Source camera identification is still a hard task in forensics community, especially for the case of the small query image size. In this paper, we propose a solution to identify the source camera of the small-size images: content-adaptive fusion network. In order to learn better feature representation from the input data, content-adaptive convolutional neural networks(CA-CNN) are constructed. We add a convolutional layer in preprocessing stage. Moreover, with the purpose of capturing more comprehensive information, we parallel three CA-CNNs: CA3-CNN, CA5-CNN, CA7-CNN to get the content-adaptive fusion network. The difference of three CA-CNNs lies in the convolutional kernel size of pre-processing layer. The experimental results show that the proposed method is practicable and satisfactory.
Hanyang University（汉阳大学）；Korea Advanced Institute of Science & Technology (KAIST)（韩国科学技术院（KAIST））
Fusing data from cameras and LiDAR sensors is an essential technique to achieve robust 3D object detection. One key challenge in camera-LiDAR fusion involves mitigating the large domain gap between the two sensors in terms of coordinates and data distribution when fusing their features. In this paper, we propose a novel camera-LiDAR fusion architecture called, 3D Dual-Fusion, which is designed to mitigate the gap between the feature representations of camera and LiDAR data. The proposed method fuses the features of the camera-view and 3D voxel-view domain and models their interactions through …
Cross-Dataset Experimental Study of Radar-Camera Fusion in Bird's-Eye View
Stellantis, Opel Automobile GmbH（斯泰兰蒂斯集团，欧宝汽车有限公司）；Rheinland-Pfälzische Technische Universität Kaiserslautern-Landau（莱茵兰-普法尔茨凯泽斯劳滕-兰道工业大学）；German Research Center for Artificial Intelligence（德国人工智能研究中心）
Joint Person Re-identification and Camera Network Topology Inference in Multiple Cameras
Gwangju Institute of Science and Technology（光州科学技术院）；Intel Visual Computing Institute（英特尔视觉计算研究所）；Saarland Informatics Campus（萨尔兰信息学园区）；ASRI（高级软件与机器人研究所）；Seoul National University（首尔大学）
Radar and Camera Fusion for Object Detection and Tracking: A Comprehensive Survey
School of Computer Science and Engineering, Nanyang Technological University（南洋理工大学计算机科学与工程学院）；State Key Laboratory of Industrial Control Technology, Zhejiang University（浙江大学工业控制技术国家重点实验室）；Hangzhou Dianzi University（杭州电子科技大学）；Pillar of Information Systems Technology and Design, Singapore University of Technology and Design（新加坡科技设计大学信息系统技术与设计 pillar）
Peking University（北京大学）；Deepwise AI Lab（深睿医疗人工智能实验室）；Microsoft Research Asia（微软亚洲研究院）
Cross view feature fusion is the key to address the occlusion problem in human pose estimation. The current fusion methods need to train a separate model for every pair of cameras making them difficult to scale. In this work, we introduce MetaFuse, a pre-trained fusion model learned from a large number of cameras in the Panoptic dataset. The model can be efficiently adapted or finetuned for a new pair of cameras using a small number of labeled images. The strong adaptation power of MetaFuse is due in large part to the proposed factorization of the original fusion model into two parts (1) a gen…
ETH Zürich（苏黎世联邦理工学院）；National Tsing Hua University（台湾清华大学）
To track the 3D locations and trajectories of the other traffic participants at any given time, modern autonomous vehicles are equipped with multiple cameras that cover the vehicle's full surroundings. Yet, camera-based 3D object tracking methods prioritize optimizing the single-camera setup and resort to post-hoc fusion in a multi-camera setup. In this paper, we propose a method for panoramic 3D object tracking, called CC-3DT, that associates and models object trajectories both temporally and across views, and improves the overall tracking consistency. In particular, our method fuses 3D detec…
Multi-view radar-camera fused 3D object detection provides a farther detection range and more helpful features for autonomous driving, especially under adverse weather. The current radar-camera fusion methods deliver kinds of designs to fuse radar information with camera data. However, these fusion approaches usually adopt the straightforward concatenation operation between multi-modal features, which ignores the semantic alignment with radar features and sufficient correlations across modals. In this paper, we present MVFusion, a novel Multi-View radar-camera Fusion method to achieve semantic…
RC-BEVFusion: A Plug-In Module for Radar-Camera Bird's Eye View Feature Fusion
Stellantis, Opel Automobile GmbH（斯泰兰蒂斯集团欧宝汽车有限公司）；Rheinland-Pfälzische Technische Universität Kaiserslautern-Landau（莱茵兰-普法尔茨凯泽斯劳滕-兰道工业大学）；German Research Center for Artificial Intelligence（德国人工智能研究中心）
Object detection in camera images, using deep learning has been proven successfully in recent years. Rising detection rates and computationally efficient network structures are pushing this technique towards application in production vehicles. Nevertheless, the sensor quality of the camera is limited in severe weather conditions and through increased sensor noise in sparsely lit areas and at night. Our approach enhances current 2D object detection networks by fusing camera data and projected sparse radar data in the network layers. The proposed CameraRadarFusionNet (CRF-Net) automatically lear…
Huazhong University of Science and Technology（华中科技大学）；SenseTime Research（商汤科技研究院）；Chinese University of Hong Kong（香港中文大学）
Camera and 3D LiDAR sensors have become indispensable devices in modern autonomous driving vehicles, where the camera provides the fine-grained texture, color information in 2D space and LiDAR captures more precise and farther-away distance measurements of the surrounding environments. The complementary information from these two sensors makes the two-modality fusion be a desired option. However, two major issues of the fusion between camera and LiDAR hinder its performance, \ie, how to effectively fuse these two modalities and how to precisely align them (suffering from the weak spatiotempora…
REOcc: Camera-Radar Fusion with Radar Feature Enrichment for 3D Occupancy Prediction
School of Electrical Engineering, Korea Advanced Institute of Science and Technology (KAIST)（韩国科学技术院电子工程学院）；Department of Automobile and IT Convergence, Kookmin University（韩国庆熙大学汽车与IT融合系）；Cho Chun Shik Graduate School of Mobility, Korea Advanced Institute of Science and Technology (KAIST)（韩国科学技术院移动技术研究生院）；Robotics Program, Korea Advanced Institute of Science and Technology (KAIST)（韩国科学技术院机器人项目）
Environmental perception with the multi-modal fusion of radar and camera is crucial in autonomous driving to increase accuracy, completeness, and robustness. This paper focuses on utilizing millimeter-wave (MMW) radar and camera sensor fusion for 3D object detection. A novel method that realizes the feature-level fusion under the bird's-eye view (BEV) for a better feature representation is proposed. Firstly, radar points are augmented with temporal accumulation and sent to a spatial-temporal encoder for radar feature extraction. Meanwhile, multi-scale image 2D features which adapt to various s…
UC Riverside（加州大学河滨分校）；Istituto Italiano di Tecnologia（意大利理工学院）
Person re-identification is an open and challenging problem in computer vision. Existing approaches have concentrated on either designing the best feature representation or learning optimal matching metrics in a static setting where the number of cameras are fixed in a network. Most approaches have neglected the dynamic and open world nature of the re-identification problem, where a new camera may be temporarily inserted into an existing system to get additional information. To address such a novel and very practical problem, we propose an unsupervised adaptation scheme for re-identification m…
In this work, a deep learning approach has been developed to carry out road detection by fusing LIDAR point clouds and camera images. An unstructured and sparse point cloud is first projected onto the camera image plane and then upsampled to obtain a set of dense 2D images encoding spatial information. Several fully convolutional neural networks (FCNs) are then trained to carry out road detection, either by using data from a single sensor, or by using three fusion strategies: early, late, and the newly proposed cross fusion. Whereas in the former two fusion approaches, the integration of multi…
Vehicle re-identification is a challenging task due to high intra-class variances and small inter-class variances. In this work, we focus on the failure cases caused by similar background and shape. They pose serve bias on similarity, making it easier to neglect fine-grained information. To reduce the bias, we propose an approach named VOC-ReID, taking the triplet vehicle-orientation-camera as a whole and reforming background/shape similarity as camera/orientation re-identification. At first, we train models for vehicle, orientation and camera re-identification respectively. Then we use orient…
The Institute of Industrial Science, The University of Tokyo（东京大学生产技术研究所）；The National Institute of Advanced Industrial Science and Technology (AIST)（日本产业技术综合研究所）
Person re-identification in large-scale multi-camera networks is a challenging task because of the spatio-temporal uncertainty and high complexity due to large numbers of cameras and people. To handle these difficulties, additional information such as camera network topology should be provided, which is also difficult to automatically estimate. In this paper, we propose a unified framework which jointly solves both person re-id and camera network topology inference problems. The proposed framework takes general multi-camera network environments into account. To effectively show the superiority…
There have been significant advances in neural networks for both 3D object detection using LiDAR and 2D object detection using video. However, it has been surprisingly difficult to train networks to effectively use both modalities in a way that demonstrates gain over single-modality networks. In this paper, we propose a novel Camera-LiDAR Object Candidates (CLOCs) fusion network. CLOCs fusion provides a low-complexity multi-modal fusion framework that significantly improves the performance of single-modality detectors. CLOCs operates on the combined output candidates before Non-Maximum Suppres…
Integrating LiDAR and Camera information into Bird's-Eye-View (BEV) has become an essential topic for 3D object detection in autonomous driving. Existing methods mostly adopt an independent dual-branch framework to generate LiDAR and camera BEV, then perform an adaptive modality fusion. Since point clouds provide more accurate localization and geometry information, they could serve as a reliable spatial prior to acquiring relevant semantic information from the images. Therefore, we design a LiDAR-Guided View Transformer (LGVT) to effectively obtain the camera representation in BEV space and th…
Institute for AI Industry Research (AIR), Tsinghua University（清华大学人工智能产业研究院（AIR））；Beihang University（北京航空航天大学）
In autonomous driving, Vehicle-Infrastructure Cooperative 3D Object Detection (VIC3D) makes use of multi-view cameras from both vehicles and traffic infrastructure, providing a global vantage point with rich semantic context of road conditions beyond a single vehicle viewpoint. Two major challenges prevail in VIC3D: 1) inherent calibration noise when fusing multi-view images, caused by time asynchrony across cameras; 2) information loss when projecting 2D features into 3D space. To address these issues, We propose a novel 3D object detection framework, Vehicles-Infrastructure Multi-view Interm…
3D object detection with multi-sensors is essential for an accurate and reliable perception system of autonomous driving and robotics. Existing 3D detectors significantly improve the accuracy by adopting a two-stage paradigm which merely relies on LiDAR point clouds for 3D proposal refinement. Though impressive, the sparsity of point clouds, especially for the points far away, making it difficult for the LiDAR-only refinement module to accurately recognize and locate objects.To address this problem, we propose a novel multi-modality two-stage approach named FusionRCNN, which effectively and ef…
First-person interaction recognition is a challenging task because of unstable video conditions resulting from the camera wearer's movement. For human interaction recognition from a first-person viewpoint, this paper proposes a three-stream fusion network with two main parts: three-stream architecture and three-stream correlation fusion. Thre three-stream architecture captures the characteristics of the target appearance, target motion, and camera ego-motion. Meanwhile the three-stream correlation fusion combines the feature map of each of the three streams to consider the correlations among t…
Nanyang Technological University（南洋理工大学）；New York University（纽约大学）
Existing evaluation metrics for Person Re-Identification (Person ReID) models focus on system-wide performance. However, our studies reveal weaknesses due to the uneven data distributions among cameras and different camera properties that expose the ReID system to exploitation. In this work, we raise the long-ignored ReID problem of camera performance imbalance and collect a real-world privacy-aware dataset from 38 cameras to assist the study of the imbalance issue. We propose new metrics to quantify camera performance imbalance and further propose the Adversarial Pairwise Reverse Attention (A…
To learn camera-view invariant features for person Re-IDentification (Re-ID), the cross-camera image pairs of each person play an important role. However, such cross-view training samples could be unavailable under the ISolated Camera Supervised (ISCS) setting, e.g., a surveillance system deployed across distant scenes. To handle this challenging problem, a new pipeline is introduced by synthesizing the cross-camera samples in the feature space for model training. Specifically, the feature encoder and generator are end-to-end optimized under a novel method, Camera-Conditioned Stable Feature Ge…
The perception system in autonomous vehicles is responsible for detecting and tracking the surrounding objects. This is usually done by taking advantage of several sensing modalities to increase robustness and accuracy, which makes sensor fusion a crucial part of the perception system. In this paper, we focus on the problem of radar and camera sensor fusion and propose a middle-fusion approach to exploit both radar and camera data for 3D object detection. Our approach, called CenterFusion, first uses a center point detection network to detect objects by identifying their center points on the i…
Michigan State University（密歇根州立大学）；Ford Motor Company（福特汽车公司）
A distinctive feature of Doppler radar is the measurement of velocity in the radial direction for radar points. However, the missing tangential velocity component hampers object velocity estimation as well as temporal integration of radar sweeps in dynamic scenes. Recognizing that fusing camera with radar provides complementary information to radar, in this paper we present a closed-form solution for the point-wise, full-velocity estimate of Doppler returns using the corresponding optical flow from camera images. Additionally, we address the association problem between radar returns and camera…
Most video person re-identification (re-ID) methods are mainly based on supervised learning, which requires cross-camera ID labeling. Since the cost of labeling increases dramatically as the number of cameras increases, it is difficult to apply the re-identification algorithm to a large camera network. In this paper, we address the scalability issue by presenting deep representation learning without ID information across multiple cameras. Technically, we train neural networks to generate both ID-discriminative and camera-invariant features. To achieve the ID discrimination ability of the embed…
Given a target image as query, person re-identification systems retrieve a ranked list of candidate matches on a per-camera basis. In deployed systems, a human operator scans these lists and labels sighted targets by touch or mouse-based selection. However, classical re-id approaches generate per-camera lists independently. Therefore, target identifications by operator in a subset of cameras cannot be utilized to improve ranking of the target in remaining set of network cameras. To address this shortcoming, we propose a novel sequential multi-camera re-id approach. The proposed approach can ac…
RCBEVDet++: Toward High-accuracy Radar-Camera Fusion 3D Perception Network
Wangxuan Institute of Computer Technology, Peking University（北京大学王选计算机研究所）；School of Information and Communication Engineering, University of Electronic Science and Technology of China（电子科技大学信息与通信工程学院）
CLLAP: Contrastive Learning-based LiDAR-Augmented Pretraining for Enhanced Radar-Camera Fusion
Wuhan University of Technology（武汉理工大学）；University of North Carolina at Charlotte（北卡罗来纳州立大学）；Wuhan University（武汉大学）；Southwest Jiaotong University（西南交通大学）；The Hong Kong Polytechnic University（香港理工大学）
Gwangju Institute of Science and Technology（光州科学技术学院）；School of Electrical Engineering and Computer Science（电气工程与计算机科学学院）；School of Electrical Engineering（电气工程学院）；Computer Science Gwangju Institute of Science（光州科学技术学院计算机科学）
Depth estimation plays a important role in SLAM, odometry, and autonomous driving. Especially, monocular depth estimation is profitable technology because of its low cost, memory, and computation. However, it is not a sufficiently predicting depth map due to a camera often failing to get a clean image because of light conditions. To solve this problem, various sensor fusion method has been proposed. Even though it is a powerful method, sensor fusion requires expensive sensors, additional memory, and high computational performance. In this paper, we present color image and monochrome image pixe…
Dr. B. C. Roy Engineering College（B.C.罗伊工程学院）；Indian Institute of Technology Kanpur（印度理工学院坎普尔分校）；Jadavpur University（jadavpur大学）
This paper proposes a robust ear identification system which is developed by fusing SIFT features of color segmented slice regions of an ear. The proposed ear identification method makes use of Gaussian mixture model (GMM) to build ear model with mixture of Gaussian using vector quantization algorithm and K-L divergence is applied to the GMM framework for recording the color similarity in the specified ranges by comparing color similarity between a pair of reference ear and probe ear. SIFT features are then detected and extracted from each color slice region as a part of invariant feature extr…
The University of Tennessee, Knoxville（田纳西大学诺克斯维尔分校）
In this paper we present a novel radar-camera sensor fusion framework for accurate object detection and distance estimation in autonomous driving scenarios. The proposed architecture uses a middle-fusion approach to fuse the radar point clouds and RGB images. Our radar object proposal network uses radar point clouds to generate 3D proposals from a set of 3D prior boxes. These proposals are mapped to the image and fed into a Radar Proposal Refinement (RPR) network for objectness score prediction and box refinement. The RPR network utilizes both radar information and image feature maps to genera…
Unsupervised person re-identification (ReID) is a challenging task without data annotation to guide discriminative learning. Existing methods attempt to solve this problem by clustering extracted embeddings to generate pseudo labels. However, most methods ignore the intra-class gap caused by camera style variance, and some methods are relatively complex and indirect although they try to solve the negative impact of the camera style on feature distribution. To solve this problem, we propose a camera-aware style separation and contrastive learning method (CA-UReID), which directly separates came…
