Pub Date : 2022-10-21DOI: 10.48550/arXiv.2210.11795
Ginger Delmas, Philippe Weinzaepfel, Thomas Lucas, F. Moreno-Noguer, Grégory Rogez
Natural language is leveraged in many computer vision tasks such as image captioning, cross-modal retrieval or visual question answering, to provide fine-grained semantic information. While human pose is key to human understanding, current 3D human pose datasets lack detailed language descriptions. In this work, we introduce the PoseScript dataset, which pairs a few thousand 3D human poses from AMASS with rich human-annotated descriptions of the body parts and their spatial relationships. To increase the size of this dataset to a scale compatible with typical data hungry learning algorithms, we propose an elaborate captioning process that generates automatic synthetic descriptions in natural language from given 3D keypoints. This process extracts low-level pose information -- the posecodes -- using a set of simple but generic rules on the 3D keypoints. The posecodes are then combined into higher level textual descriptions using syntactic rules. Automatic annotations substantially increase the amount of available data, and make it possible to effectively pretrain deep models for finetuning on human captions. To demonstrate the potential of annotated poses, we show applications of the PoseScript dataset to retrieval of relevant poses from large-scale datasets and to synthetic pose generation, both based on a textual pose description.
{"title":"PoseScript: 3D Human Poses from Natural Language","authors":"Ginger Delmas, Philippe Weinzaepfel, Thomas Lucas, F. Moreno-Noguer, Grégory Rogez","doi":"10.48550/arXiv.2210.11795","DOIUrl":"https://doi.org/10.48550/arXiv.2210.11795","url":null,"abstract":"Natural language is leveraged in many computer vision tasks such as image captioning, cross-modal retrieval or visual question answering, to provide fine-grained semantic information. While human pose is key to human understanding, current 3D human pose datasets lack detailed language descriptions. In this work, we introduce the PoseScript dataset, which pairs a few thousand 3D human poses from AMASS with rich human-annotated descriptions of the body parts and their spatial relationships. To increase the size of this dataset to a scale compatible with typical data hungry learning algorithms, we propose an elaborate captioning process that generates automatic synthetic descriptions in natural language from given 3D keypoints. This process extracts low-level pose information -- the posecodes -- using a set of simple but generic rules on the 3D keypoints. The posecodes are then combined into higher level textual descriptions using syntactic rules. Automatic annotations substantially increase the amount of available data, and make it possible to effectively pretrain deep models for finetuning on human captions. To demonstrate the potential of annotated poses, we show applications of the PoseScript dataset to retrieval of relevant poses from large-scale datasets and to synthetic pose generation, both based on a textual pose description.","PeriodicalId":72676,"journal":{"name":"Computer vision - ECCV ... : ... European Conference on Computer Vision : proceedings. European Conference on Computer Vision","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-10-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76715550","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-10-21DOI: 10.48550/arXiv.2210.11728
Surgan Jandial, Yash Khasbage, Arghya Pal, V. Balasubramanian, Balaji Krishnamurthy
The inadvertent stealing of private/sensitive information using Knowledge Distillation (KD) has been getting significant attention recently and has guided subsequent defense efforts considering its critical nature. Recent work Nasty Teacher proposed to develop teachers which can not be distilled or imitated by models attacking it. However, the promise of confidentiality offered by a nasty teacher is not well studied, and as a further step to strengthen against such loopholes, we attempt to bypass its defense and steal (or extract) information in its presence successfully. Specifically, we analyze Nasty Teacher from two different directions and subsequently leverage them carefully to develop simple yet efficient methodologies, named as HTC and SCM, which increase the learning from Nasty Teacher by upto 68.63% on standard datasets. Additionally, we also explore an improvised defense method based on our insights of stealing. Our detailed set of experiments and ablations on diverse models/settings demonstrate the efficacy of our approach.
{"title":"Distilling the Undistillable: Learning from a Nasty Teacher","authors":"Surgan Jandial, Yash Khasbage, Arghya Pal, V. Balasubramanian, Balaji Krishnamurthy","doi":"10.48550/arXiv.2210.11728","DOIUrl":"https://doi.org/10.48550/arXiv.2210.11728","url":null,"abstract":"The inadvertent stealing of private/sensitive information using Knowledge Distillation (KD) has been getting significant attention recently and has guided subsequent defense efforts considering its critical nature. Recent work Nasty Teacher proposed to develop teachers which can not be distilled or imitated by models attacking it. However, the promise of confidentiality offered by a nasty teacher is not well studied, and as a further step to strengthen against such loopholes, we attempt to bypass its defense and steal (or extract) information in its presence successfully. Specifically, we analyze Nasty Teacher from two different directions and subsequently leverage them carefully to develop simple yet efficient methodologies, named as HTC and SCM, which increase the learning from Nasty Teacher by upto 68.63% on standard datasets. Additionally, we also explore an improvised defense method based on our insights of stealing. Our detailed set of experiments and ablations on diverse models/settings demonstrate the efficacy of our approach.","PeriodicalId":72676,"journal":{"name":"Computer vision - ECCV ... : ... European Conference on Computer Vision : proceedings. European Conference on Computer Vision","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-10-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90853053","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-10-19DOI: 10.48550/arXiv.2210.10758
Xin Liu, Xiaofei Shao, Boqian Wang, Yali Li, Shengjin Wang
Image guided depth completion aims to recover per-pixel dense depth maps from sparse depth measurements with the help of aligned color images, which has a wide range of applications from robotics to autonomous driving. However, the 3D nature of sparse-to-dense depth completion has not been fully explored by previous methods. In this work, we propose a Graph Convolution based Spatial Propagation Network (GraphCSPN) as a general approach for depth completion. First, unlike previous methods, we leverage convolution neural networks as well as graph neural networks in a complementary way for geometric representation learning. In addition, the proposed networks explicitly incorporate learnable geometric constraints to regularize the propagation process performed in three-dimensional space rather than in two-dimensional plane. Furthermore, we construct the graph utilizing sequences of feature patches, and update it dynamically with an edge attention module during propagation, so as to better capture both the local neighboring features and global relationships over long distance. Extensive experiments on both indoor NYU-Depth-v2 and outdoor KITTI datasets demonstrate that our method achieves the state-of-the-art performance, especially when compared in the case of using only a few propagation steps. Code and models are available at the project page.
{"title":"GraphCSPN: Geometry-Aware Depth Completion via Dynamic GCNs","authors":"Xin Liu, Xiaofei Shao, Boqian Wang, Yali Li, Shengjin Wang","doi":"10.48550/arXiv.2210.10758","DOIUrl":"https://doi.org/10.48550/arXiv.2210.10758","url":null,"abstract":"Image guided depth completion aims to recover per-pixel dense depth maps from sparse depth measurements with the help of aligned color images, which has a wide range of applications from robotics to autonomous driving. However, the 3D nature of sparse-to-dense depth completion has not been fully explored by previous methods. In this work, we propose a Graph Convolution based Spatial Propagation Network (GraphCSPN) as a general approach for depth completion. First, unlike previous methods, we leverage convolution neural networks as well as graph neural networks in a complementary way for geometric representation learning. In addition, the proposed networks explicitly incorporate learnable geometric constraints to regularize the propagation process performed in three-dimensional space rather than in two-dimensional plane. Furthermore, we construct the graph utilizing sequences of feature patches, and update it dynamically with an edge attention module during propagation, so as to better capture both the local neighboring features and global relationships over long distance. Extensive experiments on both indoor NYU-Depth-v2 and outdoor KITTI datasets demonstrate that our method achieves the state-of-the-art performance, especially when compared in the case of using only a few propagation steps. Code and models are available at the project page.","PeriodicalId":72676,"journal":{"name":"Computer vision - ECCV ... : ... European Conference on Computer Vision : proceedings. European Conference on Computer Vision","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-10-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78228323","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-10-19DOI: 10.48550/arXiv.2210.10770
Paul-Edouard Sarlin, Mihai Dusmanu, Johannes L. Schönberger, Pablo Speciale, Lukas Gruber, Viktor Larsson, O. Mikšík, M. Pollefeys
Localization and mapping is the foundational technology for augmented reality (AR) that enables sharing and persistence of digital content in the real world. While significant progress has been made, researchers are still mostly driven by unrealistic benchmarks not representative of real-world AR scenarios. These benchmarks are often based on small-scale datasets with low scene diversity, captured from stationary cameras, and lack other sensor inputs like inertial, radio, or depth data. Furthermore, their ground-truth (GT) accuracy is mostly insufficient to satisfy AR requirements. To close this gap, we introduce LaMAR, a new benchmark with a comprehensive capture and GT pipeline that co-registers realistic trajectories and sensor streams captured by heterogeneous AR devices in large, unconstrained scenes. To establish an accurate GT, our pipeline robustly aligns the trajectories against laser scans in a fully automated manner. As a result, we publish a benchmark dataset of diverse and large-scale scenes recorded with head-mounted and hand-held AR devices. We extend several state-of-the-art methods to take advantage of the AR-specific setup and evaluate them on our benchmark. The results offer new insights on current research and reveal promising avenues for future work in the field of localization and mapping for AR.
{"title":"LaMAR: Benchmarking Localization and Mapping for Augmented Reality","authors":"Paul-Edouard Sarlin, Mihai Dusmanu, Johannes L. Schönberger, Pablo Speciale, Lukas Gruber, Viktor Larsson, O. Mikšík, M. Pollefeys","doi":"10.48550/arXiv.2210.10770","DOIUrl":"https://doi.org/10.48550/arXiv.2210.10770","url":null,"abstract":"Localization and mapping is the foundational technology for augmented reality (AR) that enables sharing and persistence of digital content in the real world. While significant progress has been made, researchers are still mostly driven by unrealistic benchmarks not representative of real-world AR scenarios. These benchmarks are often based on small-scale datasets with low scene diversity, captured from stationary cameras, and lack other sensor inputs like inertial, radio, or depth data. Furthermore, their ground-truth (GT) accuracy is mostly insufficient to satisfy AR requirements. To close this gap, we introduce LaMAR, a new benchmark with a comprehensive capture and GT pipeline that co-registers realistic trajectories and sensor streams captured by heterogeneous AR devices in large, unconstrained scenes. To establish an accurate GT, our pipeline robustly aligns the trajectories against laser scans in a fully automated manner. As a result, we publish a benchmark dataset of diverse and large-scale scenes recorded with head-mounted and hand-held AR devices. We extend several state-of-the-art methods to take advantage of the AR-specific setup and evaluate them on our benchmark. The results offer new insights on current research and reveal promising avenues for future work in the field of localization and mapping for AR.","PeriodicalId":72676,"journal":{"name":"Computer vision - ECCV ... : ... European Conference on Computer Vision : proceedings. European Conference on Computer Vision","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-10-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78596733","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-10-19DOI: 10.48550/arXiv.2210.10670
Pravendra Singh, Pratik Mazumder, M. A. Karim
In order to address real-world problems, deep learning models are jointly trained on many classes. However, in the future, some classes may become restricted due to privacy/ethical concerns, and the restricted class knowledge has to be removed from the models that have been trained on them. The available data may also be limited due to privacy/ethical concerns, and re-training the model will not be possible. We propose a novel approach to address this problem without affecting the model's prediction power for the remaining classes. Our approach identifies the model parameters that are highly relevant to the restricted classes and removes the knowledge regarding the restricted classes from them using the limited available training data. Our approach is significantly faster and performs similar to the model re-trained on the complete data of the remaining classes.
{"title":"Attaining Class-level Forgetting in Pretrained Model using Few Samples","authors":"Pravendra Singh, Pratik Mazumder, M. A. Karim","doi":"10.48550/arXiv.2210.10670","DOIUrl":"https://doi.org/10.48550/arXiv.2210.10670","url":null,"abstract":"In order to address real-world problems, deep learning models are jointly trained on many classes. However, in the future, some classes may become restricted due to privacy/ethical concerns, and the restricted class knowledge has to be removed from the models that have been trained on them. The available data may also be limited due to privacy/ethical concerns, and re-training the model will not be possible. We propose a novel approach to address this problem without affecting the model's prediction power for the remaining classes. Our approach identifies the model parameters that are highly relevant to the restricted classes and removes the knowledge regarding the restricted classes from them using the limited available training data. Our approach is significantly faster and performs similar to the model re-trained on the complete data of the remaining classes.","PeriodicalId":72676,"journal":{"name":"Computer vision - ECCV ... : ... European Conference on Computer Vision : proceedings. European Conference on Computer Vision","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-10-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89206563","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-10-18DOI: 10.48550/arXiv.2210.09852
Sravanti Addepalli, Samyak Jain, Gaurang Sriramanan, R. Venkatesh Babu
The vulnerability of Deep Neural Networks to Adversarial Attacks has fuelled research towards building robust models. While most Adversarial Training algorithms aim at defending attacks constrained within low magnitude Lp norm bounds, real-world adversaries are not limited by such constraints. In this work, we aim to achieve adversarial robustness within larger bounds, against perturbations that may be perceptible, but do not change human (or Oracle) prediction. The presence of images that flip Oracle predictions and those that do not makes this a challenging setting for adversarial robustness. We discuss the ideal goals of an adversarial defense algorithm beyond perceptual limits, and further highlight the shortcomings of naively extending existing training algorithms to higher perturbation bounds. In order to overcome these shortcomings, we propose a novel defense, Oracle-Aligned Adversarial Training (OA-AT), to align the predictions of the network with that of an Oracle during adversarial training. The proposed approach achieves state-of-the-art performance at large epsilon bounds (such as an L-inf bound of 16/255 on CIFAR-10) while outperforming existing defenses (AWP, TRADES, PGD-AT) at standard bounds (8/255) as well.
深度神经网络对对抗性攻击的脆弱性推动了对构建鲁棒模型的研究。虽然大多数对抗性训练算法旨在防御受低幅度Lp范数约束的攻击，但现实世界中的对手并不受此类约束的限制。在这项工作中，我们的目标是在更大的范围内实现对抗性鲁棒性，以对抗可能可感知的扰动，但不会改变人类(或Oracle)的预测。图像的存在推翻了Oracle的预测，而那些没有推翻预测的图像，使得对抗性稳健性成为一个具有挑战性的设置。我们讨论了超越感知极限的对抗性防御算法的理想目标，并进一步强调了将现有训练算法天真地扩展到更高摄动界的缺点。为了克服这些缺点，我们提出了一种新的防御方法，Oracle- aligned Adversarial Training (OA-AT)，在对抗训练期间使网络的预测与Oracle的预测保持一致。所提出的方法在大的epsilon边界(例如CIFAR-10上的16/255的L-inf边界)上实现了最先进的性能，同时在标准边界(8/255)上也优于现有的防御(AWP, TRADES, PGD-AT)。
{"title":"Scaling Adversarial Training to Large Perturbation Bounds","authors":"Sravanti Addepalli, Samyak Jain, Gaurang Sriramanan, R. Venkatesh Babu","doi":"10.48550/arXiv.2210.09852","DOIUrl":"https://doi.org/10.48550/arXiv.2210.09852","url":null,"abstract":"The vulnerability of Deep Neural Networks to Adversarial Attacks has fuelled research towards building robust models. While most Adversarial Training algorithms aim at defending attacks constrained within low magnitude Lp norm bounds, real-world adversaries are not limited by such constraints. In this work, we aim to achieve adversarial robustness within larger bounds, against perturbations that may be perceptible, but do not change human (or Oracle) prediction. The presence of images that flip Oracle predictions and those that do not makes this a challenging setting for adversarial robustness. We discuss the ideal goals of an adversarial defense algorithm beyond perceptual limits, and further highlight the shortcomings of naively extending existing training algorithms to higher perturbation bounds. In order to overcome these shortcomings, we propose a novel defense, Oracle-Aligned Adversarial Training (OA-AT), to align the predictions of the network with that of an Oracle during adversarial training. The proposed approach achieves state-of-the-art performance at large epsilon bounds (such as an L-inf bound of 16/255 on CIFAR-10) while outperforming existing defenses (AWP, TRADES, PGD-AT) at standard bounds (8/255) as well.","PeriodicalId":72676,"journal":{"name":"Computer vision - ECCV ... : ... European Conference on Computer Vision : proceedings. European Conference on Computer Vision","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85435781","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-10-18DOI: 10.48550/arXiv.2210.10036
Shaofei Wang, Katja Schwarz, Andreas Geiger, Siyu Tang
Combining human body models with differentiable rendering has recently enabled animatable avatars of clothed humans from sparse sets of multi-view RGB videos. While state-of-the-art approaches achieve realistic appearance with neural radiance fields (NeRF), the inferred geometry often lacks detail due to missing geometric constraints. Further, animating avatars in out-of-distribution poses is not yet possible because the mapping from observation space to canonical space does not generalize faithfully to unseen poses. In this work, we address these shortcomings and propose a model to create animatable clothed human avatars with detailed geometry that generalize well to out-of-distribution poses. To achieve detailed geometry, we combine an articulated implicit surface representation with volume rendering. For generalization, we propose a novel joint root-finding algorithm for simultaneous ray-surface intersection search and correspondence search. Our algorithm enables efficient point sampling and accurate point canonicalization while generalizing well to unseen poses. We demonstrate that our proposed pipeline can generate clothed avatars with high-quality pose-dependent geometry and appearance from a sparse set of multi-view RGB videos. Our method achieves state-of-the-art performance on geometry and appearance reconstruction while creating animatable avatars that generalize well to out-of-distribution poses beyond the small number of training poses.
{"title":"ARAH: Animatable Volume Rendering of Articulated Human SDFs","authors":"Shaofei Wang, Katja Schwarz, Andreas Geiger, Siyu Tang","doi":"10.48550/arXiv.2210.10036","DOIUrl":"https://doi.org/10.48550/arXiv.2210.10036","url":null,"abstract":"Combining human body models with differentiable rendering has recently enabled animatable avatars of clothed humans from sparse sets of multi-view RGB videos. While state-of-the-art approaches achieve realistic appearance with neural radiance fields (NeRF), the inferred geometry often lacks detail due to missing geometric constraints. Further, animating avatars in out-of-distribution poses is not yet possible because the mapping from observation space to canonical space does not generalize faithfully to unseen poses. In this work, we address these shortcomings and propose a model to create animatable clothed human avatars with detailed geometry that generalize well to out-of-distribution poses. To achieve detailed geometry, we combine an articulated implicit surface representation with volume rendering. For generalization, we propose a novel joint root-finding algorithm for simultaneous ray-surface intersection search and correspondence search. Our algorithm enables efficient point sampling and accurate point canonicalization while generalizing well to unseen poses. We demonstrate that our proposed pipeline can generate clothed avatars with high-quality pose-dependent geometry and appearance from a sparse set of multi-view RGB videos. Our method achieves state-of-the-art performance on geometry and appearance reconstruction while creating animatable avatars that generalize well to out-of-distribution poses beyond the small number of training poses.","PeriodicalId":72676,"journal":{"name":"Computer vision - ECCV ... : ... European Conference on Computer Vision : proceedings. European Conference on Computer Vision","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86554090","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Multi-modal 3D object detection has been an active research topic in autonomous driving. Nevertheless, it is non-trivial to explore the cross-modal feature fusion between sparse 3D points and dense 2D pixels. Recent approaches either fuse the image features with the point cloud features that are projected onto the 2D image plane or combine the sparse point cloud with dense image pixels. These fusion approaches often suffer from severe information loss, thus causing sub-optimal performance. To address these problems, we construct the homogeneous structure between the point cloud and images to avoid projective information loss by transforming the camera features into the LiDAR 3D space. In this paper, we propose a homogeneous multi-modal feature fusion and interaction method (HMFI) for 3D object detection. Specifically, we first design an image voxel lifter module (IVLM) to lift 2D image features into the 3D space and generate homogeneous image voxel features. Then, we fuse the voxelized point cloud features with the image features from different regions by introducing the self-attention based query fusion mechanism (QFM). Next, we propose a voxel feature interaction module (VFIM) to enforce the consistency of semantic information from identical objects in the homogeneous point cloud and image voxel representations, which can provide object-level alignment guidance for cross-modal feature fusion and strengthen the discriminative ability in complex backgrounds. We conduct extensive experiments on the KITTI and Waymo Open Dataset, and the proposed HMFI achieves better performance compared with the state-of-the-art multi-modal methods. Particularly, for the 3D detection of cyclist on the KITTI benchmark, HMFI surpasses all the published algorithms by a large margin.
{"title":"Homogeneous Multi-modal Feature Fusion and Interaction for 3D Object Detection","authors":"Xin Li, Botian Shi, Yuenan Hou, Xingjiao Wu, Tianlong Ma, Yikang Li, Liangbo He","doi":"10.48550/arXiv.2210.09615","DOIUrl":"https://doi.org/10.48550/arXiv.2210.09615","url":null,"abstract":"Multi-modal 3D object detection has been an active research topic in autonomous driving. Nevertheless, it is non-trivial to explore the cross-modal feature fusion between sparse 3D points and dense 2D pixels. Recent approaches either fuse the image features with the point cloud features that are projected onto the 2D image plane or combine the sparse point cloud with dense image pixels. These fusion approaches often suffer from severe information loss, thus causing sub-optimal performance. To address these problems, we construct the homogeneous structure between the point cloud and images to avoid projective information loss by transforming the camera features into the LiDAR 3D space. In this paper, we propose a homogeneous multi-modal feature fusion and interaction method (HMFI) for 3D object detection. Specifically, we first design an image voxel lifter module (IVLM) to lift 2D image features into the 3D space and generate homogeneous image voxel features. Then, we fuse the voxelized point cloud features with the image features from different regions by introducing the self-attention based query fusion mechanism (QFM). Next, we propose a voxel feature interaction module (VFIM) to enforce the consistency of semantic information from identical objects in the homogeneous point cloud and image voxel representations, which can provide object-level alignment guidance for cross-modal feature fusion and strengthen the discriminative ability in complex backgrounds. We conduct extensive experiments on the KITTI and Waymo Open Dataset, and the proposed HMFI achieves better performance compared with the state-of-the-art multi-modal methods. Particularly, for the 3D detection of cyclist on the KITTI benchmark, HMFI surpasses all the published algorithms by a large margin.","PeriodicalId":72676,"journal":{"name":"Computer vision - ECCV ... : ... European Conference on Computer Vision : proceedings. European Conference on Computer Vision","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84958408","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-10-18DOI: 10.48550/arXiv.2210.09866
Sravanti Addepalli, K. Bhogale, P. Dey, R. Venkatesh Babu
Self-supervision has emerged as a propitious method for visual representation learning after the recent paradigm shift from handcrafted pretext tasks to instance-similarity based approaches. Most state-of-the-art methods enforce similarity between various augmentations of a given image, while some methods additionally use contrastive approaches to explicitly ensure diverse representations. While these approaches have indeed shown promising direction, they require a significantly larger number of training iterations when compared to the supervised counterparts. In this work, we explore reasons for the slow convergence of these methods, and further propose to strengthen them using well-posed auxiliary tasks that converge significantly faster, and are also useful for representation learning. The proposed method utilizes the task of rotation prediction to improve the efficiency of existing state-of-the-art methods. We demonstrate significant gains in performance using the proposed method on multiple datasets, specifically for lower training epochs.
{"title":"Towards Efficient and Effective Self-Supervised Learning of Visual Representations","authors":"Sravanti Addepalli, K. Bhogale, P. Dey, R. Venkatesh Babu","doi":"10.48550/arXiv.2210.09866","DOIUrl":"https://doi.org/10.48550/arXiv.2210.09866","url":null,"abstract":"Self-supervision has emerged as a propitious method for visual representation learning after the recent paradigm shift from handcrafted pretext tasks to instance-similarity based approaches. Most state-of-the-art methods enforce similarity between various augmentations of a given image, while some methods additionally use contrastive approaches to explicitly ensure diverse representations. While these approaches have indeed shown promising direction, they require a significantly larger number of training iterations when compared to the supervised counterparts. In this work, we explore reasons for the slow convergence of these methods, and further propose to strengthen them using well-posed auxiliary tasks that converge significantly faster, and are also useful for representation learning. The proposed method utilizes the task of rotation prediction to improve the efficiency of existing state-of-the-art methods. We demonstrate significant gains in performance using the proposed method on multiple datasets, specifically for lower training epochs.","PeriodicalId":72676,"journal":{"name":"Computer vision - ECCV ... : ... European Conference on Computer Vision : proceedings. European Conference on Computer Vision","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85405996","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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