Classifying multi-temporal scene land-use categories and detecting their semantic scene-level changes for imagery covering urban regions could straightly reflect the land-use transitions. Existing methods for scene change detection rarely focus on the temporal correlation of bi-temporal features, and are mainly evaluated on small scale scene change detection datasets. In this work, we proposed a CorrFusion module that fuses the highly correlated components in bi-temporal feature embeddings. We firstly extracts the deep representations of the bi-temporal inputs with deep convolutional networks. Then the extracted features will be projected into a lower dimension space to computed the instance-level correlation. The cross-temporal fusion will be performed based on the computed correlation in CorrFusion module. The final scene classification are obtained with softmax activation layers. In the objective function, we introduced a new formulation for calculating the temporal correlation. The detailed derivation of backpropagation gradients for the proposed module is also given in this paper. Besides, we presented a much larger scale scene change detection dataset and conducted experiments on this dataset. The experimental results demonstrated that our proposed CorrFusion module could remarkably improve the multi-temporal scene classification and scene change detection results.
This paper presents an end-to-end 3D convolutional network named attention-based multi-modal fusion network (AMFNet) for the semantic scene completion (SSC) task of inferring the occupancy and semantic labels of a volumetric 3D scene from single-view RGB-D images. Compared with previous methods which use only the semantic features extracted from RGB-D images, the proposed AMFNet learns to perform effective 3D scene completion and semantic segmentation simultaneously via leveraging the experience of inferring 2D semantic segmentation from RGB-D images as well as the reliable depth cues in spati…
3D semantic segmentation is a fundamental building block for several scene understanding applications such as autonomous driving, robotics and AR/VR. Several state-of-the-art semantic segmentation models suffer from the part misclassification problem, wherein parts of the same object are labelled incorrectly. Previous methods have utilized hierarchical, iterative methods to fuse semantic and instance information, but they lack learnability in context fusion, and are computationally complex and heuristic driven. This paper presents Segment-Fusion, a novel attention-based method for hierarchical…
This paper addresses the problem of holistic road scene understanding based on the integration of visual and range data. To achieve the grand goal, we propose an approach that jointly tackles object-level image segmentation and semantic region labeling within a conditional random field (CRF) framework. Specifically, we first generate semantic object hypotheses by clustering 3D points, learning their prior appearance models, and using a deep learning method for reasoning their semantic categories. The learned priors, together with spatial and geometric contexts, are incorporated in CRF. With th…
Australian National University（澳大利亚国立大学）；Data61-CSIRO（澳大利亚联邦科学与工业研究组织Data61）
Given the prominence of current 3D sensors, a fine-grained analysis on the basic point cloud data is worthy of further investigation. Particularly, real point cloud scenes can intuitively capture complex surroundings in the real world, but due to 3D data's raw nature, it is very challenging for machine perception. In this work, we concentrate on the essential visual task, semantic segmentation, for large-scale point cloud data collected in reality. On the one hand, to reduce the ambiguity in nearby points, we augment their local context by fully utilizing both geometric and semantic features i…
ETH Zürich（苏黎世联邦理工学院）；CVL, ETH Zürich（苏黎世联邦理工学院计算机视觉实验室）；PSI, KU Leuven（鲁汶大学）；CVG Group at ETH Zürich（苏黎世联邦理工学院计算机视觉与几何组）；Google Research Zürich（谷歌苏黎世研究院）
This paper presents a real-time online vision framework to jointly recover an indoor scene's 3D structure and semantic label. Given noisy depth maps, a camera trajectory, and 2D semantic labels at train time, the proposed deep neural network based approach learns to fuse the depth over frames with suitable semantic labels in the scene space. Our approach exploits the joint volumetric representation of the depth and semantics in the scene feature space to solve this task. For a compelling online fusion of the semantic labels and geometry in real-time, we introduce an efficient vortex pooling bl…
SARFusion: Scene-Aware Routing Fusion for Robust Camera-LiDAR 3D Object Detection
Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所）；School of Artificial Intelligence, University of Chinese Academy of Sciences（中国科学院大学人工智能学院）；Wuhan College（武汉学院）
Sichuan University（四川大学）；Dalian University of Technology（大连理工大学）；University of Melbourne（墨尔本大学）；Central South University（中南大学）
Street Scene Change Detection (SSCD) aims to locate the changed regions between a given street-view image pair captured at different times, which is an important yet challenging task in the computer vision community. The intuitive way to solve the SSCD task is to fuse the extracted image feature pairs, and then directly measure the dissimilarity parts for producing a change map. Therefore, the key for the SSCD task is to design an effective feature fusion method that can improve the accuracy of the corresponding change maps. To this end, we present a novel Hierarchical Paired Channel Fusion Ne…
Massachusetts Institute of Technology (MIT)（麻省理工学院）；Collaborative Safety Research Center, Toyota Motor North America（丰田北美汽车公司协作安全研究中心）
Semantic scene segmentation has primarily been addressed by forming representations of single images both with supervised and unsupervised methods. The problem of semantic segmentation in dynamic scenes has begun to recently receive attention with video object segmentation approaches. What is not known is how much extra information the temporal dynamics of the visual scene carries that is complimentary to the information available in the individual frames of the video. There is evidence that the human visual system can effectively perceive the scene from temporal dynamics information of the sc…
IS-Fusion: Instance-Scene Collaborative Fusion for Multimodal 3D Object Detection
School of Computer Science and Technology, Beijing Institute of Technology（北京理工大学计算机科学与技术学院）；University of Macau（澳门大学）；The University of Hong Kong（香港大学）；Inceptio（嬴彻科技）；École Polytechnique Fédérale de Lausanne (EPFL)（洛桑联邦理工学院）；Zhejiang University（浙江大学）
The University of Adelaide（阿德莱德大学）；Nanjing University of Science and Technology（南京理工大学）；Northwestern Polytechnical University（西北工业大学）；ETH Zurich（苏黎世联邦理工学院）
This paper tackles the problem of data fusion in the semantic scene completion (SSC) task, which can simultaneously deal with semantic labeling and scene completion. RGB images contain texture details of the object(s) which are vital for semantic scene understanding. Meanwhile, depth images capture geometric clues of high relevance for shape completion. Using both RGB and depth images can further boost the accuracy of SSC over employing one modality in isolation. We propose a 3D gated recurrent fusion network (GRFNet), which learns to adaptively select and fuse the relevant information from de…
Topology change is a challenging problem for 4D reconstruction of dynamic scenes. In the classic volumetric fusion-based framework, a mesh is usually extracted from the TSDF volume as the canonical surface representation to help estimating deformation field. However, the surface and Embedded Deformation Graph (EDG) representations bring conflicts under topology changes since the surface mesh has fixed-connectivity but the deformation field can be discontinuous. In this paper, the classic framework is re-designed to enable 4D reconstruction of dynamic scene under topology changes, by introducin…
Shanghai Institute for Advanced Communication and Data Science, Shanghai University（上海大学上海先进通信与数据科学研究院）
Although recent works based on deep learning have made progress in improving recognition accuracy on scene text recognition, how to handle low-quality text images in end-to-end deep networks remains a research challenge. In this paper, we propose an Iterative Fusion based Recognizer (IFR) for low quality scene text recognition, taking advantage of refined text images input and robust feature representation. IFR contains two branches which focus on scene text recognition and low quality scene text image recovery respectively. We utilize an iterative collaboration between two branches, which can…
MSGFusion: Multimodal Scene Graph-Guided Infrared and Visible Image Fusion
College of Computer Science and Technology, Ocean University of China（中国海洋大学计算机科学与技术学院）；College of Electronic Engineering, Ocean University of China（中国海洋大学电子工程学院）
The significant progress on Generative Adversarial Networks (GANs) have made it possible to generate surprisingly realistic images for single object based on natural language descriptions. However, controlled generation of images for multiple entities with explicit interactions is still difficult to achieve due to the scene layout generation heavily suffer from the diversity object scaling and spatial locations. In this paper, we proposed a novel framework for generating realistic image layout from textual scene graphs. In our framework, a spatial constraint module is designed to fit reasonabl…
Crowd counting in single-view images has achieved outstanding performance on existing counting datasets. However, single-view counting is not applicable to large and wide scenes (e.g., public parks, long subway platforms, or event spaces) because a single camera cannot capture the whole scene in adequate detail for counting, e.g., when the scene is too large to fit into the field-of-view of the camera, too long so that the resolution is too low on faraway crowds, or when there are too many large objects that occlude large portions of the crowd. Therefore, to solve the wide-area counting task r…
DFKI - German Research Center for Artificial Intelligence（德国人工智能研究中心）；BMW Group（宝马集团）
Motion estimation is one of the core challenges in computer vision. With traditional dual-frame approaches, occlusions and out-of-view motions are a limiting factor, especially in the context of environmental perception for vehicles due to the large (ego-) motion of objects. Our work proposes a novel data-driven approach for temporal fusion of scene flow estimates in a multi-frame setup to overcome the issue of occlusion. Contrary to most previous methods, we do not rely on a constant motion model, but instead learn a generic temporal relation of motion from data. In a second step, a neural ne…
Huazhong University of Science and Technology（华中科技大学）
Semantic scene completion (SSC) aims to complete a partial 3D scene and predict its semantics simultaneously. Most existing works adopt the voxel representations, thus suffering from the growth of memory and computation cost as the voxel resolution increases. Though a few works attempt to solve SSC from the perspective of 3D point clouds, they have not fully exploited the correlation and complementarity between the two tasks of scene completion and semantic segmentation. In our work, we present CasFusionNet, a novel cascaded network for point cloud semantic scene completion by dense feature fu…
Part-Whole Relational Fusion Towards Multi-Modal Scene Understanding
School of Computer Science and Artificial Intelligence, Changzhou University（常州大学计算机与人工智能学院）；Department of Computer Science, University of Sheffield（谢菲尔德大学计算机系）
The waterdrops on windshields during driving can cause severe visual obstructions, which may lead to car accidents. Meanwhile, the waterdrops can also degrade the performance of a computer vision system in autonomous driving. To address these issues, we propose an attention-based framework that fuses the spatio-temporal representations from multiple frames to restore visual information occluded by waterdrops. Due to the lack of training data for video waterdrop removal, we propose a large-scale synthetic dataset with simulated waterdrops in complex driving scenes on rainy days. To improve the …
Huawei German Research Center（华为德国研究中心）；Technical University of Munich（慕尼黑工业大学）
In this paper, we focus on Exposure Fusion (EF) [ExposFusi2] for dynamic scenes. The task is to fuse multiple images obtained by exposure bracketing to create an image which comprises a high level of details. Typically, such images are not possible to obtain directly from a camera due to hardware limitations, e.g., a limited dynamic range of the sensor. A major problem of such tasks is that the images may not be spatially aligned due to scene motion or camera motion. It is known that the required alignment by image registration problems is ill-posed. In this case, the images to be aligned vary…
Spectrograms have been widely used in Convolutional Neural Networks based schemes for acoustic scene classification, such as the STFT spectrogram and the MFCC spectrogram, etc. They have different time-frequency characteristics, contributing to their own advantages and disadvantages in recognizing acoustic scenes. In this letter, a novel multi-spectrogram fusion framework is proposed, making the spectrograms complement each other. In the framework, a single CNN architecture is applied onto multiple spectrograms for feature extraction. The deep features extracted from multiple spectrograms are …
Instituto de Telecomunicações（电信研究所）；Instituto Superior Técnico（高等技术学院）
The recently proposed plug-and-play (PnP) framework allows leveraging recent developments in image denoising to tackle other, more involved, imaging inverse problems. In a PnP method, a black-box denoiser is plugged into an iterative algorithm, taking the place of a formal denoising step that corresponds to the proximity operator of some convex regularizer. While this approach offers flexibility and excellent performance, convergence of the resulting algorithm may be hard to analyze, as most state-of-the-art denoisers lack an explicit underlying objective function. In this paper, we propose a …
In this paper, we study the problem of jointly estimating the optical flow and scene flow from synchronized 2D and 3D data. Previous methods either employ a complex pipeline that splits the joint task into independent stages, or fuse 2D and 3D information in an "early-fusion" or "late-fusion" manner. Such one-size-fits-all approaches suffer from a dilemma of failing to fully utilize the characteristic of each modality or to maximize the inter-modality complementarity. To address the problem, we propose a novel end-to-end framework, called CamLiFlow. It consists of 2D and 3D branches with multi…
To reconstruct a 3D scene from a set of calibrated views, traditional multi-view stereo techniques rely on two distinct stages: local depth maps computation and global depth maps fusion. Recent studies concentrate on deep neural architectures for depth estimation by using conventional depth fusion method or direct 3D reconstruction network by regressing Truncated Signed Distance Function (TSDF). In this paper, we advocate that replicating the traditional two stages framework with deep neural networks improves both the interpretability and the accuracy of the results. As mentioned, our network …
In this paper we introduce Co-Fusion, a dense SLAM system that takes a live stream of RGB-D images as input and segments the scene into different objects (using either motion or semantic cues) while simultaneously tracking and reconstructing their 3D shape in real time. We use a multiple model fitting approach where each object can move independently from the background and still be effectively tracked and its shape fused over time using only the information from pixels associated with that object label. Previous attempts to deal with dynamic scenes have typically considered moving regions as …
UMCFuse: A Unified Multiple Complex Scenes Infrared and Visible Image Fusion Framework
Guangdong-HongKong-Macao Joint Laboratory for Intelligent Micro-Nano Optoelectronic Technology, School of Physics and Optoelectronic Engineering, Foshan University（广东-香港-澳门联合智能微纳光电技术实验室，物理与光电工程学院，佛山大学）；School of Engineering, Hong Kong University of Science and Technology（工程学院，香港科学与技术大学）；School of Information Engineering and Automation, Kunming University of Science and Technology（信息工程与自动化学院，昆明理工大学）；School of Mechanical Electronic and Information Engineering, China University of Mining and Technology（机械电子与信息工程学院，中国矿业大学）
Zhejiang University（浙江大学）；DJI（大疆创新）；Shanghai Institute for Advanced Study of Zhejiang University（浙江大学上海高等研究院）；Shanghai AI Lab（上海人工智能实验室）
Bird's eye view (BEV) representation is a new perception formulation for autonomous driving, which is based on spatial fusion. Further, temporal fusion is also introduced in BEV representation and gains great success. In this work, we propose a new method that unifies both spatial and temporal fusion and merges them into a unified mathematical formulation. The unified fusion could not only provide a new perspective on BEV fusion but also brings new capabilities. With the proposed unified spatial-temporal fusion, our method could support long-range fusion, which is hard to achieve in convention…
Beijing University of Posts and Telecommunications（北京邮电大学）
A critical challenge to image-text retrieval is how to learn accurate correspondences between images and texts. Most existing methods mainly focus on coarse-grained correspondences based on co-occurrences of semantic objects, while failing to distinguish the fine-grained local correspondences. In this paper, we propose a novel Scene Graph based Fusion Network (dubbed SGFN), which enhances the images'/texts' features through intra- and cross-modal fusion for image-text retrieval. To be specific, we design an intra-modal hierarchical attention fusion to incorporate semantic contexts, such as obj…
We present a novel online depth map fusion approach that learns depth map aggregation in a latent feature space. While previous fusion methods use an explicit scene representation like signed distance functions (SDFs), we propose a learned feature representation for the fusion. The key idea is a separation between the scene representation used for the fusion and the output scene representation, via an additional translator network. Our neural network architecture consists of two main parts: a depth and feature fusion sub-network, which is followed by a translator sub-network to produce the fin…
Novel view synthesis of static scenes has achieved remarkable advancements in producing photo-realistic results. However, key challenges remain for immersive rendering of dynamic scenes. One of the seminal image-based rendering method, the multi-plane image (MPI), produces high novel-view synthesis quality for static scenes. But modelling dynamic contents by MPI is not studied. In this paper, we propose a novel Temporal-MPI representation which is able to encode the rich 3D and dynamic variation information throughout the entire video as compact temporal basis and coefficients jointly learned.…
Towards Balanced RGB-TSDF Fusion for Consistent Semantic Scene Completion by 3D RGB Feature Completion and a Classwise Entropy Loss Function
School of Science and Engineering, The Chinese University of Hong Kong (Shenzhen)（香港中文大学（深圳）理工学院）；School of Artificial Intelligence, Shenzhen Polytechnic University（深圳职业技术大学人工智能学院）
Institute for Visualization and Interactive Systems（可视化与交互系统研究所）；University of Stuttgart（斯图加特大学）
Recently, neural network for scene flow estimation show impressive results on automotive data such as the KITTI benchmark. However, despite of using sophisticated rigidity assumptions and parametrizations, such networks are typically limited to only two frame pairs which does not allow them to exploit temporal information. In our paper we address this shortcoming by proposing a novel multi-frame approach that considers an additional preceding stereo pair. To this end, we proceed in two steps: Firstly, building upon the recent RAFT-3D approach, we develop an improved two-frame baseline by incor…
Injecting Frame-Event Complementary Fusion into Diffusion for Optical Flow in Challenging Scenes
National Key Lab of Multispectral Information Intelligent Processing Technology, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology（多谱段信息智能处理国家级实验室，人工智能与自动化学院，华中科技大学）；School of Computing, National University of Singapore（计算机学院，新加坡国立大学）
CMFN: Cross-Modal Fusion Network for Irregular Scene Text Recognition
Intelligent Software Research Center, Institute of Software Chinese Academy of Sciences（中国科学院软件研究所智能软件研究中心）；University of Chinese Academy of Sciences（中国科学院大学）；The Laboratory of Cognition and Decision Intelligence for Complex Systems, Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所复杂系统认知与决策智能实验室）；State Key Laboratory of Computer Science, Institute of Software Chinese Academy of Sciences（中国科学院软件研究所计算机科学国家重点实验室）
