In this study, we propose a novel RGB-T tracking framework by jointly modeling both appearance and motion cues. First, to obtain a robust appearance model, we develop a novel late fusion method to infer the fusion weight maps of both RGB and thermal (T) modalities. The fusion weights are determined by using offline-trained global and local multimodal fusion networks, and then adopted to linearly combine the response maps of RGB and T modalities. Second, when the appearance cue is unreliable, we comprehensively take motion cues, i.e., target and camera motions, into account to make the tracker robust. We further propose a tracker switcher to switch the appearance and motion trackers flexibly. Numerous results on three recent RGB-T tracking datasets show that the proposed tracker performs significantly better than other state-of-the-art algorithms.
The problem of detecting changes in a scene and segmenting the foreground from background is still challenging, despite previous work. Moreover, new RGBD capturing devices include depth cues, which could be incorporated to improve foreground segmentation. In this work, we present a new nonparametric approach where a unified model mixes the device multiple information cues. In order to unify all the device channel cues, a new probabilistic depth data model is also proposed where we show how handle the inaccurate data to improve foreground segmentation. A new RGBD video dataset is presented in o…
Indraprastha Institute of Information Technology Delhi (IIIT Delhi)（德里因德拉普拉斯塔信息技术学院 (IIIT Delhi)）
This work addresses the joint object discovery problem in videos while utilizing multiple object-related cues. In contrast to the usual spatial fusion approach, a novel appearance fusion approach is presented here. Specifically, this paper proposes an effective fusion process of different GMMs derived from multiple cues into one GMM. Much the same as any fusion strategy, this approach also needs some guidance. The proposed method relies on reliability and consensus phenomenon for guidance. As a case study, we pursue the "video co-localization" object discovery problem to propose our methodolog…
This paper reports on a robust RGB-D SLAM system that performs well in scarcely textured and structured environments. We present a novel keyframe-based continuous visual odometry that builds on the recently developed continuous sensor registration framework. A joint geometric and appearance representation is the result of transforming the RGB-D images into functions that live in a Reproducing Kernel Hilbert Space (RKHS). We solve both registration and keyframe selection problems via the inner product structure available in the RKHS. We also extend the proposed keyframe-based odometry method to…
RGB and thermal source data suffer from both shared and specific challenges, and how to explore and exploit them plays a critical role to represent the target appearance in RGBT tracking. In this paper, we propose a novel challenge-aware neural network to handle the modality-shared challenges (e.g., fast motion, scale variation and occlusion) and the modality-specific ones (e.g., illumination variation and thermal crossover) for RGBT tracking. In particular, we design several parameter-shared branches in each layer to model the target appearance under the modality-shared challenges, and severa…
Towards UAV Detection in the Real World: A New Multispectral Dataset UAVNet-MS and a New Method
College of Electronic Science and Technology, National University of Defense Technology（电子科学与技术学院，国防科技大学）；Aviation University of Air Force（空军航空大学）；Sun Yat-sen University（中山大学）
Multiple human tracking (MHT) is a fundamental task in many computer vision applications. Appearance-based approaches, primarily formulated on RGB data, are constrained and affected by problems arising from occlusions and/or illumination variations. In recent years, the arrival of cheap RGB-Depth (RGB-D) devices has {led} to many new approaches to MHT, and many of these integrate color and depth cues to improve each and every stage of the process. In this survey, we present the common processing pipeline of these methods and review their methodology based (a) on how they implement this pipelin…
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…
National Institute of Advanced Industrial Science and Technology（产业技术综合研究所）；Jiangxi University of Finance and Economics（江西财经大学）；The University of Electro-Communications（电气通信大学）
Bottom-up and top-down visual cues are two types of information that helps the visual saliency models. These salient cues can be from spatial distributions of the features (space-based saliency) or contextual / task-dependent features (object based saliency). Saliency models generally incorporate salient cues either in bottom-up or top-down norm separately. In this work, we combine bottom-up and top-down cues from both space and object based salient features on RGB-D data. In addition, we also investigated the ability of various pre-trained convolutional neural networks for extracting top-down…
Visual Place Recognition in Forests with Depth-Aware Distillation
CSIRO Robotics, Brisbane, Australia（澳大利亚联邦科学与工业研究组织机器人实验室，布里斯班，澳大利亚）；University of Queensland, Brisbane, Australia（昆士兰大学，布里斯班，澳大利亚）；Queensland University of Technology, Brisbane, Australia（昆士兰科技大学，布里斯班，澳大利亚）
City University of Hong Kong（香港城市大学）；Shenyang Institute of Automation, Chinese Academy of Sciences（中国科学院沈阳自动化研究所）；University of Chinese Academy of Sciences（中国科学院大学）
Numerous efforts have been made to design different low level saliency cues for the RGBD saliency detection, such as color or depth contrast features, background and color compactness priors. However, how these saliency cues interact with each other and how to incorporate these low level saliency cues effectively to generate a master saliency map remain a challenging problem. In this paper, we design a new convolutional neural network (CNN) to fuse different low level saliency cues into hierarchical features for automatically detecting salient objects in RGBD images. In contrast to the existin…
University of Electronic Science and Technology of China（电子科技大学）；Nanjing University of Science and Technology（南京理工大学）；CETC Special Mission Aircraft System Engineering Co.,Ltd（中国电子科技集团特种任务飞机系统工程有限公司）
Depth cues with affluent spatial information have been proven beneficial in boosting salient object detection (SOD), while the depth quality directly affects the subsequent SOD performance. However, it is inevitable to obtain some low-quality depth cues due to limitations of its acquisition devices, which can inhibit the SOD performance. Besides, existing methods tend to combine RGB images and depth cues in a direct fusion or a simple fusion module, which makes they can not effectively exploit the complex correlations between the two sources. Moreover, few methods design an appropriate module …
RA-SOD: Reliability-Aware RGB-T Salient Object Detection under Modality Degradation
State Key Laboratory of Robotics and Systems, Harbin Institute of Technology（哈尔滨工业大学机器人技术与系统国家重点实验室）；School of Computer Science, University of Sydney（悉尼大学计算机科学学院）
In this paper we propose a convolutional neural network that is designed to upsample a series of sparse range measurements based on the contextual cues gleaned from a high resolution intensity image. Our approach draws inspiration from related work on super-resolution and in-painting. We propose a novel architecture that seeks to pull contextual cues separately from the intensity image and the depth features and then fuse them later in the network. We argue that this approach effectively exploits the relationship between the two modalities and produces accurate results while respecting salient…
Treating Motion as Option with Output Selection for Unsupervised Video Object Segmentation
School of Electrical and Electronic Engineering, Yonsei University（延世大学电气电子工程学院）；Department of Software Convergence, Kyung Hee University（韩国庆熙大学软件融合系）；EO/IR Systems R&D Lab, LIG Nex1（LIG Nex1 EO/IR系统研发实验室）
Spatio-Temporal Difference Guided Motion Deblurring with the Complementary Vision Sensor
Department of Precision Instrument, Tsinghua University（清华大学精密仪器系）；Pen-Tung Sah Institute of Micro-Nano Science and Technology, Xiamen University（厦门大学萨本栋微米纳米科学技术研究院）；Communication University of China（中国传媒大学）；Primevision Technology（普视科技）
The majority of existing solutions to the Multi-Target Tracking (MTT) problem do not combine cues in a coherent end-to-end fashion over a long period of time. However, we present an online method that encodes long-term temporal dependencies across multiple cues. One key challenge of tracking methods is to accurately track occluded targets or those which share similar appearance properties with surrounding objects. To address this challenge, we present a structure of Recurrent Neural Networks (RNN) that jointly reasons on multiple cues over a temporal window. We are able to correct many data as…
University of Tübingen（图宾根大学）；Max Planck Institute for Intelligent Systems（马克斯·普朗克智能系统研究所）；Bosch Center for Artificial Intelligence（博世人工智能中心）
We address the task of open-world class-agnostic object detection, i.e., detecting every object in an image by learning from a limited number of base object classes. State-of-the-art RGB-based models suffer from overfitting the training classes and often fail at detecting novel-looking objects. This is because RGB-based models primarily rely on appearance similarity to detect novel objects and are also prone to overfitting short-cut cues such as textures and discriminative parts. To address these shortcomings of RGB-based object detectors, we propose incorporating geometric cues such as depth …
Peking University（北京大学）；Nanyang Technological University（南洋理工大学）；University of Central Florida（中佛罗里达大学）
3D action recognition has broad applications in human-computer interaction and intelligent surveillance. However, recognizing similar actions remains challenging since previous literature fails to capture motion and shape cues effectively from noisy depth data. In this paper, we propose a novel two-layer Bag-of-Visual-Words (BoVW) model, which suppresses the noise disturbances and jointly encodes both motion and shape cues. First, background clutter is removed by a background modeling method that is designed for depth data. Then, motion and shape cues are jointly used to generate robust and di…
Vehicle re-identification (re-ID) aims to discover and match the target vehicles from a gallery image set taken by different cameras on a wide range of road networks. It is crucial for lots of applications such as security surveillance and traffic management. The remarkably similar appearances of distinct vehicles and the significant changes of viewpoints and illumination conditions take grand challenges to vehicle re-ID. Conventional solutions focus on designing global visual appearances without sufficient consideration of vehicles' spatiotamporal relationships in different images. In this pa…
Mohamed bin Zayed University of Artificial Intelligence（穆罕默德·本·扎耶德人工智能大学）；Northwestern Polytechnical University（西北工业大学）；Inception Institute of Artificial Intelligence（因塞普申人工智能研究院）
How to effectively fuse cross-modal information is the key problem for RGB-D salient object detection. Early fusion and the result fusion schemes fuse RGB and depth information at the input and output stages, respectively, hence incur the problem of distribution gap or information loss. Many models use the feature fusion strategy but are limited by the low-order point-to-point fusion methods. In this paper, we propose a novel mutual attention model by fusing attention and contexts from different modalities. We use the non-local attention of one modality to propagate long-range contextual depen…
Universitat de Barcelona（巴塞罗那大学）；Computer Vision Center（计算机视觉中心）；University of Calgary（卡尔加里大学）；University of Larestan（拉雷斯坦大学）
Gaze behavior is an important non-verbal cue in social signal processing and human-computer interaction. In this paper, we tackle the problem of person- and head pose-independent 3D gaze estimation from remote cameras, using a multi-modal recurrent convolutional neural network (CNN). We propose to combine face, eyes region, and face landmarks as individual streams in a CNN to estimate gaze in still images. Then, we exploit the dynamic nature of gaze by feeding the learned features of all the frames in a sequence to a many-to-one recurrent module that predicts the 3D gaze vector of the last fra…
Northwest University（西北大学）；University of Oulu（奥卢大学）；Northwestern Polytechnical University（西北工业大学）
Automatic pain recognition is paramount for medical diagnosis and treatment. The existing works fall into three categories: assessing facial appearance changes, exploiting physiological cues, or fusing them in a multi-modal manner. However, (1) appearance changes are easily affected by subjective factors which impedes objective pain recognition. Besides, the appearance-based approaches ignore long-range spatial-temporal dependencies that are important for modeling expressions over time; (2) the physiological cues are obtained by attaching sensors on human body, which is inconvenient and uncomf…
Sun Yat-sen University（中山大学）；National University of Defense Technology（国防科技大学）
Person re-identification (re-id) aims to match people across non-overlapping camera views. So far the RGB-based appearance is widely used in most existing works. However, when people appeared in extreme illumination or changed clothes, the RGB appearance-based re-id methods tended to fail. To overcome this problem, we propose to exploit depth information to provide more invariant body shape and skeleton information regardless of illumination and color change. More specifically, we exploit depth voxel covariance descriptor and further propose a locally rotation invariant depth shape descriptor …
Georgia Institute of Technology（佐治亚理工学院）；Meta Reality Labs（Meta现实实验室）；Intel Labs（英特尔研究院）
People often interact with their surroundings by applying pressure with their hands. While hand pressure can be measured by placing pressure sensors between the hand and the environment, doing so can alter contact mechanics, interfere with human tactile perception, require costly sensors, and scale poorly to large environments. We explore the possibility of using a conventional RGB camera to infer hand pressure, enabling machine perception of hand pressure from uninstrumented hands and surfaces. The central insight is that the application of pressure by a hand results in informative appearance…
School of Information and Communication Engineering, Xi’an Jiaotong University（西安交通大学信息与通信工程学院）
Due to better video quality and higher frame rate, the performance of multiple object tracking issues has been greatly improved in recent years. However, in real application scenarios, camera motion and noisy per frame detection results degrade the performance of trackers significantly. High-speed and high-quality multiple object trackers are still in urgent demand. In this paper, we propose a new multiple object tracker following the popular tracking-by-detection scheme. We tackle the camera motion problem with an optical flow network and utilize an auxiliary tracker to deal with the missing …
Tel Aviv University（特拉维夫大学）；Facebook AI Research（脸书人工智能研究院）
Estimating depth from a single RGB images is a fundamental task in computer vision, which is most directly solved using supervised deep learning. In the field of unsupervised learning of depth from a single RGB image, depth is not given explicitly. Existing work in the field receives either a stereo pair, a monocular video, or multiple views, and, using losses that are based on structure-from-motion, trains a depth estimation network. In this work, we rely, instead of different views, on depth from focus cues. Learning is based on a novel Point Spread Function convolutional layer, which applie…
UBATrack: Spatio-Temporal State Space Model for General Multi-Modal Tracking
Key Laboratory of Education Blockchain and Intelligent Technology, Ministry of Education, Guangxi Normal University（教育区块链与智能技术重点实验室，教育部，广西师范大学）；Guangxi Key Laboratory of Multi-Source Information Mining and Security, Guangxi Normal University（广西多源信息挖掘与安全重点实验室，广西师范大学）；University Engineering Research Center of Educational Intelligent Technology, Guangxi Normal University（教育智能技术大学工程研究中心，广西师范大学）；Guangxi Key Laboratory of Machine Vision and Intelligent Control, Wuzhou University（广西机器视觉与智能控制重点实验室，梧州大学）
Video Question Answering (QA) is an important task in understanding video temporal structure. We observe that there are three unique attributes of video QA compared with image QA: (1) it deals with long sequences of images containing richer information not only in quantity but also in variety; (2) motion and appearance information are usually correlated with each other and able to provide useful attention cues to the other; (3) different questions require different number of frames to infer the answer. Based these observations, we propose a motion-appearance comemory network for video QA. Our …
We present a novel method of integrating motion and appearance cues for foreground object segmentation in unconstrained videos. Unlike conventional methods encoding motion and appearance patterns individually, our method puts particular emphasis on their mutual assistance. Specifically, we propose using an interactively constrained encoding (ICE) scheme to incorporate motion and appearance patterns into a graph that leads to a spatiotemporal energy optimization. The reason of utilizing ICE is that both motion and appearance cues for the same target share underlying correlative structure, thus …
Toward Robust and 3D-Aware RGB-NIR Imaging in the Dark
The University of Tokyo（东京大学）；Adelaide University（阿德莱德大学）；School of Artificial Intelligence (SAI) Shanghai Jiao Tong University（上海交通大学人工智能学院）；Hong Kong Polytechnic University（香港理工大学）
