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Conference on Computer vision and Pattern Recognition (CVPR)

作者： Jinxia Xie Bineng Zhong Zhiyi Mo Shengping Zhang Liangtao Shi Shuxiang Song Rongrong Ji Key Laboratory of Education Blockchain and Intelligent Technology Ministry of Education Guangxi Normal University Guilin China Guangxi Key Lab of Multi-Source Information Mining & Security Guangxi Normal University Guilin China Guangxi Key Laboratory of Machine Vision and Intelligent Control Wuzhou University School of Computer Science and Technology Harbin Institute of Technology Media Analytics and Computing Lab School of Informatics Xiamen University

ISBN: (数字)9798350353006

ISBN: (纸本)9798350353013

The rich spatio-temporal information is crucial to capture the complicated target appearance variations in visual tracking. However, most top-performing tracking algorithms rely on many hand-crafted components for spatio-temporal information aggregation. Consequently, the spatio-temporal information is far away from being fully explored. To alleviate this issue, we propose an adaptive tracker with spatio-temporal transformers (named AQA-Track), which adopts simple autoregressive queries to effectively learn spatio-temporal information without many hand-designed components. Firstly, we introduce a set of learnable and autoregressive queries to capture the instantaneous target appearance changes in a sliding window fashion. Then, we design a novel attention mechanism for the interaction of existing queries to generate a new query in current frame. Finally, based on the initial target template and learnt autoregressive queries, a spatio-temporal information fusion module (STM) is designed for spatiotemporal formation aggregation to locate a target object. Benefiting from the STM, we can effectively combine the static appearance and instantaneous changes to guide robust tracking. Extensive experiments show that our method significantly improves the tracker's performance on six popular tracking benchmarks: LaSOT, LaSOT ext , TrackingNet, GOT-10k, TNL2K, and UAV123. Code and models will be https://***/orgs/GXNU-Zhonglab.

关键词： Adaptation models Visualization Computer vision Target tracking Computational modeling Transformers Market research

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Robust Tracking via Mamba-based Context-aware Token Learning

arXiv

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arXiv 2024年

作者： Xie, Jinxia Zhong, Bineng Liang, Qihua Li, Ning Mo, Zhiyi Song, Shuxiang Key Laboratory of Education Blockchain and Intelligent Technology Ministry of Education Guangxi Normal University Guilin541004 China Guangxi Key Lab of Multi-Source Information Mining & Security Guangxi Normal University Guilin541004 China Guangxi Key Laboratory of Machine Vision and Intelligent Control Wuzhou University Wuzhou543002 China

How to make a good trade-off between performance and computational cost is crucial for a tracker. However, current famous methods typically focus on complicated and time-consuming learning that combining temporal and appearance information by input more and more images (or features). Consequently, these methods not only increase the model’s computational source and learning burden but also introduce much useless and potentially interfering information. To alleviate the above issues, we propose a simple yet robust tracker that separates temporal information learning from appearance modeling and extracts temporal relations from a set of representative tokens rather than several images (or features). Specifically, we introduce one track token for each frame to collect the target’s appearance information in the backbone. Then, we design a mamba-based Temporal Module for track tokens to be aware of context by interacting with other track tokens within a sliding window. This module consists of a mamba layer with autoregressive characteristic and a cross-attention layer with strong global perception ability, ensuring sufficient interaction for track tokens to perceive the appearance changes and movement trends of the target. Finally, track tokens serve as a guidance to adjust the appearance feature for the final prediction in the head. Experiments show our method is effective and achieves competitive performance on multiple benchmarks at a real-time speed. Code and trained models will be available at https://***/GXNU-Zhonglab/TemTrack . Copyright © 2024, The Authors. All rights reserved.

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A Mars Multi-terrain Simulator Using a Modular Terrain Construction Framework

A Mars Multi-terrain Simulator Using a Modular Terrain Const...

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On-Line Conference (ONCON), Industrial Electronics Society Annual

作者： Yun Jiang Meibao Yao Bo Zheng Tao Hu Tao Cao Xueming Xiao Intelligent Robotics Lab (IRL) School of Artificial Intelligence Jilin University Changchun China Engineering Research Center of Knowledge-Driven Human-Machine Intelligence Ministry of Education China Shanghai Aerospace Control Technology Institute Shanghai China CVIR Lab Changchun University of Science and Technology Changchun China Key Lab of Optoelectronic Measurement and Optical Information Transmission Technology

Mars exploration tasks are inseparable from the support of robotic equipment. More comprehensive environmental awareness capabilities can improve the efficiency of robots on the surface of Mars. Artificial neural networks have emerged as pivotal tools in enhancing the perceptual capabilities of robots. The cornerstone of effective neural network training lies in the availability of high-quality data. Regrettably, the unstructured terrains, particularly the Martian landscape, lack real-world datasets with high-quality annotations. To overcome this challenge, using simulators to generate large amounts of high-quality data for researchers is a good option. Nonetheless, the creation of these simulators requires complex details such as ground texture characteristics and rock distribution, which increases research costs. In response, we introduce a novel approach – the modular terrain construction framework and construct a Mars multi-terrain simulator based on it. This innovative simulator not only simplifies the simulation process but also grants users the flexibility to alter it to their specific research needs. One of the standout features of our simulator is its capacity to generate rich metadata, such as semantic and depth, which can be used seamlessly for a multitude of downstream applications. To validate the reliability of the data produced by our simulator, we have assessed its performance on a semantic segmentation task.

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Co-Optimization Method for Modular Robots Based on Evolutionary Algorithm

Co-Optimization Method for Modular Robots Based on Evolution...

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On-Line Conference (ONCON), Industrial Electronics Society Annual

作者： Peng Zhao Meibao Yao Bo Zheng Xueming Xiao Intelligent Robotics Lab (IRL) School of Artificial Intelligence Jilin University Changchun China Engineering Research Center of Knowledge-Driven Human-Machine Intelligence Ministry of Education China Shanghai Aerospace Control Technology Institute Shanghai China CVIR Lab Changchun University of Science and Technology Changchun China Key Lab of Optoelectronic Measurement and Optical Information Transmission Technology

Deploying robots instead of human labor in complex and hazardous environments is a highly effective strategy. However, current fixed-configuration robot platforms struggle to meet the demanding exploration requirements in non-structured environments. In contrast, reconfigurable modular robots are able to adjust their configurations in response to environmental and task requirements, thereby offering immense potential for tackling complex exploration tasks in unstructured environments. This versatility of reconfigurable modular robots allows them to better adapt to various environmental and task demands, such as using snake or caterpillar configurations to navigate narrow holes, or quadruped configurations to traverse rugged terrain. However, the current research on modular robots primarily focuses on optimizing either their own configurations or solely the motion control model, potentially limiting their adaptability to the environment and hindering the full realization of their reconfigurability. To address this limitation, this paper improves upon traditional EA and proposes a configuration-motion co-optimization method and a new encoding method for modular robots, which jointly models and optimizes both configuration and motion. The method includes dynamic encoding of configuration-motion and the design of compatible operators, effectively enhancing the adaptive capabilities of modular robots in complex environments. The method was validated using the Webots platform, and the results demonstrate successful generation of adaptable reconfiguration schemes for various terrains. Compared to traditional EA, this method has shown superior performance in handling diverse tasks.

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LPL-SLAM: LiDAR SLAM with Plane and Line Optimization for Structural Environment

LPL-SLAM: LiDAR SLAM with Plane and Line Optimization for St...

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On-Line Conference (ONCON), Industrial Electronics Society Annual

作者： Huanfeng Zhao Meibao Yao Xueming Xiao Bo Zheng Tao Cao Tao Hu Intelligent Robotics Lab (IRL) School of Artificial Intelligence Jilin University Changchun China Engineering Research Center of Knowledge-Driven Human-Machine Intelligence Ministry of Education China CVIR Lab Changchun University of Science and Technology Changchun China Key Lab of Opto-Electronic Measurement and Optical Information Transmission Technology Shanghai Aerospace Control Technology Institute Shanghai China

In LiDAR SLAM, data association of sparse LiDAR scan and high computational complexity of point-to-model metrics limit real-time applications of joint optimization module like Bundle Adjustment in Visual SLAM, which leads to cumulative errors deteriorating performance. To address this drawback, in this paper, we propose LPL-SLAM with plane and line optimization for the structural environment. Since plane and line primitives are ubiquitous in man-made environments, we treat the primitives as landmarks to process scans. We introduce line and plane factors relying on line-to-line and plane-to-plane metrics to optimize keyframe poses, planes and lines. With the line and plane factors, our system avoids a large-scale optimization problem and yields accurate and consistent tracking poses. Experimental results demonstrate that LPL-SLAM outperforms the state-of-the-art algorithms and achieves real-time performance.

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Fast Coding Mode Decision for Intra Prediction in VVC SCC

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IEEE Transactions on Broadcasting 2025年第2期71卷 506-516页

作者： Dayong Wang Weihong Liu Zeyu Zhou Xin Lu Jinhua Liu Hui Guo Ce Zhu Chongqing Key Laboratory on Big Data for Bio Intelligence Chongqing University of Posts and Telecommunications Chongqing China Guangxi Key Laboratory of Machine Vision and Intelligent Control Wuzhou University Wuzhou China School of Computer Science and Technology Chongqing University of Posts and Telecommunications Chongqing China School of Cybersecurity Chengdu University of Information Technology Chengdu China School of Computer Science and Informatics De Montfort University Leicester U.K. School of Digital Technology Industry Shangrao Normal University Shangrao China Glasgow College and the School of Information and Communication Engineering University of Electronic Science and Technology of China Chengdu China

Currently, screen content video applications are widely used in our daily lives. As the latest Screen Content Coding (SCC) standard, Versatile Video Coding (VVC) SCC employs a quad-tree plus nested multi-type tree (QTMT) coding structure and various screen content coding modes (CMs). This design enhances the coding efficiency of VVC SCC but also results in a highly complex coding process, which significantly hinders the broader adoption of screen content video technology. Consequently, improving the coding speed of VVC SCC is highly desirable. In this paper, we propose a fast CM and transform decision algorithm for Intra prediction in VVC SCC. Specifically, we initially use Convolutional Neural Networks (CNNs) to predict content types for all Coding Units (CUs). Subsequently, we predict candidate CMs for CUs based on the CM distributions of different content types. We then select the Sum of Absolute Transformed Difference (SATD) as a feature and use a naive Bayes classifier to skip unlikely Intra mode early. Finally, we terminate Block-based Differential Pulse-Code Modulation (BDPCM) early and then select the best transform type in Intra mode prediction to improve coding speed. Experimental results demonstrate that the proposed algorithm improves coding speed by an average of 39.28%, with the BDBR increasing by 0.80%.

关键词： Encoding Copper Prediction algorithms Classification algorithms Transforms Electronic mail Standards Complexity theory Training Partitioning algorithms

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A New Dynamic Routing Network for Monocular Depth Estimation 12

A New Dynamic Routing Network for Monocular Depth Estimation

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12th International Conference on CYBER technology in Automation, control, and Intelligent Systems, CYBER 2022

作者： Luo, Zhehao Luo, Sijin Liang, Guoyuan Wu, Xinyu Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Province Shenzhen China University of Chinese Academy of Sciences Beijing China Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Chinese Academy of Sciences Guangdong Province Shenzhen China Guangdong Provincial Key Laboratory of Computer Vision and Virtual Reality Technology Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Province Shenzhen China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

Depth estimation is an essential task for understanding the geometry of 3D scenes. Compared with multi-view-based methods, monocular depth estimation is more challenging for the requirement of integrating not only global information but also local cues from various parts. Recently, numerous Convolutional Neural Networks (CNNs) based approaches relying on pre-defined static architectures have been reported. Although many of them have achieved remarkable improvements in accuracy, there remains problem with the generality of the static model when it comes to diverse scenes. In this paper, a novel deep network with dynamic routing architecture is proposed with a dynamically adjustable structure with respect to different inputs, therefore leading to not only improvements on both accuracy and generality but also decrease of the model parameters. Extensive experiments of monocular depth estimation have been conducted on two well-known challenging datasets (i.e., NYUD-v2 and Make3D) as well as the mixed dataset, and have verified the effectiveness of the proposed dynamic framework. © 2022 IEEE.

关键词： Deep neural networks

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Efficient Multi-Query Oriented Continuous Subgraph Matching

Efficient Multi-Query Oriented Continuous Subgraph Matching

引用

International Conference on Data Engineering

作者： Ziyi Ma Jianye Yang Xu Zhou Guoqing Xiao Jianhua Wang Liang Yang Kenli Li Xuemin Lin School of Artificial Intelligence Hebei University of Technology China Guangxi Key Laboratory of Machine Vision and Intelligent Control Wuzhou University China Cyberspace Institute of Advanced Technology Guangzhou University China Department of New Networks PengCheng Laboratory China College of Computer Science and Electronic Engineering Hunan University China Shenzhen Research Institute Hunan University China Antai College of Economics and Management Shanghai Jiao Tong University China

ISBN: (数字)9798350317152

ISBN: (纸本)9798350317169

Continuous subgraph matching (CSM) is a critical task for analyzing dynamic graphs and has a wide range of applications, such as merchant fraud detection, cyber-attack hunting, and rumor detection. Although many efficient CSM algorithms have been recently proposed, they are mainly designed to process a single query. However, in some application scenarios, multi-query oriented continuous subgraph matching (MQCSM) may be of more interest. To our knowledge, the two existing solutions to MQCSM are outdated due to unsatisfactory performance. In this paper, we propose MQ-Match, an efficient approach to MQCSM. First, we design a compact yet effective index structure CCG, which maintains the local matching result of vertices in the data graph using a directed graph. The directed edges in CCG can be utilized as an effective pruning rule for the subsequent incremental matching algorithm when expanding a partial match. Then, we develop a computation sharing incremental matching algorithm. In specific, a set of matching trees is constructed based on the depth-first search trees of the query graphs. By utilizing CCG, we conduct subgraph matching for the matching tree to collect the incremental matches for the query graphs, where the common structures of query graphs are matched only once. Extensive experiments show that MQ-Match can achieve 3.1x-7071.4x speedup over the competitors, and consumes much less memory under the majority of the experiment settings.

关键词： Heuristic algorithms Memory management Directed graphs Data engineering Fraud Computational efficiency Indexes

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controlling Type Confounding in Ad Hoc Teamwork with Instance-wise Teammate Feedback Rectification

arXiv

引用

arXiv 2023年

作者： Xing, Dong Gu, Pengjie Zheng, Qian Wang, Xinrun Liu, Shanqi Zheng, Longtao An, Bo Pan, Gang The State Key Lab of Brain-Machine Intelligence Zhejiang University Hangzhou China College of Computer Science and Technology Zhejiang University Hangzhou China School of Computer Science and Engineering Nanyang Technological University Singapore College of Control Science and Engineering Zhejiang University Hangzhou China

Ad hoc teamwork requires an agent to cooperate with unknown teammates without prior coordination. Many works propose to abstract teammate instances into high-level representation of types and then pre-train the best response for each type. However, most of them do not consider the distribution of teammate instances within a type. This could expose the agent to the hidden risk of type confounding. In the worst case, the best response for an abstract teammate type could be the worst response for all specific instances of that type. This work addresses the issue from the lens of causal inference. We first theoretically demonstrate that this phenomenon is due to the spurious correlation brought by uncontrolled teammate distribution. Then, we propose our solution, CTCAT, which disentangles such correlation through an instance-wise teammate feedback rectification. This operation reweights the interaction of teammate instances within a shared type to reduce the influence of type confounding. The effect of CTCAT is evaluated in multiple domains, including classic ad hoc teamwork tasks and real-world scenarios. Results show that CTCAT is robust to the influence of type confounding, a practical issue that directly hazards the robustness of our trained agents but was unnoticed in previous works. Copyright © 2023, The Authors. All rights reserved.

关键词： Feedback

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Fast Coding Mode Prediction for Intra Prediction in VVC SCC

Fast Coding Mode Prediction for Intra Prediction in VVC SCC

引用

IEEE International Conference on Image Processing

作者： Dayong Wang Junyi Yu Xin Lu Frederic Dufaux Hongwei Guo Hui Guo Ce Zhu Chongqing Key Laboratory on Big Data for Bio Intelligence Chongqing University of Posts and Telecommunications Guangxi Key Laboratory of Machine Vision and Intelligent Control Wuzhou University Chongqing Key Laboratory of Image Cognition Chongqing University of Posts and Telecommunications Faculty of Computing Engineering and Media (CEM) De Montfort University Université Paris-Saclay CNRS CentraleSupélec Laboratoire des signaux et systèmes School of Engineering Honghe University Mengzi Yunnan China University of Electronic Science and Technology of China

ISBN: (数字)9798350349399

ISBN: (纸本)9798350349405

Currently, screen content video applications are increasingly widespread in our daily lives. The latest Screen Content Coding (SCC) standard, known as Versatile Video Coding (VVC) SCC, employs screen content Coding Modes (CMs) selection. While VVC SCC achieves high coding efficiency, its coding complexity poses a significant obstacle to the further widespread adoption of screen content video. Hence, it is crucial to enhance the coding speed of VVC SCC. In this paper, we propose a fast mode and splitting decision for Intra prediction in VVC SCC. Specifically, we initially exploit deep learning techniques to predict content types for all CUs. Subsequently, we examine CM distributions of different content types to predict candidate CMs for CUs. We then introduce early skip and early terminate CM decisions for different content types of CUs to further eliminate unlikely CMs. Finally, we develop Block-based Differential Pulse-Code Modulation (BDPCM) early termination to improve coding speed. Experimental results demonstrate that the proposed algorithm can improve coding speed by $34.95 \%$ on average while maintaining almost the same coding efficiency.

关键词： Video coding Deep learning Image coding Modulation Prediction algorithms Complexity theory Copper

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