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arXiv 2023年

作者： Shi, Ze Shi, Hao Yang, Kailun Yin, Zhe Lin, Yining Wang, Kaiwei State Key Laboratory of Modern Optical Instrumentation Zhejiang University Hangzhou China School of Robotics and with the National Engineering Research Center of Robot Visual Perception and Control Technology Hunan University Changsha China Shanghai SUPREMIND Technology Co Ltd Shanghai China

— visual place recognition has gained significant attention in recent years as a crucial technology in autonomous driving and robotics. Currently, the two main approaches are the perspective view retrieval (P2P) paradigm and the equirectangular image retrieval (E2E) paradigm. However, it is practical and natural to assume that users only have consumer-grade pinhole cameras to obtain query perspective images and retrieve them in panoramic database images from map providers. To address this, we propose PanoVPR, a perspective-to-equirectangular (P2E) visual place recognition framework that employs sliding windows to eliminate feature truncation caused by hard cropping. Specifically, PanoVPR slides windows over the entire equirectangular image and computes feature descriptors for each window, which are then compared to determine place similarity. Notably, our unified framework enables direct transfer of the backbone from P2P methods without any modification, supporting not only CNNs but also Transformers. To facilitate training and evaluation, we derive the Pitts250k-P2E dataset from the Pitts250k and establish YQ360, latter is the first P2E visual place recognition dataset collected by a mobile robot platform aiming to simulate real-world task scenarios better. Extensive experiments demonstrate that PanoVPR achieves state-of-the-art performance and obtains 3.8% and 8.0% performance gain on Pitts250k-P2E and YQ360 compared to the previous best method, respectively. Code and datasets will be publicly available at PanoVPR. Copyright © 2023, The Authors. All rights reserved.

关键词： Query processing

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Exploring Quasi-Global Solutions to Compound Lens Based Computational Imaging Systems

arXiv

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arXiv 2024年

作者： Gao, Yao Jiang, Qi Gao, Shaohua Sun, Lei Yang, Kailun Wang, Kaiwei State Key Laboratory of Extreme Photonics and Instrumentation Zhejiang University Hangzhou310027 China School of Robotics Hunan University Changsha410012 China National Engineering Research Center of Robot Visual Perception and Control Technology Hunan University Changsha410082 China

Recently, joint design approaches that simultaneously optimize optical systems and downstream algorithms through data-driven learning have demonstrated superior performance over traditional separate design approaches. However, current joint design approaches heavily rely on the manual identification of initial lenses, posing challenges and limitations, particularly for compound lens systems with multiple potential starting points. In this work, we present Quasi-Global Search Optics (QGSO) to automatically design compound lens based computational imaging systems through two parts: (i) Fused Optimization Method for Automatic Optical Design (OptiFusion), which searches for diverse initial optical systems under certain design specifications;and (ii) Efficient Physic-aware Joint Optimization (EPJO), which conducts parallel joint optimization of initial optical systems and image reconstruction networks with the consideration of physical constraints, culminating in the selection of the optimal solution in all search results. Extensive experimental results illustrate that QGSO serves as a transformative end-to-end lens design paradigm for superior global search ability, which automatically provides compound lens based computational imaging systems with higher imaging quality compared to existing paradigms. The source code will be made publicly available at https://***/LiGpy/QGSO. Copyright © 2024, The Authors. All rights reserved.

关键词： Imaging systems

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Towards Source-Free Domain Adaptive Semantic Segmentation Via Importance-Aware and Prototype-Contrast Learning

IEEE Transactions on Intelligent Vehicles

引用

IEEE Transactions on Intelligent Vehicles 2024年 1-13页

作者： Cao, Yihong Zhang, Hui Lu, Xiao Xiao, Zheng Yang, Kailun Wang, Yaonan College of Computer Science and Electronic Engineering Hunan University Changsha China National Engineering Research Center of Robot Vision Perception and Control Technology School of Robotics Hunan University Changsha China College of Engineering and Design Hunan Normal University Changsha China

Domain adaptive semantic segmentation enables robust pixel- wise understanding in real-world driving scenes. Source-free domain adaptation, as a more practical technique, addresses the concerns of data privacy and storage limitations in typical unsupervised domain adaptation methods, making it especially relevant in the context of intelligent vehicles. It utilizes a well-trained source model and unlabeled target data to achieve adaptation in the target domain. However, in the absence of source data and target labels, current solutions cannot sufficiently reduce the impact of domain shift and fully leverage the information from the target data. In this paper, we propose an end-to-end source-free domain adaptation semantic segmentation method via Importance-Aware and Prototype-Contrast (IAPC) learning. The proposed IAPC framework effectively extracts domain-invariant knowledge from the well-trained source model and learns domain-specific knowledge from the unlabeled target domain. Specifically, considering the problem of domain shift in the prediction of the target domain by the source model, we put forward an importance-aware mechanism for the biased target prediction probability distribution to extract domain-invariant knowledge from the source model. We further introduce a prototype-contrast strategy, which includes a prototype-symmetric cross-entropy loss and a prototype-enhanced cross-entropy loss, to learn target intra-domain knowledge without relying on labels. A comprehensive variety of experiments on two domain adaptive semantic segmentation benchmarks demonstrates that the proposed end-to-end IAPC solution outperforms existing state-of-the-art methods. The source code is publicly available at https://***/yihong-97/Source-free-IAPC. IEEE

关键词： Semantics

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Learning to Learn Transferable Generative Attack for Person Re-Identification

arXiv

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arXiv 2024年

作者： Bian, Yuan Liu, Min Wang, Xueping Ma, Yunfeng Wang, Yaonan The College of Electrical and Information Engineering Hunan University National Engineering Research Center of Robot Visual Perception and Control Technology Hunan Changsha China The College of Information Science and Engineering Hunan Normal University Hunan Provincial Key Laboratory of Intelligent Computing and Language Information Processing Hunan Changsha China

Deep learning-based person re-identification (re-id) models are widely employed in surveillance systems and inevitably inherit the vulnerability of deep networks to adversarial attacks. Existing attacks merely consider cross-dataset and cross-model transferability, ignoring the cross-test capability to perturb models trained in different domains. To powerfully examine the robustness of real-world re-id models, the Meta Transferable Generative Attack (MTGA) method is proposed, which adopts meta-learning optimization to promote the generative attacker producing highly transferable adversarial examples by learning comprehensively simulated transfer-based cross-model&dataset&test black-box meta attack tasks. Specifically, cross-model&dataset black-box attack tasks are first mimicked by selecting different re-id models and datasets for meta-train and meta-test attack processes. As different models may focus on different feature regions, the Perturbation Random Erasing module is further devised to prevent the attacker from learning to only corrupt model-specific features. To boost the attacker learning to possess cross-test transferability, the Normalization Mix strategy is introduced to imitate diverse feature embedding spaces by mixing multi-domain statistics of target models. Extensive experiments show the superiority of MTGA, especially in cross-model&dataset and cross-model&dataset&test attacks, our MTGA outperforms the SOTA methods by 21.5% and 11.3% on mean mAP drop rate, respectively. The code of MTGA will be released after the paper is accepted. Copyright © 2024, The Authors. All rights reserved.

关键词： Generative adversarial networks

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AdaptiveClick: Clicks-aware Transformer with Adaptive Focal Loss for Interactive Image Segmentation

arXiv

引用

arXiv 2023年

作者： Lin, Jiacheng Chen, Jiajun Yang, Kailun Roitberg, Alina Li, Siyu Li, Zhiyong Li, Shutao The College of Computer Science and Electronic Engineering Hunan University Changsha410082 China The School of Robotics The National Engineering Research Center of Robot Visual Perception and Control Technology Hunan University Changsha410082 China The Institute for Artificial Intelligence The University of Stuttgart Stuttgart70569 Germany The College of Electrical and Information Engineering The Key Laboratory of Visual Perception and Artificial Intelligence of Hunan Province Hunan University Changsha410082 China

Interactive Image Segmentation (IIS) has emerged as a promising technique for decreasing annotation time. Substantial progress has been made in pre- and post-processing for IIS, but the critical issue of interaction ambiguity, notably hindering segmentation quality, has been under-researched. To address this, we introduce ADAPTIVECLICK – a click-aware transformer incorporating an adaptive focal loss that tackles annotation inconsistencies with tools for mask- and pixel-level ambiguity resolution. To the best of our knowledge, AdaptiveClick is the first transformer-based, mask-adaptive segmentation framework for IIS. The key ingredient of our method is the Click-Aware Mask-adaptive transformer Decoder (CAMD), which enhances the interaction between click and image features. Additionally, AdaptiveClick enables pixel-adaptive differentiation of hard and easy samples in the decision space, independent of their varying distributions. This is primarily achieved by optimizing a generalized Adaptive Focal Loss (AFL) with a theoretical guarantee, where two adaptive coefficients control the ratio of gradient values for hard and easy pixels. Our analysis reveals that the commonly used Focal and BCE losses can be considered special cases of the proposed AFL. With a plain ViT backbone, extensive experimental results on nine datasets demonstrate the superiority of AdaptiveClick compared to state-of-the-art methods. The source code is publicly available at https://***/lab206/AdaptiveClick. Copyright © 2023, The Authors. All rights reserved.

关键词： Pixels

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PanoVpr: Towards Unified Perspective-to-Equirectangular visual Place Recognition via Sliding Windows Across the Panoramic View

PanoVpr: Towards Unified Perspective-to-Equirectangular Visu...

引用

International Conference on Intelligent Transportation

作者： Ze Shi Hao Shi Kailun Yang Zhe Yin Yining Lin Kaiwei Wang State Key Laboratory of Modern Optical Instrumentation Zhejiang University Hangzhou China Shanghai SUPREMIND Technology Co. Ltd Shanghai China National Engineering Research Center of Robot Visual Perception and Control Technology School of Robotics Hunan University Changsha China

visual place recognition has gained significant attention in recent years as a crucial technology in autonomous driving and robotics. Currently, the two main approaches are the perspective view retrieval (P2P) paradigm and the equirectangular image retrieval (E2E) paradigm. However, it is practical and natural to assume that users only have consumer-grade pinhole cameras to obtain query perspective images and retrieve them in panoramic database images from map providers. To address this, we propose PanoVPR, a perspective-to-equirectangular (P2E) visual place recognition framework that employs sliding windows to eliminate feature truncation caused by hard cropping. Specifically, PanoVPR slides windows over the entire equirectangular image and computes feature descriptors for each window, which are then compared to determine place similarity. Notably, our unified framework enables direct transfer of the backbone from P2P methods without any modification, supporting not only CNNs but also Transformers. To facilitate training and evaluation, we derive the Pitts250k-P2E dataset from the Pitts250k and establish YQ360, latter is the first P2E visual place recognition dataset collected by a mobile robot platform aiming to simulate real-world task scenarios better. Extensive experiments demonstrate that PanoVPR achieves state-of-the-art performance and obtains 3.8% and 8.0% performance gain on Pitts250k-P2E and YQ360 compared to the previous best method, respectively. Code and datasets will be publicly available at PanoVPR.

关键词：

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Large Scale Unsupervised Brain MRI Image Registration Solution for Learn2Reg 2024

arXiv

引用

arXiv 2024年

作者： Zhang, Yuxi Chen, Xiang Wang, Jiazheng Liu, Min Wang, Yaonan Liu, Dongdong Hu, Renjiu Zhang, Hang College of Electrical and Information Engineering Hunan University Hunan Changsha China National Engineering Research Center of Robot Visual Perception and Control Technology Hunan University Hunan Changsha China New York University New York United States Cornell University New York United States

In this paper, we summarize the methods and experimental results we proposed for Task 2 in the learn2reg 2024 Challenge. This task focuses on unsupervised registration of anatomical structures in brain MRI images between different patients. The difficulty lies in: (1) without segmentation labels, and (2) a large amount of data. To address these challenges, we built an efficient backbone network and explored several schemes to further enhance registration accuracy. Under the guidance of the NCC loss function and smoothness regularization loss function, we obtained a smooth and reasonable deformation field. According to the leaderboard, our method achieved a Dice coefficient of 77.34%, which is 1.4% higher than the TransMorph. Overall, we won second place on the leaderboard for Task 2. Copyright © 2024, The Authors. All rights reserved.

关键词： Image registration

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Learning compliant grasping and manipulation by teleoperation with adaptive force control

arXiv

引用

arXiv 2021年

作者： Zeng, Chao Li, Shuang Jiang, Yiming Li, Qiang Chen, Zhaopeng Yang, Chenguang Zhang, Jianwei Department of Informatics Universiẗat Hamburg Germany National Engineering Laboratory for Robot Visual Perception and Control Hunan University China Center for Cognitive Interaction Technology Bielefeld University Germany Bristol Robotics Laboratory University of the West of England United Kingdom

In this work, we focus on improving the robot's dexterous capability by exploiting visual sensing and adaptive force control. TeachNet, a vision-based teleoperation learning framework, is exploited to map human hand postures to a multifingered robot hand. We augment TeachNet, which is originally based on an imprecise kinematic mapping and position-only servoing, with a biomimetic learning-based compliance control algorithm for dexterous manipulation tasks. This compliance controller takes the mapped robotic joint angles from TeachNet as the desired goal, computes the desired joint torques. It is derived from a computational model of the biomimetic control strategy in human motor learning, which allows adapting the control variables (impedance and feedforward force) online during the execution of the reference joint angle trajectories. The simultaneous adaptation of the impedance and feedforward profiles enables the robot to interact with the environment in a compliant manner. Our approach has been verified in multiple tasks in physics simulation, i.e., grasping, opening-a-door, turning-a-cap, and touching-a-mouse, and has shown more reliable performances than the existing position control and the fixed-gain-based force control approaches. Copyright © 2021, The Authors. All rights reserved.

关键词： Remote control

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SF-TIM: A Simple Framework for Enhancing Quadrupedal robot Jumping Agility by Combining Terrain Imagination and Measurement

arXiv

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arXiv 2024年

作者： Wang, Ze Li, Yang Xu, Long Shi, Hao Ma, Zunwang Chu, Zhen Li, Chao Gao, Fei Yang, Kailun Wang, Kaiwei State Key Laboratory of Modern Optical Instrumentation Zhejiang University China School of Robotics and National Engineering Research Center of Robot Visual Perception and Control Technology Hunan University China State Key Laboratory of Industrial Control Technology Zhejiang University China DeepRobotics Co. Ltd. China

Dynamic jumping on high platforms and over gaps differentiates legged robots from wheeled counterparts. Compared to walking on rough terrains, dynamic locomotion on abrupt surfaces requires fusing proprioceptive and exteroceptive perception for explosive movements. In this paper, we propose SF-TIM (Simple Framework combining Terrain Imagination and Measurement), a single-policy method that enhances quadrupedal robot jumping agility, while preserving their fundamental blind walking capabilities. In addition, we introduce a terrain-guided reward design specifically to assist quadrupedal robots in high jumping, improving their performance in this task. To narrow the simulation-to-reality gap in quadrupedal robot learning, we introduce a stable and high-speed elevation map generation framework, enabling zero-shot simulation-to-reality transfer of locomotion ability. Our algorithm has been deployed and validated on both the small-/large-size quadrupedal robots, demonstrating its effectiveness in real-world applications: the robot has successfully traversed various high platforms and gaps, showing the robustness of our proposed approach. A demo video has been made available at https://***/SF-TIM. Copyright © 2024, The Authors. All rights reserved.

关键词： Multipurpose robots

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Towards Consistent Object Detection via LiDAR-Camera Synergy

arXiv

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arXiv 2024年

作者： Luo, Kai Wu, Hao Yi, Kefu Yang, Kailun Hao, Wei Hu, Rongdong School of Traffic and Transportation Engineering Changsha University of Science and Technology China College of Automotive and Mechanical Engineering Changsha University of Science and Technology China School of Robotics Hunan University China National Engineering Research Center of Robot Visual Perception and Control Technology Hunan University China Changsha Intelligent Driving Institute China

As human-machine interaction continues to evolve, the capacity for environmental perception is becoming increasingly crucial. Integrating the two most common types of sensory data, images, and point clouds, can enhance detection accuracy. Currently, there is no existing model capable of detecting an object’s position in both point clouds and images while also determining their corresponding relationship. This information is invaluable for human-machine interactions, offering new possibilities for their enhancement. In light of this, this paper introduces an end-to-end Consistency Object Detection (COD) algorithm framework that requires only a single forward inference to simultaneously obtain an object’s position in both point clouds and images and establish their correlation. Furthermore, to assess the accuracy of the object correlation between point clouds and images, this paper proposes a new evaluation metric, Consistency Precision (CP). To verify the effectiveness of the proposed framework, an extensive set of experiments has been conducted on the KITTI and DAIR-V2X datasets. The study also explored how the proposed consistency detection method performs on images when the calibration parameters between images and point clouds are disturbed, compared to existing post-processing methods. The experimental results demonstrate that the proposed method exhibits excellent detection performance and robustness, achieving end-to-end consistency detection. The source code will be made publicly available at https://***/xifen523/COD. Copyright © 2024, The Authors. All rights reserved.

关键词： Image enhancement

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