3D object detection has attracted much attention thanks to the advances in sensors and deep learning methods for point clouds. Current state-of-the-art methods like VoteNet regress direct offset towards object centers and box orientations with an additional Multi-Layer-Perceptron network. Both their offset and orientation predictions are not accurate due to the fundamental difficulty in rotation classification. In the work, we disentangle the direct offset into Local Canonical Coordinates (LCC), box scales and box orientations. Only LCC and box scales are regressed, while box orientations are generated by a canonical voting scheme. Finally, an LCC-aware back-projection checking algorithm iteratively cuts out bounding boxes from the generated vote maps, with the elimination of false positives. Our model achieves state-of-the-art performance on three standard real-world benchmarks: ScanNet, SceneNN and SUN RGB-D. Our code is available on https://github.com/qq456cvb/CanonicalVoting.
A key component of understanding hand-object interactions is the ability to identify the active object -- the object that is being manipulated by the human hand. In order to accurately localize the active object, any method must reason using information encoded by each image pixel, such as whether it belongs to the hand, the object, or the background. To leverage each pixel as evidence to determine the bounding box of the active object, we propose a pixel-wise voting function. Our pixel-wise voting function takes an initial bounding box as input and produces an improved bounding box of the act…
Based on the framework of multiple instance learning (MIL), tremendous works have promoted the advances of weakly supervised object detection (WSOD). However, most MIL-based methods tend to localize instances to their discriminative parts instead of the whole content. In this paper, we propose a spatial likelihood voting (SLV) module to converge the proposal localizing process without any bounding box annotations. Specifically, all region proposals in a given image play the role of voters every iteration during training, voting for the likelihood of each category in spatial dimensions. After d…
Huazhong University of Science and Technology（华中科技大学）；Wuhan University（武汉大学）；Shanghai Jiaotong University（上海交通大学）；Onyou Inc.（Onyou公司）
Object detection has recently experienced substantial progress. Yet, the widely adopted horizontal bounding box representation is not appropriate for ubiquitous oriented objects such as objects in aerial images and scene texts. In this paper, we propose a simple yet effective framework to detect multi-oriented objects. Instead of directly regressing the four vertices, we glide the vertex of the horizontal bounding box on each corresponding side to accurately describe a multi-oriented object. Specifically, We regress four length ratios characterizing the relative gliding offset on each correspo…
Ingenuity Labs Research Institute（Ingenuity Labs 研究院）
A novel object detection method is presented that handles freely rotated objects of arbitrary sizes, including tiny objects as small as $2\times 2$ pixels. Such tiny objects appear frequently in remotely sensed images, and present a challenge to recent object detection algorithms. More importantly, current object detection methods have been designed originally to accommodate axis-aligned bounding box detection, and therefore fail to accurately localize oriented boxes that best describe freely rotated objects. In contrast, the proposed CNN-based approach uses potential pixel information at mult…
Oriented object detection in aerial images is a challenging task as the objects in aerial images are displayed in arbitrary directions and are usually densely packed. Current oriented object detection methods mainly rely on two-stage anchor-based detectors. However, the anchor-based detectors typically suffer from a severe imbalance issue between the positive and negative anchor boxes. To address this issue, in this work we extend the horizontal keypoint-based object detector to the oriented object detection task. In particular, we first detect the center keypoints of the objects, based on whi…
Linear Gaussian Bounding Box Representation and Ring-Shaped Rotated Convolution for Oriented 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）
School of Automation, Beijing Institute of Technology（北京理工大学自动化学院）；Department of Computer Science and Engineering, Shanghai Jiao Tong University（上海交通大学计算机科学与工程系）
Arbitrary-oriented objects exist widely in natural scenes, and thus the oriented object detection has received extensive attention in recent years. The mainstream rotation detectors use oriented bounding boxes (OBB) or quadrilateral bounding boxes (QBB) to represent the rotating objects. However, these methods suffer from the representation ambiguity for oriented object definition, which leads to suboptimal regression optimization and the inconsistency between the loss metric and the localization accuracy of the predictions. In this paper, we propose a Representation Invariance Loss (RIL) to o…
OBSeg: Accurate and Fast Instance Segmentation Framework Using Segmentation Foundation Models with Oriented Bounding Box Prompts
State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences（多模态人工智能系统国家重点实验室，自动化研究所，中国科学院）；School of Artificial Intelligence, University of Chinese Academy of Sciences（人工智能学院，中国科学院大学）
Research MVTec Software GmbH（MVTec软件公司（Research MVTec Software GmbH））；Munich, Germany（德国慕尼黑（此处仅为地址信息，不应提取为机构，原文本中机构粒度已满足，地址部分按要求忽略））
State-of-the-art instance-aware semantic segmentation algorithms use axis-aligned bounding boxes as an intermediate processing step to infer the final instance mask output. This often leads to coarse and inaccurate mask proposals due to the following reasons: Axis-aligned boxes have a high background to foreground pixel-ratio, there is a strong variation of mask targets with respect to the underlying box, and neighboring instances frequently reach into the axis-aligned bounding box of the instance mask of interest. In this work, we overcome these problems by proposing to use oriented boxes as …
Monocular 3D object detection aims to detect objects in a 3D physical world from a single camera. However, recent approaches either rely on expensive LiDAR devices, or resort to dense pixel-wise depth estimation that causes prohibitive computational cost. In this paper, we propose an end-to-end trainable monocular 3D object detector without learning the dense depth. Specifically, the grid coordinates of a 2D box are first projected back to 3D space with the pinhole model as 3D centroids proposals. Then, a novel object-aware voting approach is introduced, which considers both the region-wise ap…
Object detection using an oriented bounding box (OBB) can better target rotated objects by reducing the overlap with background areas. Existing OBB approaches are mostly built on horizontal bounding box detectors by introducing an additional angle dimension optimized by a distance loss. However, as the distance loss only minimizes the angle error of the OBB and that it loosely correlates to the IoU, it is insensitive to objects with high aspect ratios. Therefore, a novel loss, Pixels-IoU (PIoU) Loss, is formulated to exploit both the angle and IoU for accurate OBB regression. The PIoU loss is …
Huazhong University of Science and Technology（华中科技大学）；Wuhan University（武汉大学）
Text in natural images is of arbitrary orientations, requiring detection in terms of oriented bounding boxes. Normally, a multi-oriented text detector often involves two key tasks: 1) text presence detection, which is a classification problem disregarding text orientation; 2) oriented bounding box regression, which concerns about text orientation. Previous methods rely on shared features for both tasks, resulting in degraded performance due to the incompatibility of the two tasks. To address this issue, we propose to perform classification and regression on features of different characteristic…
Oriented bounding box regression is crucial for oriented object detection. However, regression-based methods often suffer from boundary problems and the inconsistency between loss and evaluation metrics. In this paper, a modulated Kalman IoU loss of approximate SkewIoU is proposed, named MKIoU. To avoid boundary problems, we convert the oriented bounding box to Gaussian distribution, then use the Kalman filter to approximate the intersection area. However, there exists significant difference between the calculated and actual intersection areas. Thus, we propose a modulation factor to adjust th…
Facebook AI Research（脸书人工智能研究院）；Stanford University（斯坦福大学）
Current 3D object detection methods are heavily influenced by 2D detectors. In order to leverage architectures in 2D detectors, they often convert 3D point clouds to regular grids (i.e., to voxel grids or to bird's eye view images), or rely on detection in 2D images to propose 3D boxes. Few works have attempted to directly detect objects in point clouds. In this work, we return to first principles to construct a 3D detection pipeline for point cloud data and as generic as possible. However, due to the sparse nature of the data -- samples from 2D manifolds in 3D space -- we face a major challen…
TU Darmstadt（达姆施塔特工业大学）；Hessian Center for AI and Centre for Cognitive Science（黑森人工智能中心与认知科学中心）
We present DAFNe, a Dense one-stage Anchor-Free deep Network for oriented object detection. As a one-stage model, it performs bounding box predictions on a dense grid over the input image, being architecturally simpler in design, as well as easier to optimize than its two-stage counterparts. Furthermore, as an anchor-free model, it reduces the prediction complexity by refraining from employing bounding box anchors. With DAFNe we introduce an orientation-aware generalization of the center-ness function for arbitrarily oriented bounding boxes to down-weight low-quality predictions and a center-t…
Oriented object detection is a challenging task in aerial images since the objects in aerial images are displayed in arbitrary directions and are frequently densely packed. The mainstream detectors describe rotating objects using a five-parament or eight-parament representations, which suffer from representation ambiguity for orientated object definition. In this paper, we propose a novel representation method based on area ratio of parallelogram, called ARP. Specifically, ARP regresses the minimum bounding rectangle of the oriented object and three area ratios. Three area ratios include the a…
German Aerospace Center (DLR)（德国航空航天中心（DLR））；Technical University of Munich（慕尼黑工业大学）
Multi-class vehicle detection from airborne imagery with orientation estimation is an important task in the near and remote vision domains with applications in traffic monitoring and disaster management. In the last decade, we have witnessed significant progress in object detection in ground imagery, but it is still in its infancy in airborne imagery, mostly due to the scarcity of diverse and large-scale datasets. Despite being a useful tool for different applications, current airborne datasets only partially reflect the challenges of real-world scenarios. To address this issue, we introduce E…
MsSVT++: Mixed-scale Sparse Voxel Transformer with Center Voting for 3D 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（光电成像技术与系统教育部重点实验室）；Beijing Institute of Technology Chongqing Innovation Center（北京理工大学重庆创新中心）
School of Automation, Beijing Institute of Technology（北京理工大学自动化学院）
Oriented object detection in remote sensing images has made great progress in recent years. However, most of the current methods only focus on detecting targets, and cannot distinguish fine-grained objects well in complex scenes. In this technical report, we analyzed the key issues of fine-grained object recognition, and use an oriented feature alignment network (OFA-Net) to achieve high-performance fine-grained oriented object recognition in optical remote sensing images. OFA-Net achieves accurate object localization through a rotated bounding boxes refinement module. On this basis, the bound…
With the vigorous development of computer vision, oriented object detection has gradually been featured. In this paper, a novel differentiable angle coder named phase-shifting coder (PSC) is proposed to accurately predict the orientation of objects, along with a dual-frequency version (PSCD). By mapping the rotational periodicity of different cycles into the phase of different frequencies, we provide a unified framework for various periodic fuzzy problems caused by rotational symmetry in oriented object detection. Upon such a framework, common problems in oriented object detection such as boun…
NAVER CLOVA；LG AI Research（LG人工智能研究院）；KAIST（韩国科学技术院）
We present a novel approach for oriented object detection, named TricubeNet, which localizes oriented objects using visual cues ($i.e.,$ heatmap) instead of oriented box offsets regression. We represent each object as a 2D Tricube kernel and extract bounding boxes using simple image-processing algorithms. Our approach is able to (1) obtain well-arranged boxes from visual cues, (2) solve the angle discontinuity problem, and (3) can save computational complexity due to our anchor-free modeling. To further boost the performance, we propose some effective techniques for size-invariant loss, reduci…
SLAMcore Ltd.（SLAMcore有限公司）；Imperial College London（伦敦帝国理工学院）
In this work we introduce a new Bounding-Box Free Network (BBFNet) for panoptic segmentation. Panoptic segmentation is an ideal problem for proposal-free methods as it already requires per-pixel semantic class labels. We use this observation to exploit class boundaries from off-the-shelf semantic segmentation networks and refine them to predict instance labels. Towards this goal BBFNet predicts coarse watershed levels and uses them to detect large instance candidates where boundaries are well defined. For smaller instances, whose boundaries are less reliable, BBFNet also predicts instance cent…
Zhejiang University（浙江大学）；University of Electronic Science and Technology of China（电子科技大学）；Alibaba-Zhejiang University Joint Research Institute of Frontier Technologies（阿里巴巴-浙江大学前沿技术联合研究院）
In contrast to the generic object, aerial targets are often non-axis aligned with arbitrary orientations having the cluttered surroundings. Unlike the mainstreamed approaches regressing the bounding box orientations, this paper proposes an effective adaptive points learning approach to aerial object detection by taking advantage of the adaptive points representation, which is able to capture the geometric information of the arbitrary-oriented instances. To this end, three oriented conversion functions are presented to facilitate the classification and localization with accurate orientation. Mo…
University of Oxford（牛津大学）；DeepMind（深度思维）；Imperial College London（帝国理工学院）；Heriot-Watt University（赫瑞-瓦特大学）
We propose a novel, conceptually simple and general framework for instance segmentation on 3D point clouds. Our method, called 3D-BoNet, follows the simple design philosophy of per-point multilayer perceptrons (MLPs). The framework directly regresses 3D bounding boxes for all instances in a point cloud, while simultaneously predicting a point-level mask for each instance. It consists of a backbone network followed by two parallel network branches for 1) bounding box regression and 2) point mask prediction. 3D-BoNet is single-stage, anchor-free and end-to-end trainable. Moreover, it is remarkab…
Detecting partially occluded objects is a difficult task. Our experimental results show that deep learning approaches, such as Faster R-CNN, are not robust at object detection under occlusion. Compositional convolutional neural networks (CompositionalNets) have been shown to be robust at classifying occluded objects by explicitly representing the object as a composition of parts. In this work, we propose to overcome two limitations of CompositionalNets which will enable them to detect partially occluded objects: 1) CompositionalNets, as well as other DCNN architectures, do not explicitly separ…
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）
The detection of oriented objects is frequently appeared in the field of natural scene text detection as well as object detection in aerial images. Traditional detectors for oriented objects are common to rotate anchors on the basis of the RCNN frameworks, which will multiple the number of anchors with a variety of angles, coupled with rotating NMS algorithm, the computational complexities of these models are greatly increased. In this paper, we propose a novel model named Oriented Objects Detection Network O^2-DNet to detect oriented objects by predicting a pair of middle lines inside each ta…
German Aerospace Center（德国航空航天中心）；Technical University of Munich（慕尼黑工业大学）
Automatic multi-class object detection in remote sensing images in unconstrained scenarios is of high interest for several applications including traffic monitoring and disaster management. The huge variation in object scale, orientation, category, and complex backgrounds, as well as the different camera sensors pose great challenges for current algorithms. In this work, we propose a new method consisting of a novel joint image cascade and feature pyramid network with multi-size convolution kernels to extract multi-scale strong and weak semantic features. These features are fed into rotation-b…
Objects in aerial images usually have arbitrary orientations and are densely located over the ground, making them extremely challenge to be detected. Many recently developed methods attempt to solve these issues by estimating an extra orientation parameter and placing dense anchors, which will result in high model complexity and computational costs. In this paper, we propose an arbitrary-oriented region proposal network (AO-RPN) to generate oriented proposals transformed from horizontal anchors. The AO-RPN is very efficient with only a few amounts of parameters increase than the original RPN. …
This paper presents a general one-shot object localization algorithm called OneLoc. Current one-shot object localization or detection methods either rely on a slow exhaustive feature matching process or lack the ability to generalize to novel objects. In contrast, our proposed OneLoc algorithm efficiently finds the object center and bounding box size by a special voting scheme. To keep our method scale-invariant, only unit center offset directions and relative sizes are estimated. A novel dense equalized voting module is proposed to better locate small texture-less objects. Experiments show th…
Beijing Institute of Technology（北京理工大学）；University of Delaware（特拉华大学）
Recently, many arbitrary-oriented object detection (AOOD) methods have been proposed and attracted widespread attention in many fields. However, most of them are based on anchor-boxes or standard Gaussian heatmaps. Such label assignment strategy may not only fail to reflect the shape and direction characteristics of arbitrary-oriented objects, but also have high parameter-tuning efforts. In this paper, a novel AOOD method called General Gaussian Heatmap Label Assignment (GGHL) is proposed. Specifically, an anchor-free object-adaptation label assignment (OLA) strategy is presented to define the…
Projecting Points to Axes: Oriented Object Detection via Point-Axis Representation
Institute of Artificial Intelligence and Robotics, Xi’an Jiaotong University（西安交通大学人工智能与机器人研究所）；School of Software Engineering, Xi’an Jiaotong University（西安交通大学软件学院）
National Engineering Laboratory for Speech and Language Information Processing（语音及语言信息处理国家工程实验室）；University of Science and Technology of China（中国科学技术大学）
We propose a novel method for representing oriented objects in aerial images named Adaptive Period Embedding (APE). While traditional object detection methods represent object with horizontal bounding boxes, the objects in aerial images are oritented. Calculating the angle of object is an yet challenging task. While almost all previous object detectors for aerial images directly regress the angle of objects, they use complex rules to calculate the angle, and their performance is limited by the rule design. In contrast, our method is based on the angular periodicity of oriented objects. The ang…
Automatic detection of firearms is important for enhancing the security and safety of people, however, it is a challenging task owing to the wide variations in shape, size, and appearance of firearms. Also, most of the generic object detectors process axis-aligned rectangular areas though, a thin and long rifle may actually cover only a small percentage of that area and the rest may contain irrelevant details suppressing the required object signatures. To handle these challenges, we propose a weakly supervised Orientation Aware Object Detection (OAOD) algorithm which learns to detect oriented …
Benefiting from the great success of deep learning in computer vision, CNN-based object detection methods have drawn significant attentions. Various frameworks have been proposed which show awesome and robust performance for a large range of datasets. However, for building detection in remote sensing images, buildings always pose a diversity of orientations which makes it a challenge for the application of off-the-shelf methods to building detection. In this work, we aim to integrate orientation regression into the popular axis-aligned bounding-box detection method to tackle this problem. To a…
Beijing Institute of Technology（北京理工大学）；University of Delaware（特拉华大学）；The Aviation Industry Corporation of China, Ltd.（中国航空工业集团有限公司）；Luoyang Institute of Electro-Optical Equipment（洛阳电光设备研究所）
A few lightweight convolutional neural network (CNN) models have been recently designed for remote sensing object detection (RSOD). However, most of them simply replace vanilla convolutions with stacked separable convolutions, which may not be efficient due to a lot of precision losses and may not be able to detect oriented bounding boxes (OBB). Also, the existing OBB detection methods are difficult to constrain the shape of objects predicted by CNNs accurately. In this paper, we propose an effective lightweight oriented object detector (LO-Det). Specifically, a channel separation-aggregation …
RiO-DETR: DETR for Real-time Oriented Object Detection
University of Science and Technology of China（中国科学技术大学）；Huawei Technologies Co., Ltd.（华为技术有限公司）；Tsinghua University（清华大学）；Institute of Artificial Intelligence, Hefei Comprehensive National Science Center（合肥综合国家科学中心人工智能研究院）
ABFL: Angular Boundary Discontinuity Free Loss for Arbitrary Oriented Object Detection in Aerial Images
Technology and Engineering Center for Space Utilization, Chinese Academy of Sciences（中国科学院空间应用工程与技术中心）；University of Chinese Academy of Sciences（中国科学院大学）
Category-Aware Dynamic Label Assignment with High-Quality Oriented Proposal
College of Electronic and Information Engineering, Nanjing University of Aeronautics and Astronautics（南京航空航天大学电子信息工程学院）；Space Information Research Institute, Hangzhou Dianzi University（杭州电子科技大学空间信息研究院）
Wholly-WOOD: Wholly Leveraging Diversified-quality Labels for Weakly-supervised Oriented Object Detection
School of Automation, Southeast University（东南大学自动化学院）；Shanghai Jiao Tong University（上海交通大学）；School of Artificial Intelligence, Shanghai Jiao Tong University（上海交通大学人工智能学院）；Wuhan University（武汉大学）；School of Electronic, Electrical and Communication Engineering, University of Chinese Academy of Science（中国科学院大学电子电气与通信工程学院）
Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所）
In this paper, we first provide a new perspective to divide existing high performance object detection methods into direct and indirect regressions. Direct regression performs boundary regression by predicting the offsets from a given point, while indirect regression predicts the offsets from some bounding box proposals. Then we analyze the drawbacks of the indirect regression, which the recent state-of-the-art detection structures like Faster-RCNN and SSD follows, for multi-oriented scene text detection, and point out the potential superiority of direct regression. To verify this point of vie…
University of Chinese Academy of Sciences（中国科学院大学）；Peng Cheng Laboratory（鹏城实验室）；Shanghai Jiao Tong University（上海交通大学）
Typical representations for arbitrary-oriented object detection tasks include oriented bounding box (OBB), quadrilateral bounding box (QBB), and point set (PointSet). Each representation encounters problems that correspond to its characteristics, such as the boundary discontinuity, square-like problem, representation ambiguity, and isolated points, which lead to inaccurate detection. Although many effective strategies have been proposed for various representations, there is still no unified solution. Current detection methods based on Gaussian modeling have demonstrated the possibility of brea…
Huazhong University of Science and Technology（华中科技大学）；Megvii Technology Inc.（旷视科技有限公司）；National University of Singapore（新加坡国立大学）
Previous deep learning based state-of-the-art scene text detection methods can be roughly classified into two categories. The first category treats scene text as a type of general objects and follows general object detection paradigm to localize scene text by regressing the text box locations, but troubled by the arbitrary-orientation and large aspect ratios of scene text. The second one segments text regions directly, but mostly needs complex post processing. In this paper, we present a method that combines the ideas of the two types of methods while avoiding their shortcomings. We propose to…
PointOBB: Learning Oriented Object Detection via Single Point Supervision
Wuhan University（武汉大学）；Shanghai AI Laboratory（上海人工智能实验室）；Southeast University（东南大学）；Harbin Institute of Technology（哈尔滨工业大学）；Shanghai Jiao Tong University（上海交通大学）
Institute of Automation, CAS（中国科学院自动化研究所）；School of Artificial Intelligence, UCAS（中国科学院大学人工智能学院）；Youtu Lab, Tencent（腾讯优图实验室）；CASIA-LLVision Joint Lab（中国科学院自动化研究所-联汇视界联合实验室）；Y-Tech, Kuaishou Technology（快手科技Y-Tech）
Object detection has achieved remarkable progress in the past decade. However, the detection of oriented and densely packed objects remains challenging because of following inherent reasons: (1) receptive fields of neurons are all axis-aligned and of the same shape, whereas objects are usually of diverse shapes and align along various directions; (2) detection models are typically trained with generic knowledge and may not generalize well to handle specific objects at test time; (3) the limited dataset hinders the development on this task. To resolve the first two issues, we present a dynamic …
