Multi-modal 3D object detection has been an active research topic in autonomous driving. Nevertheless, it is non-trivial to explore the cross-modal feature fusion between sparse 3D points and dense 2D pixels. Recent approaches either fuse the image features with the point cloud features that are projected onto the 2D image plane or combine the sparse point cloud with dense image pixels. These fusion approaches often suffer from severe information loss, thus causing sub-optimal performance. To address these problems, we construct the homogeneous structure between the point cloud and images to avoid projective information loss by transforming the camera features into the LiDAR 3D space. In this paper, we propose a homogeneous multi-modal feature fusion and interaction method (HMFI) for 3D object detection. Specifically, we first design an image voxel lifter module (IVLM) to lift 2D image features into the 3D space and generate homogeneous image voxel features. Then, we fuse the voxelized point cloud features with the image features from different regions by introducing the self-attention based query fusion mechanism (QFM). Next, we propose a voxel feature interaction module (VFIM) to enforce the consistency of semantic information from identical objects in the homogeneous point cloud and image voxel representations, which can provide object-level alignment guidance for cross-modal feature fusion and strengthen the discriminative ability in complex backgrounds. We conduct extensive experiments on the KITTI and Waymo Open Dataset, and the proposed HMFI achieves better performance compared with the state-of-the-art multi-modal methods. Particularly, for the 3D detection of cyclist on the KITTI benchmark, HMFI surpasses all the published algorithms by a large margin.
When Fusion Fails: Corruption-Aware Rebalanced Fusion for Multi-Modal Medical Image Segmentation
Central China Normal University（华中师范大学）；Huazhong University of Science and Technology（华中科技大学）；Guangzhou University of Chinese Medicine（广州中医药大学）；The First Affiliated Hospital of Guangzhou University of Chinese Medicine（广州中医药大学第一附属医院）；University of North Carolina, Chapel Hill（北卡罗来纳大学教堂山分校）
Hanyang University（汉阳大学）；Phantom AI Inc.（Phantom AI公司）；Korea Electronics Technology Institute (KETI)（韩国电子技术研究院）
The goal of multi-modal learning is to use complimentary information on the relevant task provided by the multiple modalities to achieve reliable and robust performance. Recently, deep learning has led significant improvement in multi-modal learning by allowing for the information fusion in the intermediate feature levels. This paper addresses a problem of designing robust deep multi-modal learning architecture in the presence of imperfect modalities. We introduce deep fusion architecture for object detection which processes each modality using the separate convolutional neural network (CNN) a…
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）
Local-to-Global Cross-Modal Attention-Aware Fusion for HSI-X Semantic Segmentation
International Institute for Earth System Science, Nanjing University（南京大学地球系统科学国际学院）；The University of Tokyo（东京大学）；RIKEN Center for Advanced Intelligence Project（理化学研究所先进智能项目中心）；Aerospace Information Research Institute, Chinese Academy of Sciences（中国科学院空天信息创新研究院）；University of Trento（特伦托大学）
MM-DETR: An Efficient Multimodal Detection Transformer with Mamba-Driven Dual-Granularity Fusion and Frequency-Aware Modality Adapters
School of Information and Electronics, Beijing Institute of Technology（信息与电子学院，北京理工大学）；Beijing Institute of Technology Chongqing Innovation Center（北京理工大学重庆创新中心）；National Key Laboratory for Space-Born Intelligent Information Processing（空间智能信息处理国家级重点实验室）；School of Automation, Beijing Institute of Technology（自动化学院，北京理工大学）
Huazhong University of Science and Technology（华中科技大学）；Megvii (Face++) Inc.（旷视科技有限公司）；CalmCar（天瞳威视）
Recently, fusing the LiDAR point cloud and camera image to improve the performance and robustness of 3D object detection has received more and more attention, as these two modalities naturally possess strong complementarity. In this paper, we propose EPNet++ for multi-modal 3D object detection by introducing a novel Cascade Bi-directional Fusion~(CB-Fusion) module and a Multi-Modal Consistency~(MC) loss. More concretely, the proposed CB-Fusion module enhances point features with plentiful semantic information absorbed from the image features in a cascade bi-directional interaction fusion manne…
Multispectral image pairs can provide the combined information, making object detection applications more reliable and robust in the open world. To fully exploit the different modalities, we present a simple yet effective cross-modality feature fusion approach, named Cross-Modality Fusion Transformer (CFT) in this paper. Unlike prior CNNs-based works, guided by the transformer scheme, our network learns long-range dependencies and integrates global contextual information in the feature extraction stage. More importantly, by leveraging the self attention of the transformer, the network can natu…
MMLF: Multi-modal Multi-class Late Fusion for Object Detection with Uncertainty Estimation
Glasgow College, University of Electronic Science and Technology of China（电子科技大学格拉斯哥学院）；School of Automation Engineering, University of Electronic Science and Technology of China（电子科技大学自动化工程学院）
School of Aerospace Engineering, Tsinghua University（清华大学航天航空学院）
Cross-modality fusing complementary information of multispectral remote sensing image pairs can improve the perception ability of detection algorithms, making them more robust and reliable for a wider range of applications, such as nighttime detection. Compared with prior methods, we think different features should be processed specifically, the modality-specific features should be retained and enhanced, while the modality-shared features should be cherry-picked from the RGB and thermal IR modalities. Following this idea, a novel and lightweight multispectral feature fusion approach with joint…
Unmanned aerial vehicles (UAVs) equipped with multiple complementary sensors have tremendous potential for fast autonomous or remote-controlled semantic scene analysis, e.g., for disaster examination. In this work, we propose a UAV system for real-time semantic inference and fusion of multiple sensor modalities. Semantic segmentation of LiDAR scans and RGB images, as well as object detection on RGB and thermal images, run online onboard the UAV computer using lightweight CNN architectures and embedded inference accelerators. We follow a late fusion approach where semantic information from mult…
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 …
Aiming at highly accurate object detection for connected and automated vehicles (CAVs), this paper presents a Deep Neural Network based 3D object detection model that leverages a three-stage feature extractor by developing a novel LIDAR-Camera fusion scheme. The proposed feature extractor extracts high-level features from two input sensory modalities and recovers the important features discarded during the convolutional process. The novel fusion scheme effectively fuses features across sensory modalities and convolutional layers to find the best representative global features. The fused featur…
Part-Whole Relational Fusion Towards Multi-Modal Scene Understanding
School of Computer Science and Artificial Intelligence, Changzhou University（常州大学计算机与人工智能学院）；Department of Computer Science, University of Sheffield（谢菲尔德大学计算机系）
Multi-modality fusion is the guarantee of the stability of autonomous driving systems. In this paper, we propose a general multi-modality cascaded fusion framework, exploiting the advantages of decision-level and feature-level fusion, utilizing target position, size, velocity, appearance and confidence to achieve accurate fusion results. In the fusion process, dynamic coordinate alignment(DCA) is conducted to reduce the error between sensors from different modalities. In addition, the calculation of affinity matrix is the core module of sensor fusion, we propose an affinity loss that improves …
Recent learning-based image fusion methods have marked numerous progress in pre-registered multi-modality data, but suffered serious ghosts dealing with misaligned multi-modality data, due to the spatial deformation and the difficulty narrowing cross-modality discrepancy. To overcome the obstacles, in this paper, we present a robust cross-modality generation-registration paradigm for unsupervised misaligned infrared and visible image fusion (IVIF). Specifically, we propose a Cross-modality Perceptual Style Transfer Network (CPSTN) to generate a pseudo infrared image taking a visible image as i…
Processing and fusing information among multi-modal is a very useful technique for achieving high performance in many computer vision problems. In order to tackle multi-modal information more effectively, we introduce a novel framework for multi-modal fusion: Cross-modal Message Passing (CMMP). Specifically, we propose a cross-modal message passing mechanism to fuse two-stream network for action recognition, which composes of an appearance modal network (RGB image) and a motion modal (optical flow image) network. The objectives of individual networks in this framework are two-fold: a standard …
University of Insubria（因苏布里亚大学）；National University of Sciences and Technology（国立科技大学）
Multi-modal approaches employ data from multiple input streams such as textual and visual domains. Deep neural networks have been successfully employed for these approaches. In this paper, we present a novel multi-modal approach that fuses images and text descriptions to improve multi-modal classification performance in real-world scenarios. The proposed approach embeds an encoded text onto an image to obtain an information-enriched image. To learn feature representations of resulting images, standard Convolutional Neural Networks (CNNs) are employed for the classification task. We demonstrate…
University of Bristol（布里斯托大学）；University of Oxford（牛津大学）
We focus on multi-modal fusion for egocentric action recognition, and propose a novel architecture for multi-modal temporal-binding, i.e. the combination of modalities within a range of temporal offsets. We train the architecture with three modalities -- RGB, Flow and Audio -- and combine them with mid-level fusion alongside sparse temporal sampling of fused representations. In contrast with previous works, modalities are fused before temporal aggregation, with shared modality and fusion weights over time. Our proposed architecture is trained end-to-end, outperforming individual modalities as …
University of Washington（华盛顿大学）；Texas A&M University（德克萨斯A&M大学）
We present our preliminary work to determine if patient's vocal acoustic, linguistic, and facial patterns could predict clinical ratings of depression severity, namely Patient Health Questionnaire depression scale (PHQ-8). We proposed a multi modal fusion model that combines three different modalities: audio, video , and text features. By training over AVEC 2017 data set, our proposed model outperforms each single modality prediction model, and surpasses the data set baseline with ice margin.
Infrared and visible image fusion aims to integrate comprehensive information from multiple sources to achieve superior performances on various practical tasks, such as detection, over that of a single modality. However, most existing methods directly combined the texture details and object contrast of different modalities, ignoring the dynamic changes in reality, which diminishes the visible texture in good lighting conditions and the infrared contrast in low lighting conditions. To fill this gap, we propose a dynamic image fusion framework with a multi-modal gated mixture of local-to-global …
FlexiD-Fuse: Flexible number of inputs multi-modal medical image fusion based on diffusion model
School of Physics（物理学院）；Optoelectronic Engineering, Foshan University（光电工程学院，佛山大学）；Guangdong-HongKong-Macao Joint Laboratory for Intelligent Micro-Nano Optoelectronic Technology（粤港澳联合智能微纳光电技术实验室）；Guangdong Provincial Key Laboratory of Industrial Intelligent Inspection Technology（广东省工业智能检测技术重点实验室）；School of Information Engineering（信息工程学院）；Automation, Kunming University of Science（自动化系，昆明理工大学）
With the development of web technology, multi-modal or multi-view data has surged as a major stream for big data, where each modal/view encodes individual property of data objects. Often, different modalities are complementary to each other. Such fact motivated a lot of research attention on fusing the multi-modal feature spaces to comprehensively characterize the data objects. Most of the existing state-of-the-art focused on how to fuse the energy or information from multi-modal spaces to deliver a superior performance over their counterparts with single modal. Recently, deep neural networks …
CDDFuse: Correlation-Driven Dual-Branch Feature Decomposition for Multi-Modality Image Fusion
Xi’an Jiaotong University（西安交通大学）；ETH Zürich（苏黎世联邦理工学院）；Northwestern Polytechnical University（西北工业大学）；Research and Development Institute of Northwestern Polytechnical University in Shenzhen（西北工业大学深圳研究院）；Harvard University（哈佛大学）；University of Würzburg（维尔茨堡大学）
Multi-modal Sensor Fusion for Auto Driving Perception: A Survey
University of California Los Angeles（加州大学洛杉矶分校）；Shanghai AI Lab（上海人工智能实验室）；Beijing Institute of Technology（北京理工大学）；East China Normal University（华东师范大学）
Shanghai Jiao Tong University（上海交通大学）；Shandong Cancer Hospital Affiliated to Shandong University（山东大学附属山东省肿瘤医院）；Deepwise AI Lab（深睿医疗人工智能实验室）
Segmentation of nasopharyngeal carcinoma (NPC) from Magnetic Resonance Images (MRI) is a crucial prerequisite for NPC radiotherapy. However, manually segmenting of NPC is time-consuming and labor-intensive. Additionally, single-modality MRI generally cannot provide enough information for its accurate delineation. Therefore, a multi-modality MRI fusion network (MMFNet) based on three modalities of MRI (T1, T2 and contrast-enhanced T1) is proposed to complete accurate segmentation of NPC. The backbone of MMFNet is designed as a multi-encoder-based network, consisting of several encoders to captu…
Multi-modal skin lesion diagnosis (MSLD) has achieved remarkable success by modern computer-aided diagnosis (CAD) technology based on deep convolutions. However, the information aggregation across modalities in MSLD remains challenging due to severity unaligned spatial resolution (e.g., dermoscopic image and clinical image) and heterogeneous data (e.g., dermoscopic image and patients' meta-data). Limited by the intrinsic local attention, most recent MSLD pipelines using pure convolutions struggle to capture representative features in shallow layers, thus the fusion across different modalities …
Facial expression recognition is an essential task for various applications, including emotion detection, mental health analysis, and human-machine interactions. In this paper, we propose a multi-modal facial expression recognition method that exploits audio information along with facial images to provide a crucial clue to differentiate some ambiguous facial expressions. Specifically, we introduce a Modal Fusion Module (MFM) to fuse audio-visual information, where image and audio features are extracted from Swin Transformer. Additionally, we tackle the imbalance problem in the dataset by emplo…
Leveraging both visual frames and audio has been experimentally proven effective to improve large-scale video classification. Previous research on video classification mainly focuses on the analysis of visual content among extracted video frames and their temporal feature aggregation. In contrast, multimodal data fusion is achieved by simple operators like average and concatenation. Inspired by the success of bilinear pooling in the visual and language fusion, we introduce multi-modal factorized bilinear pooling (MFB) to fuse visual and audio representations. We combine MFB with different vide…
Environmental perception with the multi-modal fusion of radar and camera is crucial in autonomous driving to increase accuracy, completeness, and robustness. This paper focuses on utilizing millimeter-wave (MMW) radar and camera sensor fusion for 3D object detection. A novel method that realizes the feature-level fusion under the bird's-eye view (BEV) for a better feature representation is proposed. Firstly, radar points are augmented with temporal accumulation and sent to a spatial-temporal encoder for radar feature extraction. Meanwhile, multi-scale image 2D features which adapt to various s…
Dissecting RGB-D Learning for Improved Multi-modal Fusion
School of Computer Science and Engineering, Southeast University（东南大学计算机科学与工程学院）；Key Laboratory of New Generation Artificial Intelligence Technology and Its Interdisciplinary Applications (Southeast University), Ministry of Education, China（新一代人工智能技术及跨学科应用国家重点实验室（东南大学））；Tsinghua University（清华大学）；College of Computer Science, Beijing University of Technology（北京理工大学计算机学院）
RGB-D salient object detection (SOD) is usually formulated as a problem of classification or regression over two modalities, i.e., RGB and depth. Hence, effective RGBD feature modeling and multi-modal feature fusion both play a vital role in RGB-D SOD. In this paper, we propose a depth-sensitive RGB feature modeling scheme using the depth-wise geometric prior of salient objects. In principle, the feature modeling scheme is carried out in a depth-sensitive attention module, which leads to the RGB feature enhancement as well as the background distraction reduction by capturing the depth geometry…
