Unsupervised Domain Adaptation (DA) exploits the supervision of a label-rich source dataset to make predictions on an unlabeled target dataset by aligning the two data distributions. In robotics, DA is used to take advantage of automatically generated synthetic data, that come with "free" annotation, to make effective predictions on real data. However, existing DA methods are not designed to cope with the multi-modal nature of RGB-D data, which are widely used in robotic vision. We propose a novel RGB-D DA method that reduces the synthetic-to-real domain shift by exploiting the inter-modal relation between the RGB and depth image. Our method consists of training a convolutional neural network to solve, in addition to the main recognition task, the pretext task of predicting the relative rotation between the RGB and depth image. To evaluate our method and encourage further research in this area, we define two benchmark datasets for object categorization and instance recognition. With extensive experiments, we show the benefits of leveraging the inter-modal relations for RGB-D DA.
This work presents a new method for unsupervised thermal image classification and semantic segmentation by transferring knowledge from the RGB domain using a multi-domain attention network. Our method does not require any thermal annotations or co-registered RGB-thermal pairs, enabling robots to perform visual tasks at night and in adverse weather conditions without incurring additional costs of data labeling and registration. Current unsupervised domain adaptation methods look to align global images or features across domains. However, when the domain shift is significantly larger for cross-m…
RGB-D salient object detection (SOD) is usually formulated as a problem of classification or regression over two modalities, i.e., RGB and depth. Hence, effective RGBD feature modeling and multi-modal feature fusion both play a vital role in RGB-D SOD. In this paper, we propose a depth-sensitive RGB feature modeling scheme using the depth-wise geometric prior of salient objects. In principle, the feature modeling scheme is carried out in a depth-sensitive attention module, which leads to the RGB feature enhancement as well as the background distraction reduction by capturing the depth geometry…
The University of British Columbia（不列颠哥伦比亚大学）；Southern University of Science and Technology（南方科技大学）
Detection and recognition of staircase as upstairs, downstairs and negative (e.g., ladder) are the fundamental of assisting the visually impaired to travel independently in unfamiliar environments. Previous researches have focused on using massive amounts of RGB-D scene data to train traditional machine learning (ML) based models to detect and recognize the staircase. However, the performance of traditional ML techniques is limited by the amount of labeled RGB-D staircase data. In this paper, we apply an unsupervised domain adaptation approach in deep architectures to transfer knowledge learne…
RGB-Thermal (RGB-T) crowd counting is a challenging task, which uses thermal images as complementary information to RGB images to deal with the decreased performance of unimodal RGB-based methods in scenes with low-illumination or similar backgrounds. Most existing methods propose well-designed structures for cross-modal fusion in RGB-T crowd counting. However, these methods have difficulty in encoding cross-modal contextual semantic information in RGB-T image pairs. Considering the aforementioned problem, we propose a two-stream RGB-T crowd counting network called Multi-Attention Fusion Netwo…
Great Bay University（大湾区大学）；Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所）；SailYond Technology（赛扬科技）；University of Oulu（奥卢大学）；Nanjing University of Information Science and Technology（南京信息工程大学）
Face anti-spoofing (FAS) plays a vital role in securing face recognition systems from presentation attacks. Benefitted from the maturing camera sensors, single-modal (RGB) and multi-modal (e.g., RGB+Depth) FAS has been applied in various scenarios with different configurations of sensors/modalities. Existing single- and multi-modal FAS methods usually separately train and deploy models for each possible modality scenario, which might be redundant and inefficient. Can we train a unified model, and flexibly deploy it under various modality scenarios? In this paper, we establish the first flexibl…
Decoupled Cross-Modal Alignment Network for Text-RGBT Person Retrieval and A High-Quality Benchmark
School of Computer Science and Technology, Anhui University（安徽大学计算机科学与技术学院）；School of Artificial Intelligence, Anhui University（安徽大学人工智能学院）；National Key Laboratory of Opto-Electronic Information Acquisition and Protection Technology（光电信息采集与防护技术国家重点实验室）；Anhui Provincial Key Laboratory of Multimodal Cognitive Computation（安徽省多模态认知计算重点实验室）
In video understanding, most cross-modal knowledge distillation (KD) methods are tailored for classification tasks, focusing on the discriminative representation of the trimmed videos. However, action detection requires not only categorizing actions, but also localizing them in untrimmed videos. Therefore, transferring knowledge pertaining to temporal relations is critical for this task which is missing in the previous cross-modal KD frameworks. To this end, we aim at learning an augmented RGB representation for action detection, taking advantage of additional modalities at training time throu…
Towards Privacy-Supporting Fall Detection via Deep Unsupervised RGB2Depth Adaptation
Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology（卡尔斯鲁厄理工学院人机交互与机器人研究所）；Xiong’an Institute of Innovation, Chinese Academy of Science（中国科学院雄安创新研究院）；Institute of Automation, Chinese Academy of Science（中国科学院自动化研究所）
Sun Yat-sen University（中山大学）；Pazhou Lab（琶洲实验室）；Anhui University（安徽大学）；DarkMatter AI Research（DarkMatter AI 研究院）
Crowd counting is a fundamental yet challenging task, which desires rich information to generate pixel-wise crowd density maps. However, most previous methods only used the limited information of RGB images and cannot well discover potential pedestrians in unconstrained scenarios. In this work, we find that incorporating optical and thermal information can greatly help to recognize pedestrians. To promote future researches in this field, we introduce a large-scale RGBT Crowd Counting (RGBT-CC) benchmark, which contains 2,030 pairs of RGB-thermal images with 138,389 annotated people. Furthermor…
Whole-body-based human authentication is a promising approach for remote biometrics scenarios. Current literature focuses on either body recognition based on RGB images or gait recognition based on body shapes and walking patterns; both have their advantages and drawbacks. In this work, we propose Dual-Modal Ensemble (DME), which combines both RGB and silhouette data to achieve more robust performances for indoor and outdoor whole-body based recognition. Within DME, we propose GaitPattern, which is inspired by the double helical gait pattern used in traditional gait analysis. The GaitPattern c…
The data-driven approach that learns an optimal representation of vision features like skeleton frames or RGB videos is currently a dominant paradigm for activity recognition. While great improvements have been achieved from existing single modal approaches with increasingly larger datasets, the fusion of various data modalities at the feature level has seldom been attempted. In this paper, we propose a multimodal feature fusion model that utilizes both skeleton and RGB modalities to infer human activity. The objective is to improve the activity recognition accuracy by effectively utilizing th…
Gesture recognition is getting more and more popular due to various application possibilities in human-machine interaction. Existing multi-modal gesture recognition systems take multi-modal data as input to improve accuracy, but such methods require more modality sensors, which will greatly limit their application scenarios. Therefore we propose an end-to-end multi-task learning framework in training 2D convolutional neural networks. The framework can use the depth modality to improve accuracy during training and save costs by using only RGB modality during inference. Our framework is trained …
Dalian University of Technology（大连理工大学）；UC Berkeley（加州大学伯克利分校）；York University（约克大学）
RGB-D saliency detection integrates information from both RGB images and depth maps to improve prediction of salient regions under challenging conditions. The key to RGB-D saliency detection is to fully mine and fuse information at multiple scales across the two modalities. Previous approaches tend to apply the multi-scale and multi-modal fusion separately via local operations, which fails to capture long-range dependencies. Here we propose a transformer-based network to address this issue. Our proposed architecture is composed of two modules: a transformer-based within-modality feature enhanc…
Northwestern Polytechnical University（西北工业大学）；Air Force Engineering University（空军工程大学）；wrnch（wrnch公司）；Nanchang University（南昌大学）
The target representation learned by convolutional neural networks plays an important role in Thermal Infrared (TIR) tracking. Currently, most of the top-performing TIR trackers are still employing representations learned by the model trained on the RGB data. However, this representation does not take into account the information in the TIR modality itself, limiting the performance of TIR tracking. To solve this problem, we propose to distill representations of the TIR modality from the RGB modality with Cross-Modal Distillation (CMD) on a large amount of unlabeled paired RGB-TIR data. We take…
College of Intelligence and Computing, Tianjin University（天津大学智能与计算学部）
Drone-based vehicle detection aims at finding the vehicle locations and categories in an aerial image. It empowers smart city traffic management and disaster rescue. Researchers have made mount of efforts in this area and achieved considerable progress. Nevertheless, it is still a challenge when the objects are hard to distinguish, especially in low light conditions. To tackle this problem, we construct a large-scale drone-based RGB-Infrared vehicle detection dataset, termed DroneVehicle. Our DroneVehicle collects 28, 439 RGB-Infrared image pairs, covering urban roads, residential areas, parki…
Despite significant progress, image saliency detection still remains a challenging task in complex scenes and environments. Integrating multiple different but complementary cues, like RGB and Thermal (RGB-T), may be an effective way for boosting saliency detection performance. The current research in this direction, however, is limited by the lack of a comprehensive benchmark. This work contributes such a RGB-T image dataset, which includes 821 spatially aligned RGB-T image pairs and their ground truth annotations for saliency detection purpose. The image pairs are with high diversity recorded…
Center for Vision Technologies, SRI International（SRI国际视觉技术中心）
We study an important, yet largely unexplored problem of large-scale cross-modal visual localization by matching ground RGB images to a geo-referenced aerial LIDAR 3D point cloud (rendered as depth images). Prior works were demonstrated on small datasets and did not lend themselves to scaling up for large-scale applications. To enable large-scale evaluation, we introduce a new dataset containing over 550K pairs (covering 143 km^2 area) of RGB and aerial LIDAR depth images. We propose a novel joint embedding based method that effectively combines the appearance and semantic cues from both modal…
State Key Laboratory for Novel Software Technology, Nanjing University（南京大学计算机软件新技术国家重点实验室）；MYbank, Ant Group（蚂蚁集团网商银行）
Current RGB-D scene recognition approaches often train two standalone backbones for RGB and depth modalities with the same Places or ImageNet pre-training. However, the pre-trained depth network is still biased by RGB-based models which may result in a suboptimal solution. In this paper, we present a single-model self-supervised hybrid pre-training framework for RGB and depth modalities, termed as CoMAE. Our CoMAE presents a curriculum learning strategy to unify the two popular self-supervised representation learning algorithms: contrastive learning and masked image modeling. Specifically, we …
Cross-modulated Attention Transformer for RGBT Tracking
School of Artificial Intelligence, Anhui University（安徽大学人工智能学院）；School of Computer Science and Technology, Anhui University（安徽大学计算机科学与技术学院）；iFLYTEK CO.LTD.（科大讯飞股份有限公司）
Human Activity Recognition using RGB-Event based Sensors: A Multi-modal Heat Conduction Model and A Benchmark Dataset
School of Computer Science and Technology, Anhui University（安徽大学计算机科学与技术学院）；Beijing Institute of Technology（北京理工大学）；University of Chinese Academy of Sciences（中国科学院大学）；Harbin Institute of Technology, Shenzhen（哈尔滨工业大学（深圳））；Peng Cheng Laboratory（鹏城实验室）；School of Computer Science, Peking University（北京大学计算机学院）；School of Electronic and Computer Engineering, Shenzhen Graduate School, Peking University（北京大学深圳研究生院电子与计算机工程学院）
Centre for Autonomous System at KTH Royal Institute of Technology（瑞典皇家理工学院自主系统中心）
In this paper we introduce a system for unsupervised object discovery and segmentation of RGBD-images. The system models the sensor noise directly from data, allowing accurate segmentation without sensor specific hand tuning of measurement noise models making use of the recently introduced Statistical Inlier Estimation (SIE) method. Through a fully probabilistic formulation, the system is able to apply probabilistic inference, enabling reliable segmentation in previously challenging scenarios. In addition, we introduce new methods for filtering out false positives, significantly improving the …
Beihang University（北京航空航天大学）；Harbin Institute of Technology（哈尔滨工业大学）
Planar grasp detection is one of the most fundamental tasks to robotic manipulation, and the recent progress of consumer-grade RGB-D sensors enables delivering more comprehensive features from both the texture and shape modalities. However, depth maps are generally of a relatively lower quality with much stronger noise compared to RGB images, making it challenging to acquire grasp depth and fuse multi-modal clues. To address the two issues, this paper proposes a novel learning based approach to RGB-D grasp detection, namely Depth Guided Cross-modal Attention Network (DGCAN). To better leverage…
Understanding three-dimensional (3D) geometries from two-dimensional (2D) images without any labeled information is promising for understanding the real world without incurring annotation cost. We herein propose a novel generative model, RGBD-GAN, which achieves unsupervised 3D representation learning from 2D images. The proposed method enables camera parameter-conditional image generation and depth image generation without any 3D annotations, such as camera poses or depth. We use an explicit 3D consistency loss for two RGBD images generated from different camera parameters, in addition to the…
City University of Hong Kong（香港城市大学）；Huaqiao University（华侨大学）
This paper investigates the problem of reconstructing hyperspectral (HS) images from single RGB images captured by commercial cameras, \textbf{without} using paired HS and RGB images during training. To tackle this challenge, we propose a new lightweight and end-to-end learning-based framework. Specifically, on the basis of the intrinsic imaging degradation model of RGB images from HS images, we progressively spread the differences between input RGB images and re-projected RGB images from recovered HS images via effective unsupervised camera spectral response function estimation. To enable the…
Laboratoire Hubert Curien, Université Jean Monnet（让·莫奈大学于贝尔·居里实验室）
Recent advances in depth imaging sensors provide easy access to the synchronized depth with color, called RGB-D image. In this paper, we propose an unsupervised method for indoor RGB-D image segmentation and analysis. We consider a statistical image generation model based on the color and geometry of the scene. Our method consists of a joint color-spatial-directional clustering method followed by a statistical planar region merging method. We evaluate our method on the NYU depth database and compare it with existing unsupervised RGB-D segmentation methods. Results show that, it is comparable w…
University of Alberta（阿尔伯塔大学）；Wuhan University（武汉大学）；Dalian University of Technology（大连理工大学）
Growing interests in RGB-D salient object detection (RGB-D SOD) have been witnessed in recent years, owing partly to the popularity of depth sensors and the rapid progress of deep learning techniques. Unfortunately, existing RGB-D SOD methods typically demand large quantity of training images being thoroughly annotated at pixel-level. The laborious and time-consuming manual annotation has become a real bottleneck in various practical scenarios. On the other hand, current unsupervised RGB-D SOD methods still heavily rely on handcrafted feature representations. This inspires us to propose in thi…
DiffPixelFormer: Differential Pixel-Aware Transformer for RGB-D Indoor Scene Segmentation
State Key Laboratory of Robotics and System, Harbin Institute of Technology（机器人系统国家重点实验室，哈尔滨工业大学）；Institute for Infocomm Research, A*STAR（信息通信研究机构，A*STAR）；College of Information Science and Electronic Engineering, Zhejiang University（信息科学与电子工程学院，浙江大学）
Cross-modal State Space Modeling for Real-time RGB-thermal Wild Scene Semantic Segmentation
School of Automation, Beijing Institute of Technology（自动化学院，北京理工大学）；School of Information and Electronic Engineering, Zhejiang University of Science and Technology（信息电子工程学院，浙江工业大学）；School of Computer Science and Engineering, Nanyang Technological University（计算机科学与工程学院，南洋理工大学）
Politecnico di Torino（都灵理工大学）；Italian Institute of Technology（意大利理工学院）
Scene recognition is one of the basic problems in computer vision research with extensive applications in robotics. When available, depth images provide helpful geometric cues that complement the RGB texture information and help to identify discriminative scene image features. Depth sensing technology developed fast in the last years and a great variety of 3D cameras have been introduced, each with different acquisition properties. However, those properties are often neglected when targeting big data collections, so multi-modal images are gathered disregarding their original nature. In this wo…
Shanghai University（上海大学）；University of Manitoba（曼尼托巴大学）；Huawei Technologies Canada（华为技术加拿大公司）；Stony Brook University（石溪大学）
Depth maps contain geometric clues for assisting Salient Object Detection (SOD). In this paper, we propose a novel Cross-Modal Weighting (CMW) strategy to encourage comprehensive interactions between RGB and depth channels for RGB-D SOD. Specifically, three RGB-depth interaction modules, named CMW-L, CMW-M and CMW-H, are developed to deal with respectively low-, middle- and high-level cross-modal information fusion. These modules use Depth-to-RGB Weighing (DW) and RGB-to-RGB Weighting (RW) to allow rich cross-modal and cross-scale interactions among feature layers generated by different networ…
This paper strives for action recognition and detection in video modalities like RGB, depth maps or 3D-skeleton sequences when only limited modality-specific labeled examples are available. For the RGB, and derived optical-flow, modality many large-scale labeled datasets have been made available. They have become the de facto pre-training choice when recognizing or detecting new actions from RGB datasets that have limited amounts of labeled examples available. Unfortunately, large-scale labeled action datasets for other modalities are unavailable for pre-training. In this paper, our goal is to…
Integrating multispectral data in object detection, especially visible and infrared images, has received great attention in recent years. Since visible (RGB) and infrared (IR) images can provide complementary information to handle light variations, the paired images are used in many fields, such as multispectral pedestrian detection, RGB-IR crowd counting and RGB-IR salient object detection. Compared with natural RGB-IR images, we find detection in aerial RGB-IR images suffers from cross-modal weakly misalignment problems, which are manifested in the position, size and angle deviations of the …
Beijing Jiaotong University（北京交通大学）；Meituan（美团）；City University of Hong Kong（香港城市大学）
The popularity and promotion of depth maps have brought new vigor and vitality into salient object detection (SOD), and a mass of RGB-D SOD algorithms have been proposed, mainly concentrating on how to better integrate cross-modality features from RGB image and depth map. For the cross-modality interaction in feature encoder, existing methods either indiscriminately treat RGB and depth modalities, or only habitually utilize depth cues as auxiliary information of the RGB branch. Different from them, we reconsider the status of two modalities and propose a novel Cross-modality Discrepant Interac…
MrGS: Multi-modal Radiance Fields with 3D Gaussian Splatting for RGB-Thermal Novel View Synthesis
Minnesota Robotics Institute (MnRI), University of Minnesota, Twin Cities（明尼苏达大学罗学院（MnRI）、明尼苏达大学双城分校）；Department of Information Convergence Engineering (Artificial Intelligence Major), Pusan National University（信息融合工程系（人工智能专业），釜山国立大学）；Department of Energy Engineering, Korea Institute of Energy Technology (KENTECH)（能源工程系，韩国能源技术研究所（KENTECH））；School of Computer Science and Engineering, Pusan National University（计算机科学与工程学院，釜山国立大学）
Gwangju Institute of Science and Technology（光州科学技术院）
Imitation learning is employed to learn sensorimotor coordination for steering angle prediction in an end-to-end fashion requires expert demonstrations. These expert demonstrations are paired with environmental perception and vehicle control data. The conventional frame-based RGB camera is the most common exteroceptive sensor modality used to acquire the environmental perception data. The frame-based RGB camera has produced promising results when used as a single modality in learning end-to-end lateral control. However, the conventional frame-based RGB camera has limited operability in illumin…
Beijing Jiaotong University（北京交通大学）；Nanyang Technological University（南洋理工大学）；Sun Yat-sen University（中山大学）；University of Chinese Academy of Sciences（中国科学院大学）；Institute of Computing Technology, Chinese Academy of Sciences（中国科学院计算技术研究所）；Peng Cheng Laboratory（鹏城实验室）
Focusing on the issue of how to effectively capture and utilize cross-modality information in RGB-D salient object detection (SOD) task, we present a convolutional neural network (CNN) model, named CIR-Net, based on the novel cross-modality interaction and refinement. For the cross-modality interaction, 1) a progressive attention guided integration unit is proposed to sufficiently integrate RGB-D feature representations in the encoder stage, and 2) a convergence aggregation structure is proposed, which flows the RGB and depth decoding features into the corresponding RGB-D decoding streams via …
In this paper, we propose a new correlated and individual multi-modal deep learning (CIMDL) method for RGB-D object recognition. Unlike most conventional RGB-D object recognition methods which extract features from the RGB and depth channels individually, our CIMDL jointly learns feature representations from raw RGB-D data with a pair of deep neural networks, so that the sharable and modal-specific information can be simultaneously exploited. Specifically, we construct a pair of deep convolutional neural networks (CNNs) for the RGB and depth data, and concatenate them at the top layer of the n…
Modality Dominance-Aware Optimization for Embodied RGB-Infrared Perception
College of Electronics and Information Engineering（电子信息工程学院）；School of Computer Science and Technology（计算机科学与技术学院）；Department of Electrical and Computer Engineering（电气与计算机工程系）；School of Future Science and Engineering（未来科学与工程学院）；Key Laboratory of General Artificial Intelligence and Large Models in Provincial Universities（省属大学通用人工智能与大模型重点实验室）
Shanghai Jiao Tong University（上海交通大学）；Illinois Institute of Technology（伊利诺伊理工学院）
Action recognition has been a heated topic in computer vision for its wide application in vision systems. Previous approaches achieve improvement by fusing the modalities of the skeleton sequence and RGB video. However, such methods have a dilemma between the accuracy and efficiency for the high complexity of the RGB video network. To solve the problem, we propose a multi-modality feature fusion network to combine the modalities of the skeleton sequence and RGB frame instead of the RGB video, as the key information contained by the combination of skeleton sequence and RGB frame is close to tha…
Crowd counting aims to estimate the number of persons in a scene. Most state-of-the-art crowd counting methods based on color images can't work well in poor illumination conditions due to invisible objects. With the widespread use of infrared cameras, crowd counting based on color and thermal images is studied. Existing methods only achieve multi-modal fusion without count objective constraint. To better excavate multi-modal information, we use count-guided multi-modal fusion and modal-guided count enhancement to achieve the impressive performance. The proposed count-guided multi-modal fusion …
Dissecting RGB-D Learning for Improved Multi-modal Fusion
School of Computer Science and Engineering, Southeast University（东南大学计算机科学与工程学院）；Key Laboratory of New Generation Artificial Intelligence Technology and Its Interdisciplinary Applications (Southeast University), Ministry of Education, China（新一代人工智能技术及跨学科应用国家重点实验室（东南大学））；Tsinghua University（清华大学）；College of Computer Science, Beijing University of Technology（北京理工大学计算机学院）
Computer Vision Center, Universitat Autonoma de Barcelona（巴塞罗那自治大学计算机视觉中心）；Computer Vision Laboratory, ETH Zürich（苏黎世联邦理工学院计算机视觉实验室）；Inception Institute of Artificial Intelligence（inception人工智能研究院）
We propose an end-to-end tracking framework for fusing the RGB and TIR modalities in RGB-T tracking. Our baseline tracker is DiMP (Discriminative Model Prediction), which employs a carefully designed target prediction network trained end-to-end using a discriminative loss. We analyze the effectiveness of modality fusion in each of the main components in DiMP, i.e. feature extractor, target estimation network, and classifier. We consider several fusion mechanisms acting at different levels of the framework, including pixel-level, feature-level and response-level. Our tracker is trained in an en…
Convolutional neural networks (CNNs) are good at extracting contexture features within certain receptive fields, while transformers can model the global long-range dependency features. By absorbing the advantage of transformer and the merit of CNN, Swin Transformer shows strong feature representation ability. Based on it, we propose a cross-modality fusion model SwinNet for RGB-D and RGB-T salient object detection. It is driven by Swin Transformer to extract the hierarchical features, boosted by attention mechanism to bridge the gap between two modalities, and guided by edge information to sha…
