Regularized Densely-connected Pyramid Network for Salient Instance Segmentation
College of Computer Science, Nankai University（南开大学计算机学院）；ETH Zurich（苏黎世联邦理工学院）；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）
Yu-Huan Wu, Yun Liu, Le Zhang, Wang Gao, Ming-Ming Cheng
Much of the recent efforts on salient object detection (SOD) have been devoted to producing accurate saliency maps without being aware of their instance labels. To this end, we propose a new pipeline for end-to-end salient instance segmentation (SIS) that predicts a class-agnostic mask for each detected salient instance. To better use the rich feature hierarchies in deep networks and enhance the side predictions, we propose the regularized dense connections, which attentively promote informative features and suppress non-informative ones from all feature pyramids. A novel multi-level RoIAlign based decoder is introduced to adaptively aggregate multi-level features for better mask predictions. Such strategies can be well-encapsulated into the Mask R-CNN pipeline. Extensive experiments on popular benchmarks demonstrate that our design significantly outperforms existing \sArt competitors by 6.3\% (58.6\% vs. 52.3\%) in terms of the AP metric.The code is available at https://github.com/yuhuan-wu/RDPNet.
Beijing Jiaotong University（北京交通大学）；National University of Singapore（新加坡国立大学）
Feature pyramid network (FPN) based models, which fuse the semantics and salient details in a progressive manner, have been proven highly effective in salient object detection. However, it is observed that these models often generate saliency maps with incomplete object structures or unclear object boundaries, due to the \emph{indirect} information propagation among distant layers that makes such fusion structure less effective. In this work, we propose a novel Cross-layer Feature Pyramid Network (CFPN), in which direct cross-layer communication is enabled to improve the progressive fusion in …
Pohang University of Science and Technology (POSTECH)（浦项科技大学）
Salient object detection (SOD) has been in the spotlight recently, yet has been studied less for high-resolution (HR) images. Unfortunately, HR images and their pixel-level annotations are certainly more labor-intensive and time-consuming compared to low-resolution (LR) images and annotations. Therefore, we propose an image pyramid-based SOD framework, Inverse Saliency Pyramid Reconstruction Network (InSPyReNet), for HR prediction without any of HR datasets. We design InSPyReNet to produce a strict image pyramid structure of saliency map, which enables to ensemble multiple results with pyramid…
Salient object detection has achieved great improvement by using the Fully Convolution Network (FCN). However, the FCN-based U-shape architecture may cause the dilution problem in the high-level semantic information during the up-sample operations in the top-down pathway. Thus, it can weaken the ability of salient object localization and produce degraded boundaries. To this end, in order to overcome this limitation, we propose a novel pyramid self-attention module (PSAM) and the adoption of an independent feature-complementing strategy. In PSAM, self-attention layers are equipped after multi-s…
City University of Hong Kong（香港城市大学）；Beijing Jiaotong University（北京交通大学）；City University of Hong Kong Shenzhen Research Institute（香港城市大学深圳研究院）；Tianjin University（天津大学）
Arising from the various object types and scales, diverse imaging orientations, and cluttered backgrounds in optical remote sensing image (RSI), it is difficult to directly extend the success of salient object detection for nature scene image to the optical RSI. In this paper, we propose an end-to-end deep network called LV-Net based on the shape of network architecture, which detects salient objects from optical RSIs in a purely data-driven fashion. The proposed LV-Net consists of two key modules, i.e., a two-stream pyramid module (L-shaped module) and an encoder-decoder module with nested co…
Sejong University（世宗大学）；The Australian National University（澳大利亚国立大学）；Data61-CSIRO（Data61-联邦科学与工业研究组织）；University of Technology Sydney（悉尼科技大学）
Salient Object Detection (SOD) domain using RGB-D data has lately emerged with some current models' adequately precise results. However, they have restrained generalization abilities and intensive computational complexity. In this paper, inspired by the best background/foreground separation abilities of deformable convolutions, we employ them in our Densely Deformable Network (DDNet) to achieve efficient SOD. The salient regions from densely deformable convolutions are further refined using transposed convolutions to optimally generate the saliency maps. Quantitative and qualitative evaluation…
Sichuan University（四川大学）；Nankai University（南开大学）；Inception Institute of Artificial Intelligence（起源人工智能研究院）；Wuhan University（武汉大学）
This paper proposes a novel joint learning and densely-cooperative fusion (JL-DCF) architecture for RGB-D salient object detection. Existing models usually treat RGB and depth as independent information and design separate networks for feature extraction from each. Such schemes can easily be constrained by a limited amount of training data or over-reliance on an elaborately-designed training process. In contrast, our JL-DCF learns from both RGB and depth inputs through a Siamese network. To this end, we propose two effective components: joint learning (JL), and densely-cooperative fusion (DCF)…
Dalian University of Technology（大连理工大学）；The University of Adelaide（阿德莱德大学）
Salient object detection (SOD), which aims to find the most important region of interest and segment the relevant object/item in that area, is an important yet challenging vision task. This problem is inspired by the fact that human seems to perceive main scene elements with high priorities. Thus, accurate detection of salient objects in complex scenes is critical for human-computer interaction. In this paper, we present a novel feature learning framework for SOD, in which we cast the SOD as a pixel-wise classification problem. The proposed framework utilizes a densely hierarchical feature fus…
Huazhong University of Science and Technology（华中科技大学）
The goal of salient region detection is to identify the regions of an image that attract the most attention. Many methods have achieved state-of-the-art performance levels on this task. Recently, salient instance segmentation has become an even more challenging task than traditional salient region detection; however, few of the existing methods have concentrated on this underexplored problem. Unlike the existing methods, which usually employ object proposals to roughly count and locate object instances, our method applies salient objects subitizing to predict an accurate number of instances fo…
School of Artificial Intelligence, Xidian University（西安电子科技大学人工智能学院）；School of Mechano-Electronic Engineering, Xidian University（西安电子科技大学机电工程学院）；Aberystwyth University（阿伯里斯特威斯大学）；School of Automation, Northwestern Polytechnical University（西北工业大学自动化学院）
With the goal of identifying pixel-wise salient object regions from each input image, salient object detection (SOD) has been receiving great attention in recent years. One kind of mainstream SOD methods is formed by a bottom-up feature encoding procedure and a top-down information decoding procedure. While numerous approaches have explored the bottom-up feature extraction for this task, the design on top-down flows still remains under-studied. To this end, this paper revisits the role of top-down modeling in salient object detection and designs a novel densely nested top-down flows (DNTDF)-ba…
Top-down saliency models produce a probability map that peaks at target locations specified by a task/goal such as object detection. They are usually trained in a fully supervised setting involving pixel-level annotations of objects. We propose a weakly supervised top-down saliency framework using only binary labels that indicate the presence/absence of an object in an image. First, the probabilistic contribution of each image region to the confidence of a CNN-based image classifier is computed through a backtracking strategy to produce top-down saliency. From a set of saliency maps of an imag…
Dalian University of Technology（大连理工大学）；Peng Cheng Laboratory（鹏城实验室）；The Hong Kong Polytechnic University（香港理工大学）；DAMO Academy, Alibaba Group（阿里巴巴达摩院）
Most salient object detection approaches use U-Net or feature pyramid networks (FPN) as their basic structures. These methods ignore two key problems when the encoder exchanges information with the decoder: one is the lack of interference control between them, the other is without considering the disparity of the contributions of different encoder blocks. In this work, we propose a simple gated network (GateNet) to solve both issues at once. With the help of multilevel gate units, the valuable context information from the encoder can be optimally transmitted to the decoder. We design a novel g…
City University of Hong Kong（香港城市大学）；Beijing Jiaotong University（北京交通大学）
Despite the remarkable advances in visual saliency analysis for natural scene images (NSIs), salient object detection (SOD) for optical remote sensing images (RSIs) still remains an open and challenging problem. In this paper, we propose an end-to-end Dense Attention Fluid Network (DAFNet) for SOD in optical RSIs. A Global Context-aware Attention (GCA) module is proposed to adaptively capture long-range semantic context relationships, and is further embedded in a Dense Attention Fluid (DAF) structure that enables shallow attention cues flow into deep layers to guide the generation of high-leve…
Tianjin University（天津大学）；Inception Institute of Artificial Intelligence（起源人工智能研究院）
Due to the advantages of real-time detection and improved performance, single-shot detectors have gained great attention recently. To solve the complex scale variations, single-shot detectors make scale-aware predictions based on multiple pyramid layers. However, the features in the pyramid are not scale-aware enough, which limits the detection performance. Two common problems in single-shot detectors caused by object scale variations can be observed: (1) small objects are easily missed; (2) the salient part of a large object is sometimes detected as an object. With this observation, we propos…
Nanjing University of Aeronautics and Astronautics（南京航空航天大学）；University of Leicester（莱斯特大学）
Due to the more dramatic multi-scale variations and more complicated foregrounds and backgrounds in optical remote sensing images (RSIs), the salient object detection (SOD) for optical RSIs becomes a huge challenge. However, different from natural scene images (NSIs), the discussion on the optical RSI SOD task still remains scarce. In this paper, we propose a multi-scale context network, namely MSCNet, for SOD in optical RSIs. Specifically, a multi-scale context extraction module is adopted to address the scale variation of salient objects by effectively learning multi-scale contextual informa…
Deep learning solutions of the salient object detection problem have achieved great results in recent years. The majority of these models are based on encoders and decoders, with a different multi-feature combination. In this paper, we show that feature concatenation works better than other combination methods like multiplication or addition. Also, joint feature learning gives better results, because of the information sharing during their processing. We designed a Complementary Extraction Module (CEM) to extract necessary features with edge preservation. Our proposed Excessiveness Loss (EL) f…
Aerospace Information Research Institute, Chinese Academy of Sciences（中国科学院空天信息创新研究院）；University of Chinese Academy of Sciences（中国科学院大学）
Semantic segmentation of point clouds generates comprehensive understanding of scenes through densely predicting the category for each point. Due to the unicity of receptive field, semantic segmentation of point clouds remains challenging for the expression of multi-receptive field features, which brings about the misclassification of instances with similar spatial structures. In this paper, we propose a graph convolutional network DGFA-Net rooted in dilated graph feature aggregation (DGFA), guided by multi-basis aggregation loss (MALoss) calculated through Pyramid Decoders. To configure multi…
Rutgers University（罗格斯大学）；Department of Electrical and Computer Engineering（电气与计算机工程系）；Piscataway, NJ 08854（皮斯卡塔韦，新泽西州08854（注：此为地址信息，非机构，根据规则应忽略，正确机构仅Rutgers University））
We propose a new end-to-end single image dehazing method, called Densely Connected Pyramid Dehazing Network (DCPDN), which can jointly learn the transmission map, atmospheric light and dehazing all together. The end-to-end learning is achieved by directly embedding the atmospheric scattering model into the network, thereby ensuring that the proposed method strictly follows the physics-driven scattering model for dehazing. Inspired by the dense network that can maximize the information flow along features from different levels, we propose a new edge-preserving densely connected encoder-decoder …
Sichuan University（四川大学）；National Key Laboratory of Fundamental Science on Synthetic Vision, Sichuan University（四川大学视觉合成图形图像技术国家级重点实验室）；Nankai University（南开大学）；Wuhan University（武汉大学）；Inception Institute of Artificial Intelligence (IIAI)（起源人工智能研究院）；University of Electronic Science and Technology of China（电子科技大学）
Existing RGB-D salient object detection (SOD) models usually treat RGB and depth as independent information and design separate networks for feature extraction from each. Such schemes can easily be constrained by a limited amount of training data or over-reliance on an elaborately designed training process. Inspired by the observation that RGB and depth modalities actually present certain commonality in distinguishing salient objects, a novel joint learning and densely cooperative fusion (JL-DCF) architecture is designed to learn from both RGB and depth inputs through a shared network backbone…
School of Computer Science, Southeast University（东南大学计算机科学与工程学院）
Most of existing RGB-D salient object detection (SOD) methods follow the CNN-based paradigm, which is unable to model long-range dependencies across space and modalities due to the natural locality of CNNs. Here we propose the Hierarchical Cross-modal Transformer (HCT), a new multi-modal transformer, to tackle this problem. Unlike previous multi-modal transformers that directly connecting all patches from two modalities, we explore the cross-modal complementarity hierarchically to respect the modality gap and spatial discrepancy in unaligned regions. Specifically, we propose to use intra-modal…
Dalian University of Technology（大连理工大学）；Peng Cheng Laboratory（鹏城实验室）
The main purpose of RGB-D salient object detection (SOD) is how to better integrate and utilize cross-modal fusion information. In this paper, we explore these issues from a new perspective. We integrate the features of different modalities through densely connected structures and use their mixed features to generate dynamic filters with receptive fields of different sizes. In the end, we implement a kind of more flexible and efficient multi-scale cross-modal feature processing, i.e. dynamic dilated pyramid module. In order to make the predictions have sharper edges and consistent saliency reg…
Nankai University（南开大学）；University of Adelaide（阿德莱德大学）
The high computational cost of neural networks has prevented recent successes in RGB-D salient object detection (SOD) from benefiting real-world applications. Hence, this paper introduces a novel network, MobileSal, which focuses on efficient RGB-D SOD using mobile networks for deep feature extraction. However, mobile networks are less powerful in feature representation than cumbersome networks. To this end, we observe that the depth information of color images can strengthen the feature representation related to SOD if leveraged properly. Therefore, we propose an implicit depth restoration (I…
Tencent（腾讯）；School of Software Engineering, South China University of Technology（华南理工大学软件学院）
For object detection, how to address the contradictory requirement between feature map resolution and receptive field on high-resolution inputs still remains an open question. In this paper, to tackle this issue, we build a novel architecture, called Attention-guided Context Feature Pyramid Network (AC-FPN), that exploits discriminative information from various large receptive fields via integrating attention-guided multi-path features. The model contains two modules. The first one is Context Extraction Module (CEM) that explores large contextual information from multiple receptive fields. As …
Dalian University of Technology（大连理工大学）；University of Adelaide（阿德莱德大学）
This paper proposes an Agile Aggregating Multi-Level feaTure framework (Agile Amulet) for salient object detection. The Agile Amulet builds on previous works to predict saliency maps using multi-level convolutional features. Compared to previous works, Agile Amulet employs some key innovations to improve training and testing speed while also increase prediction accuracy. More specifically, we first introduce a contextual attention module that can rapidly highlight most salient objects or regions with contextual pyramids. Thus, it effectively guides the learning of low-layer convolutional featu…
Nankai University（南开大学）；ETH Zurich（苏黎世联邦理工学院）；University of Electronic Science and Technology of China（电子科技大学）
Recent progress on salient object detection (SOD) mainly benefits from multi-scale learning, where the high-level and low-level features collaborate in locating salient objects and discovering fine details, respectively. However, most efforts are devoted to low-level feature learning by fusing multi-scale features or enhancing boundary representations. High-level features, which although have long proven effective for many other tasks, yet have been barely studied for SOD. In this paper, we tap into this gap and show that enhancing high- level features is essential for SOD as well. To this end…
SPEEDNet: Salient Pyramidal Enhancement Encoder-Decoder Network for Colonoscopy Images
Indian Institute of Information Technology (IIIT) Jabalpur（印度贾巴尔普尔信息技术学院）；Gujarat Technological University（古吉拉特理工大学）；Indian Institute of Technology (IIT) Roorkee（印度理工学院鲁尔基分校）；SVIMS Tirupati（蒂鲁帕蒂斯里文卡特斯瓦拉医学科学研究所）
Recent salient object detection (SOD) methods based on deep neural network have achieved remarkable performance. However, most of existing SOD models designed for low-resolution input perform poorly on high-resolution images due to the contradiction between the sampling depth and the receptive field size. Aiming at resolving this contradiction, we propose a novel one-stage framework called Pyramid Grafting Network (PGNet), using transformer and CNN backbone to extract features from different resolution images independently and then graft the features from transformer branch to CNN branch. An a…
Beihang University（北京航空航天大学）；China University of Petroleum (East China)（中国石油大学（华东））；Stony Brook University（石溪大学）；Peng Cheng Laboratory（鹏城实验室）
Recent research advances in salient object detection (SOD) could largely be attributed to ever-stronger multi-scale feature representation empowered by the deep learning technologies. The existing SOD deep models extract multi-scale features via the off-the-shelf encoders and combine them smartly via various delicate decoders. However, the kernel sizes in this commonly-used thread are usually "fixed". In our new experiments, we have observed that kernels of small size are preferable in scenarios containing tiny salient objects. In contrast, large kernel sizes could perform better for images wi…
Semantic segmentation has been a hot topic across diverse research fields. Along with the success of deep convolutional neural networks, semantic segmentation has made great achievements and improvements, in terms of both urban scene parsing and indoor semantic segmentation. However, most of the state-of-the-art models are still faced with a challenge in discriminative feature learning, which limits the ability of a model to detect multi-scale objects and to guarantee semantic consistency inside one object or distinguish different adjacent objects with similar appearance. In this paper, a prac…
Huazhong University of Science and Technology（华中科技大学）
Pixel-wise prediction with deep neural network has become an effective paradigm for salient object detection (SOD) and achieved remarkable performance. However, very few SOD models are robust against adversarial attacks which are visually imperceptible for human visual attention. The previous work robust saliency (ROSA) shuffles the pre-segmented superpixels and then refines the coarse saliency map by the densely connected conditional random field (CRF). Different from ROSA that relies on various pre- and post-processings, this paper proposes a light-weight Learnable Noise (LeNo) to defend adv…
Spectrum-driven Mixed-frequency Network for Hyperspectral Salient Object Detection
Beijing Institute of Technology（北京理工大学）；Key Laboratory of Photoelectronic Imaging Technology and System, Ministry of Education of China（教育部光电成像技术与系统重点实验室）；Chongqing Innovation Center（重庆创新中心）
Unifying Global-Local Representations in Salient Object Detection with Transformer
School of Computing and Information Systems, Singapore Management University（新加坡管理大学计算与信息系统学院）；Adobe Research（奥多比研究院）；School of Computer Science and Engineering, South China University of Technology（华南理工大学计算机科学与工程学院）
Dalian University of Technology（大连理工大学）；Peng Cheng Laboratory（鹏城实验室）；The Hong Kong Polytechnic University（香港理工大学）；DAMO Academy, Alibaba Group（阿里巴巴集团达摩院）
Existing RGB-D salient object detection (SOD) approaches concentrate on the cross-modal fusion between the RGB stream and the depth stream. They do not deeply explore the effect of the depth map itself. In this work, we design a single stream network to directly use the depth map to guide early fusion and middle fusion between RGB and depth, which saves the feature encoder of the depth stream and achieves a lightweight and real-time model. We tactfully utilize depth information from two perspectives: (1) Overcoming the incompatibility problem caused by the great difference between modalities, …
State Key Laboratory of Virtual Reality Technology and Systems, Beihang University（北京航空航天大学虚拟现实技术与系统国家重点实验室）；School of Transportation Science and Engineering, Beihang University（北京航空航天大学交通科学与工程学院）；Harbin Institute of Technology (Shenzhen)（哈尔滨工业大学（深圳））；SenseTime Research（商汤科技研究院）；China University of Petroleum (East China)（中国石油大学（华东））；Peng Cheng Laboratory（鹏城实验室）；Case Western Reserve University（凯斯西储大学）
Although weakly-supervised techniques can reduce the labeling effort, it is unclear whether a saliency model trained with weakly-supervised data (e.g., point annotation) can achieve the equivalent performance of its fully-supervised version. This paper attempts to answer this unexplored question by proving a hypothesis: there is a point-labeled dataset where saliency models trained on it can achieve equivalent performance when trained on the densely annotated dataset. To prove this conjecture, we proposed a novel yet effective adversarial trajectory-ensemble active learning (ATAL). Our contrib…
Premature ventricular contraction(PVC) is a type of premature ectopic beat originating from the ventricles. Automatic method for accurate and robust detection of PVC is highly clinically desired.Currently, most of these methods are developed and tested using the same database divided into training and testing set and their generalization performance across databases has not been fully validated. In this paper, a method based on densely connected convolutional neural network and spatial pyramid pooling is proposed for PVC detection which can take arbitrarily-sized QRS complexes as input both in…
Computer vision has achieved remarkable success by (a) representing images as uniformly-arranged pixel arrays and (b) convolving highly-localized features. However, convolutions treat all image pixels equally regardless of importance; explicitly model all concepts across all images, regardless of content; and struggle to relate spatially-distant concepts. In this work, we challenge this paradigm by (a) representing images as semantic visual tokens and (b) running transformers to densely model token relationships. Critically, our Visual Transformer operates in a semantic token space, judiciousl…
Quality-aware Selective Fusion Network for V-D-T Salient Object Detection
School of Automation, Hangzhou Dianzi University（杭州电子科技大学自动化学院）；School of Software, Shandong University（山东大学软件学院）；Lishui Institute of Hangzhou Dianzi University（杭州电子科技大学丽水研究院）；School of Communication Engineering, Hangzhou Dianzi University（杭州电子科技大学通信工程学院）；Hangzhou Innovation Institute, Beihang University（北京航空航天大学杭州创新研究院）
MIMONet: Multi-scale Input and Multi-scale Output Network for Salient Object Detection
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）；Peng Cheng Laboratory（鹏城实验室）；College of Physics and Information Engineering, Fuzhou University（福州大学物理与信息工程学院）；School of Control Science and Engineering, Shandong University（山东大学控制科学与工程学院）；Department of Computer Science, City University of Hong Kong（香港城市大学计算机科学系）
Divide-and-Conquer: Confluent Triple-Flow Network for RGB-T Salient Object Detection
School of Computer Science and Engineering, Nanjing University of Science and Technology（南京理工大学计算机科学与工程学院）；Department of Computer Science and Engineering, The Hong Kong University of Science and Technology（香港科技大学计算机科学与工程系）；School of Computing and Information Systems, Singapore Management University（新加坡管理大学计算与信息系统学院）
Recently, neural architecture search (NAS) has been exploited to design feature pyramid networks (FPNs) and achieved promising results for visual object detection. Encouraged by the success, we propose a novel One-Shot Path Aggregation Network Architecture Search (OPANAS) algorithm, which significantly improves both searching efficiency and detection accuracy. Specifically, we first introduce six heterogeneous information paths to build our search space, namely top-down, bottom-up, fusing-splitting, scale-equalizing, skip-connect and none. Second, we propose a novel search space of FPNs, in wh…
LOANet: A Lightweight Network Using Object Attention for Extracting Buildings and Roads from UAV Aerial Remote Sensing Images
School of Medical Instruments, Shanghai University of Medicine and Health Sciences（上海健康医学院医疗器械学院）；School of Health Sciences and Engineering, University of Shanghai for Science and Technology（上海理工大学健康科学与工程学院）；Shanghai Children’s Medical Center, School of Medicine, Shanghai Jiao Tong University（上海交通大学医学院附属上海儿童医学中心）；School of Communication & Electronic Engineering, East China Normal University（华东师范大学通信与电子工程学院）；Institute of Seismology, China Earthquake Administration（中国地震局地震研究所）
State-of-the-art detection systems are generally evaluated on their ability to exhaustively retrieve objects densely distributed in the image, across a wide variety of appearances and semantic categories. Orthogonal to this, many real-life object detection applications, for example in remote sensing, instead require dealing with large images that contain only a few small objects of a single class, scattered heterogeneously across the space. In addition, they are often subject to strict computational constraints, such as limited battery capacity and computing power. To tackle these more practic…
PLA Strategic Support Force Information Engineering University（中国人民解放军战略支援部队信息工程大学）
We present an efficient multi-view stereo (MVS) network for 3D reconstruction from multiview images. While previous learning based reconstruction approaches performed quite well, most of them estimate depth maps at a fixed resolution using plane sweep volumes with a fixed depth hypothesis at each plane, which requires densely sampled planes for desired accuracy and therefore is difficult to achieve high resolution depth maps. In this paper we introduce a coarseto-fine depth inference strategy to achieve high resolution depth. This strategy estimates the depth map at coarsest level, while the d…
We investigate a new problem of detecting hands and recognizing their physical contact state in unconstrained conditions. This is a challenging inference task given the need to reason beyond the local appearance of hands. The lack of training annotations indicating which object or parts of an object the hand is in contact with further complicates the task. We propose a novel convolutional network based on Mask-RCNN that can jointly learn to localize hands and predict their physical contact to address this problem. The network uses outputs from another object detector to obtain locations of obj…
Key Laboratory of Machine Perception (MOE), Peking University（北京大学（MOE）机器感知重点实验室）；NLPR, Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所NLPR）；School of Artificial Intelligence, University of Chinese Academy of Sciences（中国科学院大学人工智能学院）；ETH Zurich（苏黎世联邦理工学院）；SenseTime Research（商汤科技研究院）
Aerial Image Segmentation is a particular semantic segmentation problem and has several challenging characteristics that general semantic segmentation does not have. There are two critical issues: The one is an extremely foreground-background imbalanced distribution, and the other is multiple small objects along with the complex background. Such problems make the recent dense affinity context modeling perform poorly even compared with baselines due to over-introduced background context. To handle these problems, we propose a point-wise affinity propagation module based on the Feature Pyramid N…
Johns Hopkins University（约翰斯·霍普金斯大学）；Georgia Institute of Technology（佐治亚理工学院）；Université de Montréal（蒙特利尔大学）；Intuitive Surgical Inc.（直观外科公司）
Purpose: We describe a 3D multi-view perception system for the da Vinci surgical system to enable Operating room (OR) scene understanding and context awareness. Methods: Our proposed system is comprised of four Time-of-Flight (ToF) cameras rigidly attached to strategic locations on the daVinci Xi patient side cart (PSC). The cameras are registered to the robot's kinematic chain by performing a one-time calibration routine and therefore, information from all cameras can be fused and represented in one common coordinate frame. Based on this architecture, a multi-view 3D scene semantic segmentati…
