertebrates), reefs (invertebrates), aquatic plants, wrecks/ruins, human divers, robots, and sea-floor. The images are rigorously collected during oceanic explorations and human-robot collaborative experiments, and annotated by human participants. We also present a comprehensive benchmark evaluation of several state-of-the-art semantic segmentation approaches based on standard performance metrics. Additionally, we present SUIM-Net, a fully-convolutional deep residual model that balances the tradeoff between performance and computational efficiency. It offers competitive performance while ensuring fast end-to-end inference, which is essential for its use in the autonomy pipeline by visually-guided underwater robots. In particular, we demonstrate its usability benefits for visual servoing, saliency prediction, and detailed scene understanding. With a variety of use cases, the proposed model and benchmark dataset open up promising opportunities for future research on underwater robot vision. Copyright © 2020, The Authors. All rights reserved.

关键词： Semantic Segmentation

Simultaneous enhancement and super-resolution of underwater imagery for improved visual perception

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arXiv 2020年

作者： Islam, Md Jahidul Luo, Peigen Sattar, Junaed Interactive Robotics and Vision Laboratory Department of Computer Science and Engineering Minnesota Robotics Institute University of Minnesota Twin CitiesMN United States

In this paper, we introduce and tackle the simultaneous enhancement and super-resolution (SESR) problem for underwater robot vision and provide an efficient solution for near real-time applications. We present Deep SESR, a residual-in-residual network-based generative model that can learn to restore perceptual image qualities at 2×, 3×, or 4× higher spatial resolution. We supervise its training by formulating a multi-modal objective function that addresses the chrominance-specific underwater color degradation, lack of image sharpness, and loss in high-level feature representation. It is also supervised to learn salient foreground regions in the image, which in turn guides the network to learn global contrast enhancement. We design an end-to-end training pipeline to jointly learn the saliency prediction and SESR on a shared hierarchical feature space for fast inference. Moreover, we present UFO-120, the first dataset to facilitate large-scale SESR learning;it contains over 1500 training samples and a benchmark test set of 120 samples. By thorough experimental evaluation on the UFO-120 and other standard datasets, we demonstrate that Deep SESR outperforms the existing solutions for underwater image enhancement and super-resolution. We also validate its generalization performance on several test cases that include underwater images with diverse spectral and spatial degradation levels, and also terrestrial images with unseen natural objects. Lastly, we analyze its computational feasibility for single-board deployments and demonstrate its operational benefits for visuallyguided underwater robots. The model and dataset information will be available at: Https://***/ xahidbuffon/Deep-SESR. Copyright © 2020, The Authors. All rights reserved.

关键词： Optical resolving power

NTIRE 2023 HR NonHomogeneous Dehazing Challenge Report

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NTIRE 2023 HR NonHomogeneous Dehazing Challenge Report

2023 IEEE/CVF Conference on computer vision and Pattern Recognition Workshops, CVPRW 2023

作者： Ancuti, Codruta O. Ancuti, Cosmin Vasluianu, Florin-Alexandru Timofte, Radu Zhou, Han Dong, Wei Liu, Yangyi Chen, Jun Liu, Huan Li, Liangyan Wu, Zijun Dong, Yubo Li, Yuyan Qiu, Tian He, Yu Lu, Yonghong Wu, Yinwei Jiang, Zhenxiang Liu, Songhua Yang, Xingyi Jing, Yongcheng Benjdira, Bilel Ali, Anas M. Koubaa, Anis Yang, Hao-Hsiang Chen, I-Hsiang Chen, Wei-Ting Huang, Zhi-Kai Chen, Yi-Chung Hsieh, Chia-Hsuan Chang, Hua-En Chiang, Yuan-Chun Kuo, Sy-Yen Guo, Yu Gao, Yuan Liu, Ryan Wen Lu, Yuxu Qu, Jingxiang He, Shengfeng Ren, Wenqi Hoang, Trung Zhang, Haichuan Yazdani, Amirsaeed Monga, Vishal Yang, Lehan Wu, Alex Jiahao Mai, Tiancheng Cong, Xiaofeng Yin, Xuemeng Yin, Xuefei Emad, Hazim Abdallah, Ahmed Yasser, Yahya Elshahat, Dalia Elbaz, Esraa Li, Zhan Kuang, Wenqing Luo, Ziwei Gustafsson, Fredrik K. Zhao, Zheng Sjölund, Jens Schön, Thomas B. Zhang, Zhao Wei, Yanyan Wang, Junhu Zhao, Suiyi Zheng, Huan Guo, Jin Sun, Yangfan Liu, Tianli Hao, Dejun Jiang, Kui Sarvaiya, Anjali Prajapati, Kalpesh Patra, Ratnadeep Barik, Pragnesh Rathod, Chaitanya Upla, Kishor Raja, Kiran Ramachandra, Raghavendra Busch, Christoph ETcTI Universitatea Politehnica Timisoara Romania ICTEAM UCL Belgium Computer Vision Lab University of Wuerzburg Germany Computer Vision Lab ETH Zurich Switzerland Department of Electrical and Computer Engineering McMaster University Canada Department of Electrical and Computer Engineering University of Alberta Canada McMaster University Canada Xidian University China Research Institute Singapore National University of Singapore Singapore University of Sydney Australia Robotics and Internet-of-Things Laboratory Prince Sultan University Riyadh12435 Saudi Arabia Department of Electrical Engineering National Taiwan University Taiwan Graduate Institute of Electronics Engineering National Taiwan University Taiwan Graduate Institute of Communication Engineering National Taiwan University Taiwan Wuhan University of Technology China Singapore Management University Singapore Singapore Sun Yat-sen University China Electrical Engineering Department Pennsylvania State University United States The University of Sydney Australia Southeast University China University of California Los Angeles United States Beijing Jiaotong University China Mansoura Univeristy Egypt College of Information Science and Technology Jinan University China Department of Information Technology Uppsala University Sweden Hefei University of Technology China Zhejiang Dahua Technology China Sardar Vallabhbhai National Institute of Technology India Norwegian University of Science and Technology Norway

ISBN: (纸本)9798350302493

This study assesses the outcomes of the NTIRE 2023 Challenge on Non-Homogeneous Dehazing, wherein novel techniques were proposed and evaluated on new image dataset called HD-NH-HAZE. The HD-NH-HAZE dataset contains 50 high resolution pairs of real-life outdoor images featuring nonhomogeneous hazy images and corresponding haze-free images of the same scene. The nonhomogeneous haze was simulated using a professional setup that replicated real-world conditions of hazy scenarios. The competition had 246 participants and 17 teams submitted solutions for the final testing phase. The proposed solutions demonstrated the cutting-edge in image dehazing technology. © 2023 IEEE.

关键词： Demulsification

PSFHS Challenge Report: Pubic Symphysis and Fetal Head Segmentation from Intrapartum Ultrasound Images

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arXiv 2024年

作者： Bai, Jieyun Zhou, Zihao Ou, Zhanhong Koehler, Gregor Stock, Raphael Maier-Hein, Klaus Elbatel, Marawan Martí, Robert Li, Xiaomeng Qiu, Yaoyang Gou, Panjie Chen, Gongping Zhao, Lei Zhang, Jianxun Dai, Yu Wang, Fangyijie Silvestre, Guénolé Curran, Kathleen Sun, Hongkun Xu, Jing Cai, Pengzhou Jiang, Lu Lan, Libin Ni, Dong Zhong, Mei Chen, Gaowen Campello, Víctor M. Lu, Yaosheng Lekadir, Karim Guangdong Provincial Key Laboratory of Traditional Chinese Medicine Informatization Jinan University Guangzhou China Auckland Bioengineering Institute The University of Auckland Auckland New Zealand Heidelberg Germany Department of Electronic and Computer Engineering The Hong Kong University of Science and Technology Hong Kong Computer Vision and Robotics Group University of Girona Girona Spain Co. LTD Beijing China College of Artificial Intelligence Nankai University Tianjin China College of Computer Science and Electronic Engineering Hunan University Changsha China School of Medicine University College Dublin Dublin Ireland School of Computer Science University College Dublin Dublin Ireland School of Statistics & Mathematics Zhejiang Gongshang University Hangzhou China School of Computer Science & Engineering Chongqing University of Technology Chongqing China National-Regional Key Technology Engineering Laboratory for Medical Ultrasound Guangdong Provincial Key Laboratory of Biomedical Measurements and Ultrasound Imaging School of Biomedical Engineering Health Science Center Shenzhen University Shenzhen China NanFang Hospital of Southern Medical University Guangzhou China Zhujiang Hospital of Southern Medical University Guangzhou China Departament de Matemàtiques i Informàtica Universitat de Barcelona Barcelona Spain Barcelona Spain Institute The University of Auckland Private Bag 92019 Auckland1142 New Zealand

Segmentation of the fetal and maternal structures, particularly intrapartum ultrasound imaging as advocated by the International Society of Ultrasound in Obstetrics and Gynecology (ISUOG) for monitoring labor progression, is a crucial first step for quantitative diagnosis and clinical decision-making. This requires specialized analysis by obstetrics professionals, in a task that i) is highly time- and cost-consuming and ii) often yields inconsistent results. The utility of automatic segmentation algorithms for biometry has been proven, though existing results remain suboptimal. To push forward advancements in this area, the Grand Challenge on Pubic Symphysis-Fetal Head Segmentation (PSFHS) was held alongside the 26th International Conference on Medical Image Computing and computer Assisted Intervention (MICCAI 2023). This challenge aimed to enhance the development of automatic segmentation algorithms at an international scale, providing the largest dataset to date with 5,101 intrapartum ultrasound images collected from two ultrasound machines across three hospitals from two institutions. The scientific community's enthusiastic participation led to the selection of the top 8 out of 179 entries from 193 registrants in the initial phase to proceed to the competition's second stage. These algorithms have elevated the state-of-the-art in automatic PSFHS from intrapartum ultrasound images. A thorough analysis of the results pinpointed ongoing challenges in the field and outlined recommendations for future work. The top solutions and the complete dataset remain publicly available, fostering further advancements in automatic segmentation and biometry for intrapartum ultrasound imaging. © 2024, CC0.

关键词： Ultrasonic imaging