Semantic Segmentation (SS) is promising for outdoor scene perception in safety-critical applications like autonomous vehicles, assisted navigation and so on. However, traditional SS is primarily based on RGB images, which limits the reliability of SS in complex outdoor scenes, where RGB images lack necessary information dimensions to fully perceive unconstrained environments. As preliminary investigation, we examine SS in an unexpected obstacle detection scenario, which demonstrates the necessity of multimodal fusion. Thereby, in this work, we present EAFNet, an Efficient Attention-bridged Fusion Network to exploit complementary information coming from different optical sensors. Specifically, we incorporate polarization sensing to obtain supplementary information, considering its optical characteristics for robust representation of diverse materials. By using a single-shot polarization sensor, we build the first RGB-P dataset which consists of 394 annotated pixel-aligned RGB-Polarization images. A comprehensive variety of experiments shows the effectiveness of EAFNet to fuse polarization and RGB information, as well as the flexibility to be adapted to other sensor combination scenarios.
Southern University of Science and Technology（南方科技大学）；The University of Hong Kong（香港大学）；Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences（中国科学院深圳先进技术研究院）；The University of Waikato（怀卡托大学）
In this paper, we focus on three problems in deep learning based medical image segmentation. Firstly, U-net, as a popular model for medical image segmentation, is difficult to train when convolutional layers increase even though a deeper network usually has a better generalization ability because of more learnable parameters. Secondly, the exponential ReLU (ELU), as an alternative of ReLU, is not much different from ReLU when the network of interest gets deep. Thirdly, the Dice loss, as one of the pervasive loss functions for medical image segmentation, is not effective when the prediction is …
Zhejiang University（浙江大学）；Karlsruhe Institute of Technology（卡尔斯鲁厄理工学院）；Hangzhou SurImage Technology Co., Ltd.（杭州视芯科技有限公司）
Semantic segmentation has made striking progress due to the success of deep convolutional neural networks. Considering the demands of autonomous driving, real-time semantic segmentation has become a research hotspot these years. However, few real-time RGB-D fusion semantic segmentation studies are carried out despite readily accessible depth information nowadays. In this paper, we propose a real-time fusion semantic segmentation network termed RFNet that effectively exploits complementary cross-modal information. Building on an efficient network architecture, RFNet is capable of running swiftl…
Point Linguist Model: Segment Any Object via Bridged Large 3D-Language Model
Department of Computer Science, Aberystwyth University（计算机科学系，阿伯里斯特维斯大学）；School of Computer Science, University of Sheffield（计算机科学学院，谢菲尔德大学）；Department of Automation, Tsinghua University（自动化系，清华大学）
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）；ByteDance Inc.（字节跳动公司）；Institute for AI Industry Research (AIR), Tsinghua University（清华大学智能产业研究院（AIR））；JD Explore Academy, JD.com（京东探索研究院，京东集团）
3D object detection is a crucial research topic in computer vision, which usually uses 3D point clouds as input in conventional setups. Recently, there is a trend of leveraging multiple sources of input data, such as complementing the 3D point cloud with 2D images that often have richer color and fewer noises. However, due to the heterogeneous geometrics of the 2D and 3D representations, it prevents us from applying off-the-shelf neural networks to achieve multimodal fusion. To that end, we propose Bridged Transformer (BrT), an end-to-end architecture for 3D object detection. BrT is simple and…
In this paper we present a new approach for feature fusion between RGB and LWIR Thermal images for the task of semantic segmentation for driving perception. We propose DooDLeNet, a double DeepLab architecture with specialized encoder-decoders for thermal and color modalities and a shared decoder for final segmentation. We combine two strategies for feature fusion: confidence weighting and correlation weighting. We report state-of-the-art mean IoU results on the MF dataset.
Semantic segmentation of 3D meshes is an important problem for 3D scene understanding. In this paper we revisit the classic multiview representation of 3D meshes and study several techniques that make them effective for 3D semantic segmentation of meshes. Given a 3D mesh reconstructed from RGBD sensors, our method effectively chooses different virtual views of the 3D mesh and renders multiple 2D channels for training an effective 2D semantic segmentation model. Features from multiple per view predictions are finally fused on 3D mesh vertices to predict mesh semantic segmentation labels. Using …
Sensor fusion is a fundamental process in robotic systems as it extends the perceptual range and increases robustness in real-world operations. Current multi-sensor deep learning based semantic segmentation approaches do not provide robustness to under-performing classes in one modality, or require a specific architecture with access to the full aligned multi-sensor training data. In this work, we analyze statistical fusion approaches for semantic segmentation that overcome these drawbacks while keeping a competitive performance. The studied approaches are modular by construction, allowing to …
This paper presents a method for automatic video object segmentation based on the fusion of motion stream, appearance stream, and instance-aware segmentation. The proposed scheme consists of a two-stream fusion network and an instance segmentation network. The two-stream fusion network again consists of motion and appearance stream networks, which extract long-term temporal and spatial information, respectively. Unlike the existing two-stream fusion methods, the proposed fusion network blends the two streams at the original resolution for obtaining accurate segmentation boundary. We develop a …
Northwestern University（西北大学）；University of Chicago（芝加哥大学）
Accurate segmentation of organs-at-risks (OARs) is a precursor for optimizing radiation therapy planning. Existing deep learning-based multi-scale fusion architectures have demonstrated a tremendous capacity for 2D medical image segmentation. The key to their success is aggregating global context and maintaining high resolution representations. However, when translated into 3D segmentation problems, existing multi-scale fusion architectures might underperform due to their heavy computation overhead and substantial data diet. To address this issue, we propose a new OAR segmentation framework, c…
Université de Rouen Normandie（鲁昂诺曼底大学）；INSA Rouen（鲁昂应用科学学院）
Multi-modality is widely used in medical imaging, because it can provide multiinformation about a target (tumor, organ or tissue). Segmentation using multimodality consists of fusing multi-information to improve the segmentation. Recently, deep learning-based approaches have presented the state-of-the-art performance in image classification, segmentation, object detection and tracking tasks. Due to their self-learning and generalization ability over large amounts of data, deep learning recently has also gained great interest in multi-modal medical image segmentation. In this paper, we give an …
The HongKong Polytechnic University（香港理工大学）；DAMO Academy, Alibaba Group（阿里巴巴集团达摩院）
Modern one-stage video instance segmentation networks suffer from two limitations. First, convolutional features are neither aligned with anchor boxes nor with ground-truth bounding boxes, reducing the mask sensitivity to spatial location. Second, a video is directly divided into individual frames for frame-level instance segmentation, ignoring the temporal correlation between adjacent frames. To address these issues, we propose a simple yet effective one-stage video instance segmentation framework by spatial calibration and temporal fusion, namely STMask. To ensure spatial feature calibration…
Friedrich-Alexander University (FAU) Erlangen-Nürnberg（埃尔朗根-纽伦堡弗里德里希-亚历山大大学）；Karlsruhe Institute of Technology（卡尔斯鲁厄理工学院）；Technische Hochschule Ingolstadt（因戈尔施塔特应用技术大学）；Research Institute AImotion Bavaria（巴伐利亚AImotion研究所）
Robust environment perception for autonomous vehicles is a tremendous challenge, which makes a diverse sensor set with e.g. camera, lidar and radar crucial. In the process of understanding the recorded sensor data, 3D semantic segmentation plays an important role. Therefore, this work presents a pyramid-based deep fusion architecture for lidar and camera to improve 3D semantic segmentation of traffic scenes. Individual sensor backbones extract feature maps of camera images and lidar point clouds. A novel Pyramid Fusion Backbone fuses these feature maps at different scales and combines the mult…
Princeton University（普林斯顿大学）；Middle East Technical University（中东技术大学）
A new segmentation fusion method is proposed that ensembles the output of several segmentation algorithms applied on a remotely sensed image. The candidate segmentation sets are processed to achieve a consensus segmentation using a stochastic optimization algorithm based on the Filtered Stochastic BOEM (Best One Element Move) method. For this purpose, Filtered Stochastic BOEM is reformulated as a segmentation fusion problem by designing a new distance learning approach. The proposed algorithm also embeds the computation of the optimum number of clusters into the segmentation fusion problem.
National University of Defense Technology（国防科技大学）；Tongji University（同济大学）
Wound image segmentation is a critical component for the clinical diagnosis and in-time treatment of wounds. Recently, deep learning has become the mainstream methodology for wound image segmentation. However, the pre-processing of the wound image, such as the illumination correction, is required before the training phase as the performance can be greatly improved. The correction procedure and the training of deep models are independent of each other, which leads to sub-optimal segmentation performance as the fixed illumination correction may not be suitable for all images. To address aforemen…
Computer Vision and Pattern Recognition Unit, Indian Statistical Institute（印度统计研究所计算机视觉与模式识别部）；Østfold University College（东福尔大学学院）；Oslo Metropolitan University（奥斯陆城市大学）
Methods based on convolutional neural networks have improved the performance of biomedical image segmentation. However, most of these methods cannot efficiently segment objects of variable sizes and train on small and biased datasets, which are common for biomedical use cases. While methods exist that incorporate multi-scale fusion approaches to address the challenges arising with variable sizes, they usually use complex models that are more suitable for general semantic segmentation problems. In this paper, we propose a novel architecture called Multi-Scale Residual Fusion Network (MSRF-Net),…
Robert Bosch Centre for Cyber-Physical Systems, Indian Institute of Science（印度科学学院罗伯特·博世网络物理系统中心）；Indian Institute of Science（印度科学学院）
Building segmentation in high-resolution InSAR images is a challenging task that can be useful for large-scale surveillance. Although complex-valued deep learning networks perform better than their real-valued counterparts for complex-valued SAR data, phase information is not retained throughout the network, which causes a loss of information. This paper proposes a Fully Complex-valued, Fully Convolutional Multi-feature Fusion Network(FC2MFN) for building semantic segmentation on InSAR images using a novel, fully complex-valued learning scheme. The network learns multi-scale features, performs…
Axial-Relation Guided Fusion State Space Model for Optical-Elevation Sensing Image Segmentation
State Key Laboratory of Physical Oceanography, Ocean University of China（中国海洋大学物理海洋学国家重点实验室）；Department of Electrical and Computer Engineering, Mississippi State University（密苏里州立大学电气与计算机工程系）
Nanjing University of Science and Technology（南京理工大学）；Northwestern Polytechnical University（西北工业大学）
Deep learning based semantic segmentation is one of the popular methods in remote sensing image segmentation. In this paper, a network based on the widely used encoderdecoder architecture is proposed to accomplish the synthetic aperture radar (SAR) images segmentation. With the better representation capability of optical images, we propose to enrich SAR images with generated optical images via the generative adversative network (GAN) trained by numerous SAR and optical images. These optical images can be used as expansions of original SAR images, thus ensuring robust result of segmentation. Th…
University of Bonn（波恩大学）；Indian Institute of Technology Bombay（印度理工学院孟买分校）；National University of Singapore（新加坡国立大学）
Segmenting objects of interest in an image is an essential building block of applications such as photo-editing and image analysis. Under interactive settings, one should achieve good segmentations while minimizing user input. Current deep learning-based interactive segmentation approaches use early fusion and incorporate user cues at the image input layer. Since segmentation CNNs have many layers, early fusion may weaken the influence of user interactions on the final prediction results. As such, we propose a new multi-stage guidance framework for interactive segmentation. By incorporating us…
In this paper, we propose a similarity-aware fusion network (SAFNet) to adaptively fuse 2D images and 3D point clouds for 3D semantic segmentation. Existing fusion-based methods achieve remarkable performances by integrating information from multiple modalities. However, they heavily rely on the correspondence between 2D pixels and 3D points by projection and can only perform the information fusion in a fixed manner, and thus their performances cannot be easily migrated to a more realistic scenario where the collected data often lack strict pair-wise features for prediction. To address this, w…
In this paper, we present an extension to LaserNet, an efficient and state-of-the-art LiDAR based 3D object detector. We propose a method for fusing image data with the LiDAR data and show that this sensor fusion method improves the detection performance of the model especially at long ranges. The addition of image data is straightforward and does not require image labels. Furthermore, we expand the capabilities of the model to perform 3D semantic segmentation in addition to 3D object detection. On a large benchmark dataset, we demonstrate our approach achieves state-of-the-art performance on …
In recent years, Fully Convolutional Networks (FCN) has been widely used in various semantic segmentation tasks, including multi-modal remote sensing imagery. How to fuse multi-modal data to improve the segmentation performance has always been a research hotspot. In this paper, a novel end-toend fully convolutional neural network is proposed for semantic segmentation of natural color, infrared imagery and Digital Surface Models (DSM). It is based on a modified DeepUNet and perform the segmentation in a multi-task way. The channels are clustered into groups and processed on different task pipel…
LiDAR has become a standard sensor for autonomous driving applications as they provide highly precise 3D point clouds. LiDAR is also robust for low-light scenarios at night-time or due to shadows where the performance of cameras is degraded. LiDAR perception is gradually becoming mature for algorithms including object detection and SLAM. However, semantic segmentation algorithm remains to be relatively less explored. Motivated by the fact that semantic segmentation is a mature algorithm on image data, we explore sensor fusion based 3D segmentation. Our main contribution is to convert the RGB i…
Tsinghua University（清华大学）；Microsoft Research Asia（微软亚洲研究院）
Recognizing 3D part instances from a 3D point cloud is crucial for 3D structure and scene understanding. Several learning-based approaches use semantic segmentation and instance center prediction as training tasks and fail to further exploit the inherent relationship between shape semantics and part instances. In this paper, we present a new method for 3D part instance segmentation. Our method exploits semantic segmentation to fuse nonlocal instance features, such as center prediction, and further enhances the fusion scheme in a multi- and cross-level way. We also propose a semantic region cen…
Paul C. Lauterbur Research Center for Biomedical Imaging, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences（中国科学院深圳先进技术研究院保罗·C·劳特伯生物医学成像研究中心）；University of Chinese Academy of Sciences（中国科学院大学）；Peng Cheng Laboratory（鹏城实验室）；Guangdong Provincial Key Laboratory of Artificial Intelligence in Medical Image Analysis and Application（广东省医学图像分析与应用人工智能重点实验室）
Multi-parametric magnetic resonance (MR) imaging is an indispensable tool in the clinic. Consequently, automatic volume-of-interest segmentation based on multi-parametric MR imaging is crucial for computer-aided disease diagnosis, treatment planning, and prognosis monitoring. Despite the extensive studies conducted in deep learning-based medical image analysis, further investigations are still required to effectively exploit the information provided by different imaging parameters. How to fuse the information is a key question in this field. Here, we propose an uncertainty-aware multi-parametr…
This paper challenges the cross-domain semantic segmentation task, aiming to improve the segmentation accuracy on the unlabeled target domain without incurring additional annotation. Using the pseudo-label-based unsupervised domain adaptation (UDA) pipeline, we propose a novel and effective Multiple Fusion Adaptation (MFA) method. MFA basically considers three parallel information fusion strategies, i.e., the cross-model fusion, temporal fusion and a novel online-offline pseudo label fusion. Specifically, the online-offline pseudo label fusion encourages the adaptive training to pay additional…
3D semantic segmentation is a fundamental building block for several scene understanding applications such as autonomous driving, robotics and AR/VR. Several state-of-the-art semantic segmentation models suffer from the part misclassification problem, wherein parts of the same object are labelled incorrectly. Previous methods have utilized hierarchical, iterative methods to fuse semantic and instance information, but they lack learnability in context fusion, and are computationally complex and heuristic driven. This paper presents Segment-Fusion, a novel attention-based method for hierarchical…
Scene depth information can help visual information for more accurate semantic segmentation. However, how to effectively integrate multi-modality information into representative features is still an open problem. Most of the existing work uses DCNNs to implicitly fuse multi-modality information. But as the network deepens, some critical distinguishing features may be lost, which reduces the segmentation performance. This work proposes a unified and efficient feature selectionand-fusion network (FSFNet), which contains a symmetric cross-modality residual fusion module used for explicit fusion o…
In this paper, we present an Assertion-based Multi-View Fusion network (AMVNet) for LiDAR semantic segmentation which aggregates the semantic features of individual projection-based networks using late fusion. Given class scores from different projection-based networks, we perform assertion-guided point sampling on score disagreements and pass a set of point-level features for each sampled point to a simple point head which refines the predictions. This modular-and-hierarchical late fusion approach provides the flexibility of having two independent networks with a minor overhead from a light-w…
Image semantic segmentation aims at the pixel-level classification of images, which has requirements for both accuracy and speed in practical application. Existing semantic segmentation methods mainly rely on the high-resolution input to achieve high accuracy and do not meet the requirements of inference time. Although some methods focus on high-speed scene parsing with lightweight architectures, they can not fully mine semantic features under low computation with relatively low performance. To realize the real-time and high-precision segmentation, we propose a new method named Boundary Correc…
Universidade Federal da Bahia（巴伊亚联邦大学）；Universidade Federal do Maranhão（马拉尼昂联邦大学）
This paper introduces a method for image semantic segmentation grounded on a novel fusion scheme, which takes place inside a deep convolutional neural network. The main goal of our proposal is to explore object boundary information to improve the overall segmentation performance. Unlike previous works that combine boundary and segmentation features, or those that use boundary information to regularize semantic segmentation, we instead propose a novel approach that embodies boundary information onto segmentation. For that, our semantic segmentation method uses two streams, which are combined th…
MAFS: Masked Autoencoder for Infrared-Visible Image Fusion and Semantic Segmentation
Key Laboratory of Symbolic Computation and Knowledge Engineering of Ministry of Education, Jilin University（教育部符号计算与知识工程重点实验室，吉林大学）；Wangxuan Institute of Computer Technology, Peking University（北京大学王轩计算机技术研究所）；National Engineering Research Center of Visual Technology, School of Computer Science, Peking University（视觉技术国家工程研究中心，北京大学计算机科学学院）
Localization-Infused Vision-Language Semantic Fusion for Text-Guided Medical Image Segmentation
Air Force Engineering University（空军工程大学）；Harbin Institute of Technology（哈尔滨工业大学）；University of Sydney（悉尼大学）；Institute of Translational Medicine, Shanghai Jiao Tong University（上海交通大学转化医学研究院）；Zhongguancun Institute of Artificial Intelligence（中关村人工智能研究院）
Fudan University（复旦大学）；Megvii Inc. (Face++)（旷视科技（Face++））；Beijing Institute of Technology（北京理工大学）
Modern semantic segmentation frameworks usually combine low-level and high-level features from pre-trained backbone convolutional models to boost performance. In this paper, we first point out that a simple fusion of low-level and high-level features could be less effective because of the gap in semantic levels and spatial resolution. We find that introducing semantic information into low-level features and high-resolution details into high-level features is more effective for the later fusion. Based on this observation, we propose a new framework, named ExFuse, to bridge the gap between low-l…
Ulsan National Institute of Science and Technology (UNIST)（蔚山科学技术院）；Harvard University（哈佛大学）
Electron microscopic connectomics is an ambitious research direction with the goal of studying comprehensive brain connectivity maps by using high-throughput, nano-scale microscopy. One of the main challenges in connectomics research is developing scalable image analysis algorithms that require minimal user intervention. Recently, deep learning has drawn much attention in computer vision because of its exceptional performance in image classification tasks. For this reason, its application to connectomic analyses holds great promise, as well. In this paper, we introduce a novel deep neural netw…
In this paper, we propose a novel fully convolutional two-stream fusion network (FCTSFN) for interactive image segmentation. The proposed network includes two sub-networks: a two-stream late fusion network (TSLFN) that predicts the foreground at a reduced resolution, and a multi-scale refining network (MSRN) that refines the foreground at full resolution. The TSLFN includes two distinct deep streams followed by a fusion network. The intuition is that, since user interactions are more direct information on foreground/background than the image itself, the two-stream structure of the TSLFN reduce…
Adaptive Feature Fusion Neural Network for Glaucoma Segmentation on Unseen Fundus Images
International Medical College（国际医学院）；Chongqing Medical University（重庆医科大学）；The First Affiliated Hospital of Chongqing Medical University（重庆医科大学第一附属医院）；Centre for Frontier AI Research (CFAR)（前沿人工智能研究中心）；Agency for Science Technology and Research (A*STAR)（新加坡科技研究局）
Shenzhen Institutes of Advanced Technology, CAS（中国科学院深圳先进技术研究院）；Beijing Futong Dongfang Technology Co, Ltd（北京富通东方科技有限公司）；Beijing University of Chemical Technology（北京化工大学）
Robust semantic segmentation of VHR remote sensing images from UAV sensors is critical for earth observation, land use, land cover or mapping applications. Several factors such as shadows, weather disruption and camera shakes making this problem highly challenging, especially only using RGB images. In this paper, we propose the use of multi-modality data including NIR, RGB and DSM to increase robustness of segmentation in blurred or partially damaged VHR remote sensing images. By proposing a cascaded dense encoder-decoder network and the SELayer based fusion and assembling techniques, the prop…
Hefei Institutes of Physical Science, Chinese Academy of Sciences（中国科学院合肥物质科学研究院）；University of Science and Technology of China（中国科学技术大学）；Lappeenranta University of Technology (LUT)（拉彭兰塔工业大学）
It is a crucial step to achieve effective semantic segmentation of lane marking during the construction of the lane level high-precision map. In recent years, many image semantic segmentation methods have been proposed. These methods mainly focus on the image from camera, due to the limitation of the sensor itself, the accurate three-dimensional spatial position of the lane marking cannot be obtained, so the demand for the lane level high-precision map construction cannot be met. This paper proposes a lane marking semantic segmentation method based on LIDAR and camera fusion deep neural networ…
CoMLP: Cooperatively-Gated MLPs for Fine-Grained Cross-Modal Information Fusion in Medical Image Segmentation
Institute of Translational Medicine, Shanghai Jiao Tong University（上海交通大学转化医学研究院）；Zhongguancun Academy（中关村学院）；Zhongguancun Institute of Artificial Intelligence（中关村人工智能研究院）；School of Computer Science, the University of Sydney（悉尼大学计算机学院）；China United Network Communications Group Co., Ltd.（中国联合网络通信集团有限公司）
National Taiwan University（国立台湾大学）；National University of Kaohsiung（国立高雄大学）
Panoptic segmentation is a scene parsing task which unifies semantic segmentation and instance segmentation into one single task. However, the current state-of-the-art studies did not take too much concern on inference time. In this work, we propose an Efficient Panoptic Segmentation Network (EPSNet) to tackle the panoptic segmentation tasks with fast inference speed. Basically, EPSNet generates masks based on simple linear combination of prototype masks and mask coefficients. The light-weight network branches for instance segmentation and semantic segmentation only need to predict mask coeffi…
A robust and reliable semantic segmentation in adverse weather conditions is very important for autonomous cars, but most state-of-the-art approaches only achieve high accuracy rates in optimal weather conditions. The reason is that they are only optimized for good weather conditions and given noise models. However, most of them fail, if data with unknown disturbances occur, and their performance decrease enormously. One possibility to still obtain reliable results is to observe the environment with different sensor types, such as camera and lidar, and to fuse the sensor data by means of neura…
LiDARs and cameras are the two main sensors that are planned to be included in many announced autonomous vehicles prototypes. Each of the two provides a unique form of data from a different perspective to the surrounding environment. In this paper, we explore and attempt to answer the question: is there an added benefit by fusing those two forms of data for the purpose of semantic segmentation within the context of autonomous driving? We also attempt to show at which level does said fusion prove to be the most useful. We evaluated our algorithms on the publicly available SemanticKITTI dataset.…
Autonomous robotic systems and self driving cars rely on accurate perception of their surroundings as the safety of the passengers and pedestrians is the top priority. Semantic segmentation is one the essential components of environmental perception that provides semantic information of the scene. Recently, several methods have been introduced for 3D LiDAR semantic segmentation. While, they can lead to improved performance, they are either afflicted by high computational complexity, therefore are inefficient, or lack fine details of smaller instances. To alleviate this problem, we propose AF2-…
RGB-D semantic segmentation methods conventionally use two independent encoders to extract features from the RGB and depth data. However, there lacks an effective fusion mechanism to bridge the encoders, for the purpose of fully exploiting the complementary information from multiple modalities. This paper proposes a novel bottom-up interactive fusion structure to model the interdependencies between the encoders. The structure introduces an interaction stream to interconnect the encoders. The interaction stream not only progressively aggregates modality-specific features from the encoders but a…
