3D object trackers usually require training on large amounts of annotated data that is expensive and time-consuming to collect. Instead, we propose leveraging vast unlabeled datasets by self-supervised metric learning of 3D object trackers, with a focus on data association. Large scale annotations for unlabeled data are cheaply obtained by automatic object detection and association across frames. We show how these self-supervised annotations can be used in a principled manner to learn point-cloud embeddings that are effective for 3D tracking. We estimate and incorporate uncertainty in self-supervised tracking to learn more robust embeddings, without needing any labeled data. We design embeddings to differentiate objects across frames, and learn them using uncertainty-aware self-supervised training. Finally, we demonstrate their ability to perform accurate data association across frames, towards effective and accurate 3D tracking. Project videos and code are at https://jianrenw.github.io/Self-Supervised-3D-Data-Association.
East China Normal University（华东师范大学）；Xiamen University（厦门大学）；Shanghai Jiao Tong University（上海交通大学）
Weakly supervised point cloud semantic segmentation methods that require 1\% or fewer labels, hoping to realize almost the same performance as fully supervised approaches, which recently, have attracted extensive research attention. A typical solution in this framework is to use self-training or pseudo labeling to mine the supervision from the point cloud itself, but ignore the critical information from images. In fact, cameras widely exist in LiDAR scenarios and this complementary information seems to be greatly important for 3D applications. In this paper, we propose a novel cross-modality w…
Hyper Association Graph Matching with Uncertainty Quantification for Coronary Artery Semantic Labeling
Michigan Technological University（密歇根理工大学）；Medical University of South Carolina（南卡罗来纳医科大学）；The First Affiliated Hospital of Nanjing Medical University（南京医科大学第一附属医院）
Beijing National Research Center for Information Science and Technology (BNRist)（北京信息科学与技术国家研究中心）；Tsinghua University（清华大学）
Semi-supervised learning aims to leverage a large amount of unlabeled data for performance boosting. Existing works primarily focus on image classification. In this paper, we delve into semi-supervised learning for object detection, where labeled data are more labor-intensive to collect. Current methods are easily distracted by noisy regions generated by pseudo labels. To combat the noisy labeling, we propose noise-resistant semi-supervised learning by quantifying the region uncertainty. We first investigate the adverse effects brought by different forms of noise associated with pseudo labels.…
In this paper, we delve into semi-supervised object detection where unlabeled images are leveraged to break through the upper bound of fully-supervised object detection models. Previous semi-supervised methods based on pseudo labels are severely degenerated by noise and prone to overfit to noisy labels, thus are deficient in learning different unlabeled knowledge well. To address this issue, we propose a data-uncertainty guided multi-phase learning method for semi-supervised object detection. We comprehensively consider divergent types of unlabeled images according to their difficulty levels, …
UCAD: Uncertainty-guided Contour-aware Displacement for semi-supervised medical image segmentation
University of Science and Technology of China（科学技术大学）；Suzhou Institute for Advanced Research（苏州先进研究院）；State Key Laboratory of Precision and Intelligent Chemistry（精密与智能化学国家重点实验室）
In semi-supervised medical image segmentation, most previous works draw on the common assumption that higher entropy means higher uncertainty. In this paper, we investigate a novel method of estimating uncertainty. We observe that, when assigned different misclassification costs in a certain degree, if the segmentation result of a pixel becomes inconsistent, this pixel shows a relative uncertainty in its segmentation. Therefore, we present a new semi-supervised segmentation model, namely, conservative-radical network (CoraNet in short) based on our uncertainty estimation and separate self-trai…
Northeastern University（东北大学）；The University of Auckland（奥克兰大学）
Semi-supervised learning has made significant strides in the medical domain since it alleviates the heavy burden of collecting abundant pixel-wise annotated data for semantic segmentation tasks. Existing semi-supervised approaches enhance the ability to extract features from unlabeled data with prior knowledge obtained from limited labeled data. However, due to the scarcity of labeled data, the features extracted by the models are limited in supervised learning, and the quality of predictions for unlabeled data also cannot be guaranteed. Both will impede consistency training. To this end, we p…
Training deep convolutional neural networks usually requires a large amount of labeled data. However, it is expensive and time-consuming to annotate data for medical image segmentation tasks. In this paper, we present a novel uncertainty-aware semi-supervised framework for left atrium segmentation from 3D MR images. Our framework can effectively leverage the unlabeled data by encouraging consistent predictions of the same input under different perturbations. Concretely, the framework consists of a student model and a teacher model, and the student model learns from the teacher model by minimiz…
Uncertainty-Aware Extreme Point Tracing for Weakly Supervised Ultrasound Image Segmentation
College of Computer Science, Inner Mongolia University（内蒙古大学计算机学院）；Baotou Medical College（包头医学院）；Department of Ultrasound Medicine, The Second Affiliated Hospital of Baotou Medical College（包头医学院第二附属医院超声医学科）
Tsinghua-Berkeley Shenzhen Institute, Tsinghua University（清华大学深圳国际研究生院）；Huawei Noah’s Ark Lab（华为诺亚方舟实验室）
Deep neural networks (DNNs) have witnessed great successes in semantic segmentation, which requires a large number of labeled data for training. We present a novel learning framework called Uncertainty guided Cross-head Co-training (UCC) for semi-supervised semantic segmentation. Our framework introduces weak and strong augmentations within a shared encoder to achieve co-training, which naturally combines the benefits of consistency and self-training. Every segmentation head interacts with its peers and, the weak augmentation result is used for supervising the strong. The consistency training …
CAD model retrieval to real-world scene observations has shown strong promise as a basis for 3D perception of objects and a clean, lightweight mesh-based scene representation; however, current approaches to retrieve CAD models to a query scan rely on expensive manual annotations of 1:1 associations of CAD-scan objects, which typically contain strong lower-level geometric differences. We thus propose a new weakly-supervised approach to retrieve semantically and structurally similar CAD models to a query 3D scanned scene without requiring any CAD-scan associations, and only object detection info…
This paper addresses weakly supervised amodal instance segmentation, where the goal is to segment both visible and occluded (amodal) object parts, while training provides only ground-truth visible (modal) segmentations. Following prior work, we use data manipulation to generate occlusions in training images and thus train a segmenter to predict amodal segmentations of the manipulated data. The resulting predictions on training images are taken as the pseudo-ground truth for the standard training of Mask-RCNN, which we use for amodal instance segmentation of test images. For generating the pseu…
Inter- and intra-uncertainty based feature aggregation model for semi-supervised histopathology image segmentation
Northwestern Polytechnical University（西北工业大学）；La Trobe University（拉筹伯大学）；CSIRO Data61（联邦科学与工业研究组织数据61部）；University of New South Wales（新南威尔士大学）；Shandong University（山东大学）；Tianjin University（天津大学）
Witnessing the success of deep learning neural networks in natural image processing, an increasing number of studies have been proposed to develop deep-learning-based frameworks for medical image segmentation. However, since the pixel-wise annotation of medical images is laborious and expensive, the amount of annotated data is usually deficient to well-train a neural network. In this paper, we propose a semi-supervised approach to train neural networks with limited labeled data and a large quantity of unlabeled images for medical image segmentation. A novel pseudo-label (namely self-loop uncer…
Shandong University（山东大学）；AICFVE, Beijing Film Academy（北京电影学院AICFVE）；University of Leeds（利兹大学）
Scribble-supervised semantic segmentation has gained much attention recently for its promising performance without high-quality annotations. Due to the lack of supervision, confident and consistent predictions are usually hard to obtain. Typically, people handle these problems to either adopt an auxiliary task with the well-labeled dataset or incorporate the graphical model with additional requirements on scribble annotations. Instead, this work aims to achieve semantic segmentation by scribble annotations directly without extra information and other limitations. Specifically, we propose holis…
Johns Hopkins University（约翰斯·霍普金斯大学）；NVIDIA（英伟达）；University of Florida（佛罗里达大学）；The Chinese University of Hong Kong（香港中文大学）
While making a tremendous impact in various fields, deep neural networks usually require large amounts of labeled data for training which are expensive to collect in many applications, especially in the medical domain. Unlabeled data, on the other hand, is much more abundant. Semi-supervised learning techniques, such as co-training, could provide a powerful tool to leverage unlabeled data. In this paper, we propose a novel framework, uncertainty-aware multi-view co-training (UMCT), to address semi-supervised learning on 3D data, such as volumetric data from medical imaging. In our work, co-tra…
Uncertainty-aware Evidential Fusion-based Learning for Semi-supervised Medical Image Segmentation
Key Laboratory of High Confidence Software Technologies (Peking University)（高可信软件技术重点实验室（北京大学））；Department of Computer and Information Science, University of Macau（澳门大学计算机与信息科学系）
Uncertainty-Supervised Interpretable and Robust Evidential Segmentation
School of Data Science, Fudan University, Shanghai, China（复旦大学数据科学学院）；Institute of Science and Technology for Brain-inspired intelligence, Fudan University, Shanghai, China（复旦大学脑启发式智能技术研究所）；Nuffield Department of Population Health, University of Oxford, Oxford, UK（牛津大学人口健康牛津部门）
Indian Institute of Science（印度科学学院）；Google Research（谷歌研究院）
The advances in monocular 3D human pose estimation are dominated by supervised techniques that require large-scale 2D/3D pose annotations. Such methods often behave erratically in the absence of any provision to discard unfamiliar out-of-distribution data. To this end, we cast the 3D human pose learning as an unsupervised domain adaptation problem. We introduce MRP-Net that constitutes a common deep network backbone with two output heads subscribing to two diverse configurations; a) model-free joint localization and b) model-based parametric regression. Such a design allows us to derive suitab…
Bidirectional Uncertainty-Aware Region Learning for Semi-Supervised Medical Image Segmentation
Key Laboratory of Intelligent Computing \& Signal Processing (ICSP), Ministry of Education, School of Artificial Intelligence, Anhui Uniersity, Hefei, 230601, China；Anhui Provincial Key Laboratory of Multimodal Cognitive Computation, School of Computer Science；Technology, Anhui University, Hefei, 230601, China；Institute of Artificial Intelligence, Hefei Comprehensive National Science Center, Hefei, 230026, China
The Hong Kong University of Science and Technology（香港科技大学）；SenseTime Research（商汤科技研究院）；University of Technology Sydney（悉尼科技大学）；The Hong Kong University of Science and Technology Shenzhen Research Institute（香港科技大学深圳研究院）
Weakly-Supervised Semantic Segmentation (WSSS) segments objects without a heavy burden of dense annotation. While as a price, generated pseudo-masks exist obvious noisy pixels, which result in sub-optimal segmentation models trained over these pseudo-masks. But rare studies notice or work on this problem, even these noisy pixels are inevitable after their improvements on pseudo-mask. So we try to improve WSSS in the aspect of noise mitigation. And we observe that many noisy pixels are of high confidence, especially when the response range is too wide or narrow, presenting an uncertain status. …
KAIST（韩国科学技术院）；The University of Sheffield（谢菲尔德大学）；Imperial College London（帝国理工学院）
Semi-supervised object detection (SSOD) aims to boost detection performance by leveraging extra unlabeled data. The teacher-student framework has been shown to be promising for SSOD, in which a teacher network generates pseudo-labels for unlabeled data to assist the training of a student network. Since the pseudo-labels are noisy, filtering the pseudo-labels is crucial to exploit the potential of such framework. Unlike existing suboptimal methods, we propose a two-step pseudo-label filtering for the classification and regression heads in a teacher-student framework. For the classification head…
Semi-supervised Semantic Segmentation for Remote Sensing Images via Multi-scale Uncertainty Consistency and Cross-Teacher-Student Attention
Faculty of Data Science, City University of Macau（数据科学学院，澳门城市大学）；WMG, University of Warwick（沃里克大学工程学院）；Aerospace Information Research Institute, Chinese Academy of Sciences（中国科学院航天信息研究所）；School of Electronic, Electrical and Communication Engineering, University of Chinese Academy of Sciences（中国科学院大学电子、电气与通信工程学院）；Department of Automation, Tsinghua University（清华大学自动化系）
University of California, Merced（加州大学默塞德分校）；eBay Inc.（eBay公司）；NEC Labs America（美国NEC实验室）；Google Research（谷歌研究院）
Obtaining object response maps is one important step to achieve weakly-supervised semantic segmentation using image-level labels. However, existing methods rely on the classification task, which could result in a response map only attending on discriminative object regions as the network does not need to see the entire object for optimizing the classification loss. To tackle this issue, we propose a principled and end-to-end train-able framework to allow the network to pay attention to other parts of the object, while producing a more complete and uniform response map. Specifically, we introdu…
Beihang University（北京航空航天大学）；Hefei Innovation Research Institute, Beihang University（北京航空航天大学合肥创新研究院）；Beijing Advanced Innovation Centre for Biomedical Engineering（北京生物医学工程高精尖创新中心）
Medical image segmentation is a fundamental and critical step in many clinical approaches. Semi-supervised learning has been widely applied to medical image segmentation tasks since it alleviates the heavy burden of acquiring expert-examined annotations and takes the advantage of unlabeled data which is much easier to acquire. Although consistency learning has been proven to be an effective approach by enforcing an invariance of predictions under different distributions, existing approaches cannot make full use of region-level shape constraint and boundary-level distance information from unlab…
Learning from Synchronization: Self-Supervised Uncalibrated Multi-View Person Association in Challenging Scenes
University of Strasbourg（斯特拉斯堡大学）；CNRS（法国国家科学研究中心）；INSERM（法国国家健康与医学研究院）；ICube（ICube实验室）；IHU Strasbourg（斯特拉斯堡大学医院研究所）；University Hospital of Strasbourg（斯特拉斯堡大学医院）
Chongqing University（重庆大学）；State Key Laboratory of Mechanical Transmissions（机械传动国家重点实验室）
In the existing literature, most 3D multi-object tracking algorithms based on the tracking-by-detection framework employed deterministic tracks and detections for similarity calculation in the data association stage. Namely, the inherent uncertainties existing in tracks and detections are overlooked. In this work, we discard the commonly used deterministic tracks and deterministic detections for data association, instead, we propose to model tracks and detections as random vectors in which uncertainties are taken into account. Then, based on the Jensen-Shannon divergence, the similarity betwee…
Learning a Neural Association Network for Self-supervised Multi-Object Tracking
University of Bonn（波恩大学）；Monash University（莫纳什大学）；University of Edinburgh（爱丁堡大学）；Lamarr Institute for Machine Learning and Artificial Intelligence（拉马尔人工智能与机器学习研究所）
Reliable markerless motion tracking of people participating in a complex group activity from multiple moving cameras is challenging due to frequent occlusions, strong viewpoint and appearance variations, and asynchronous video streams. To solve this problem, reliable association of the same person across distant viewpoints and temporal instances is essential. We present a self-supervised framework to adapt a generic person appearance descriptor to the unlabeled videos by exploiting motion tracking, mutual exclusion constraints, and multi-view geometry. The adapted discriminative descriptor is …
SSAM: Self-Supervised Association Modeling for Test-Time Adaption
School of Computer Science and Information Engineering, Hefei University of Technology, China（计算机科学与信息工程学院，合肥工业大学，中国）；Institute of Artificial Intelligence, Hefei Comprehensive National Science Center, China（人工智能研究院，合肥综合性国家科学中心，中国）
Visual place recognition techniques based on deep learning, which have imposed themselves as the state-of-the-art in recent years, do not generalize well to environments visually different from the training set. Thus, to achieve top performance, it is sometimes necessary to fine-tune the networks to the target environment. To this end, we propose a self-supervised domain calibration procedure based on robust pose graph optimization from Simultaneous Localization and Mapping (SLAM) as the supervision signal without requiring GPS or manual labeling. Moreover, we leverage the procedure to improve…
Since collecting and annotating data for spatio-temporal action detection is very expensive, there is a need to learn approaches with less supervision. Weakly supervised approaches do not require any bounding box annotations and can be trained only from labels that indicate whether an action occurs in a video clip. Current approaches, however, cannot handle the case when there are multiple persons in a video that perform multiple actions at the same time. In this work, we address this very challenging task for the first time. We propose a baseline based on multi-instance and multi-label learni…
Tsinghua University（清华大学）；Australian National University（澳大利亚国立大学）；MEGVII Technology（旷视科技）
This paper proposes a self-supervised learning method for the person re-identification (re-ID) problem, where existing unsupervised methods usually rely on pseudo labels, such as those from video tracklets or clustering. A potential drawback of using pseudo labels is that errors may accumulate and it is challenging to estimate the number of pseudo IDs. We introduce a different unsupervised method that allows us to learn pedestrian embeddings from raw videos, without resorting to pseudo labels. The goal is to construct a self-supervised pretext task that matches the person re-ID objective. Insp…
Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所）；University of Chinese Academy of Sciences（中国科学院大学）；Peng Cheng Laboratory（鹏城实验室）
We target at the task of weakly-supervised video object grounding (WSVOG), where only video-sentence annotations are available during model learning. It aims to localize objects described in the sentence to visual regions in the video, which is a fundamental capability needed in pattern analysis and machine learning. Despite the recent progress, existing methods all suffer from the severe problem of spurious association, which will harm the grounding performance. In this paper, we start from the definition of WSVOG and pinpoint the spurious association from two aspects: (1) the association its…
Kyushu University（九州大学）；The Chinese University of Hong Kong（香港中文大学）
We propose a weakly-supervised cell tracking method that can train a convolutional neural network (CNN) by using only the annotation of "cell detection" (i.e., the coordinates of cell positions) without association information, in which cell positions can be easily obtained by nuclear staining. First, we train co-detection CNN that detects cells in successive frames by using weak-labels. Our key assumption is that co-detection CNN implicitly learns association in addition to detection. To obtain the association, we propose a backward-and-forward propagation method that analyzes the corresponde…
Robotics Institute, Carnegie Mellon University（卡内基梅隆大学机器人研究所）
In this paper, we propose a self-supervised learningmethod for multi-object pose estimation. 3D object under-standing from 2D image is a challenging task that infers ad-ditional dimension from reduced-dimensional information.In particular, the estimation of the 3D localization or orien-tation of an object requires precise reasoning, unlike othersimple clustering tasks such as object classification. There-fore, the scale of the training dataset becomes more cru-cial. However, it is challenging to obtain large amount of3D dataset since achieving 3D annotation is expensive andtime-consuming. If t…
Boosting Self-Supervised Tracking with Contextual Prompts and Noise Learning
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）；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）；University of Southampton（南安普顿大学）；Xi’an Research Institute of High Technology（西安高科技研究所）
Arizona State University（亚利桑那州立大学）；Carnegie Mellon University（卡内基梅隆大学）；Beihang University（北京航空航天大学）；University of California, Irvine（加利福尼亚大学尔湾分校）
A system capturing the association between video frames and textual queries offer great potential for better video analysis. However, training such a system in a fully supervised way inevitably demands a meticulously curated video dataset with temporal-textual annotations. Therefore we provide a Weak-Supervised alternative with our proposed Referring Attention mechanism to learn temporal-textual association (dubbed WSRA). The weak supervision is simply a textual expression (e.g., short phrases or sentences) at video level, indicating this video contains relevant frames. The referring attention…
Self-supervised paradigms for monocular depth estimation are very appealing since they do not require ground truth annotations at all. Despite the astonishing results yielded by such methodologies, learning to reason about the uncertainty of the estimated depth maps is of paramount importance for practical applications, yet uncharted in the literature. Purposely, we explore for the first time how to estimate the uncertainty for this task and how this affects depth accuracy, proposing a novel peculiar technique specifically designed for self-supervised approaches. On the standard KITTI dataset,…
