In many applications of advanced robotic manipulation, six degrees of freedom (6DoF) object pose estimates are continuously required. In this work, we develop a multi-modality tracker that fuses information from visual appearance and geometry to estimate object poses. The algorithm extends our previous method ICG, which uses geometry, to additionally consider surface appearance. In general, object surfaces contain local characteristics from text, graphics, and patterns, as well as global differences from distinct materials and colors. To incorporate this visual information, two modalities are developed. For local characteristics, keypoint features are used to minimize distances between points from keyframes and the current image. For global differences, a novel region approach is developed that considers multiple regions on the object surface. In addition, it allows the modeling of external geometries. Experiments on the YCB-Video and OPT datasets demonstrate that our approach ICG+ performs best on both datasets, outperforming both conventional and deep learning-based methods. At the same time, the algorithm is highly efficient and runs at more than 300 Hz. The source code of our tracker is publicly available.
Southern University of Science and Technology（南方科技大学）；University of Birmingham（伯明翰大学）；University of Electronic Science and Technology of China（电子科技大学）
With the development of depth sensors in recent years, RGBD object tracking has received significant attention. Compared with the traditional RGB object tracking, the addition of the depth modality can effectively solve the target and background interference. However, some existing RGBD trackers use the two modalities separately and thus some particularly useful shared information between them is ignored. On the other hand, some methods attempt to fuse the two modalities by treating them equally, resulting in the missing of modality-specific features. To tackle these limitations, we propose a …
Nanyang Technological University（南洋理工大学）；SenseTime Research（商汤科技研究院）；University of Oxford（牛津大学）
Multi-sensor perception is crucial to ensure the reliability and accuracy in autonomous driving system, while multi-object tracking (MOT) improves that by tracing sequential movement of dynamic objects. Most current approaches for multi-sensor multi-object tracking are either lack of reliability by tightly relying on a single input source (e.g., center camera), or not accurate enough by fusing the results from multiple sensors in post processing without fully exploiting the inherent information. In this study, we design a generic sensor-agnostic multi-modality MOT framework (mmMOT), where each…
Shanghai Jiao Tong University（上海交通大学）；Illinois Institute of Technology（伊利诺伊理工学院）
Action recognition has been a heated topic in computer vision for its wide application in vision systems. Previous approaches achieve improvement by fusing the modalities of the skeleton sequence and RGB video. However, such methods have a dilemma between the accuracy and efficiency for the high complexity of the RGB video network. To solve the problem, we propose a multi-modality feature fusion network to combine the modalities of the skeleton sequence and RGB frame instead of the RGB video, as the key information contained by the combination of skeleton sequence and RGB frame is close to tha…
Fusing multi-modality information is known to be able to effectively bring significant improvement in video classification. However, the most popular method up to now is still simply fusing each stream's prediction scores at the last stage. A valid question is whether there exists a more effective method to fuse information cross modality. With the development of attention mechanism in natural language processing, there emerge many successful applications of attention in the field of computer vision. In this paper, we propose a cross-modality attention operation, which can obtain information f…
Tsinghua University（清华大学）；Research Institute of Tsinghua University in Shenzhen（清华大学深圳研究院）
Omnidirectional video is an essential component of Virtual Reality. Although various methods have been proposed to generate content that can be viewed with six degrees of freedom (6-DoF), existing systems usually involve complex depth estimation, image in-painting or stitching pre-processing. In this paper, we propose a system that uses a 3D ConvNet to generate a multi-sphere images (MSI) representation that can be experienced in 6-DoF VR. The system utilizes conventional omnidirectional VR camera footage directly without the need for a depth map or segmentation mask, thereby significantly sim…
Salient Object Detection is the task of predicting the human attended region in a given scene. Fusing depth information has been proven effective in this task. The main challenge of this problem is how to aggregate the complementary information from RGB modality and depth modality. However, conventional deep models heavily rely on CNN feature extractors, and the long-range contextual dependencies are usually ignored. In this work, we propose Dual Swin-Transformer based Mutual Interactive Network. We adopt Swin-Transformer as the feature extractor for both RGB and depth modality to model the lo…
Aligning First, Then Fusing: A Novel Weakly Supervised Multimodal Violence Detection Method
School of Software Engineering（软件工程学院）；Shenzhen Institute of Advanced Technology（深圳先进技术研究院）；Xi’an Jiaotong University（西安交通大学）；Chinese Academy of Sciences（中国科学院）
Massachusetts General Hospital（麻省总医院）；Beijing Institute of Technology（北京理工大学）；University of Pittsburgh（匹兹堡大学）
Image analysis using more than one modality (i.e. multi-modal) has been increasingly applied in the field of biomedical imaging. One of the challenges in performing the multimodal analysis is that there exist multiple schemes for fusing the information from different modalities, where such schemes are application-dependent and lack a unified framework to guide their designs. In this work we firstly propose a conceptual architecture for the image fusion schemes in supervised biomedical image analysis: fusing at the feature level, fusing at the classifier level, and fusing at the decision-making…
Nanjing University of Science and Technology（南京理工大学）
This work focuses on the task of elderly activity recognition, which is a challenging task due to the existence of individual actions and human-object interactions in elderly activities. Thus, we attempt to effectively aggregate the discriminative information of actions and interactions from both RGB videos and skeleton sequences by attentively fusing multi-modal features. Recently, some nonlinear multi-modal fusion approaches are proposed by utilizing nonlinear attention mechanism that is extended from Squeeze-and-Excitation Networks (SENet). Inspired by this, we propose a novel Expansion-Squ…
One of the major reasons for misclassification of multiplex actions during action recognition is the unavailability of complementary features that provide the semantic information about the actions. In different domains these features are present with different scales and intensities. In existing literature, features are extracted independently in different domains, but the benefits from fusing these multidomain features are not realized. To address this challenge and to extract complete set of complementary information, in this paper, we propose a novel multidomain multimodal fusion framework…
Computer Vision Center, Universitat Autonoma de Barcelona（巴塞罗那自治大学计算机视觉中心）；Computer Vision Laboratory, ETH Zürich（苏黎世联邦理工学院计算机视觉实验室）；Inception Institute of Artificial Intelligence（inception人工智能研究院）
We propose an end-to-end tracking framework for fusing the RGB and TIR modalities in RGB-T tracking. Our baseline tracker is DiMP (Discriminative Model Prediction), which employs a carefully designed target prediction network trained end-to-end using a discriminative loss. We analyze the effectiveness of modality fusion in each of the main components in DiMP, i.e. feature extractor, target estimation network, and classifier. We consider several fusion mechanisms acting at different levels of the framework, including pixel-level, feature-level and response-level. Our tracker is trained in an en…
Fudan University（复旦大学）；Meituan（美团）；Shanghai Collaborative Innovation Center on Intelligent Visual Computing（上海智能视觉计算协同创新中心）
Fusing LiDAR and camera information is essential for achieving accurate and reliable 3D object detection in autonomous driving systems. This is challenging due to the difficulty of combining multi-granularity geometric and semantic features from two drastically different modalities. Recent approaches aim at exploring the semantic densities of camera features through lifting points in 2D camera images (referred to as seeds) into 3D space, and then incorporate 2D semantics via cross-modal interaction or fusion techniques. However, depth information is under-investigated in these approaches when …
Indian Institute of Technology, Kharagpur（印度理工学院卡拉格普尔分校）
Face recognition in real life situations like low illumination condition is still an open challenge in biometric security. It is well established that the state-of-the-art methods in face recognition provide low accuracy in the case of poor illumination. In this work, we propose an algorithm for a more robust illumination invariant face recognition using a multi-modal approach. We propose a new dataset consisting of aligned faces of thermal and visual images of a hundred subjects. We then apply face detection on thermal images using the biggest blob extraction method and apply them for fusing …
Technical University of Munich（慕尼黑工业大学）；Siemens AG（西门子公司）；Toyota Research Institute（丰田研究院）
We propose a three-stage 6 DoF object detection method called DPODv2 (Dense Pose Object Detector) that relies on dense correspondences. We combine a 2D object detector with a dense correspondence estimation network and a multi-view pose refinement method to estimate a full 6 DoF pose. Unlike other deep learning methods that are typically restricted to monocular RGB images, we propose a unified deep learning network allowing different imaging modalities to be used (RGB or Depth). Moreover, we propose a novel pose refinement method, that is based on differentiable rendering. The main concept is …
Northwestern University（西北大学）；Northwestern Memorial Hospital（西北纪念医院）
Propose: To present DeepCOVID-Fuse, a deep learning fusion model to predict risk levels in patients with confirmed coronavirus disease 2019 (COVID-19) and to evaluate the performance of pre-trained fusion models on full or partial combination of chest x-ray (CXRs) or chest radiograph and clinical variables. Materials and Methods: The initial CXRs, clinical variables and outcomes (i.e., mortality, intubation, hospital length of stay, ICU admission) were collected from February 2020 to April 2020 with reverse-transcription polymerase chain reaction (RT-PCR) test results as the reference standard…
The goal of this work is to present a systematic solution for RGB-D salient object detection, which addresses the following three aspects with a unified framework: modal-specific representation learning, complementary cue selection and cross-modal complement fusion. To learn discriminative modal-specific features, we propose a hierarchical cross-modal distillation scheme, in which the well-learned source modality provides supervisory signals to facilitate the learning process for the new modality. To better extract the complementary cues, we formulate a residual function to incorporate complem…
The Chinese University of Hong Kong（香港中文大学）；Singapore Management University（新加坡管理大学）；NLPR, CASIA（中国科学院自动化研究所模式识别国家重点实验室）；Tsinghua University（清华大学）
Learning effective fusion of multi-modality features is at the heart of visual question answering. We propose a novel method of dynamically fusing multi-modal features with intra- and inter-modality information flow, which alternatively pass dynamic information between and across the visual and language modalities. It can robustly capture the high-level interactions between language and vision domains, thus significantly improves the performance of visual question answering. We also show that the proposed dynamic intra-modality attention flow conditioned on the other modality can dynamically m…
Tianjin University（天津大学）；Central South University（中南大学）；University of South Carolina（南卡罗来纳大学）
Automatic segmentation of medical images based on multi-modality is an important topic for disease diagnosis. Although the convolutional neural network (CNN) has been proven to have excellent performance in image segmentation tasks, it is difficult to obtain global information. The lack of global information will seriously affect the accuracy of the segmentation results of the lesion area. In addition, there are visual representation differences between multimodal data of the same patient. These differences will affect the results of the automatic segmentation methods. To solve these problems,…
Diversity and unpredictability of artifacts potentially presented to an iris sensor calls for presentation attack detection methods that are agnostic to specificity of presentation attack instruments. This paper proposes a method that combines two-dimensional and three-dimensional properties of the observed iris to address the problem of spoof detection in case when some properties of artifacts are unknown. The 2D (textural) iris features are extracted by a state-of-the-art method employing Binary Statistical Image Features (BSIF) and an ensemble of classifiers is used to deliver 2D modality-r…
Research Institute of Beihang University in Shenzhen（北京航空航天大学深圳研究院）；Beihang University（北京航空航天大学）；Chongqing University（重庆大学）；Microsoft Research（微软研究院）
We present a cross-modality generation framework that learns to generate translated modalities from given modalities in MR images without real acquisition. Our proposed method performs NeuroImage-to-NeuroImage translation (abbreviated as N2N) by means of a deep learning model that leverages conditional generative adversarial networks (cGANs). Our framework jointly exploits the low-level features (pixel-wise information) and high-level representations (e.g. brain tumors, brain structure like gray matter, etc.) between cross modalities which are important for resolving the challenging complexity…
In this paper, we introduce a novel problem of audio-visual event localization in unconstrained videos. We define an audio-visual event as an event that is both visible and audible in a video segment. We collect an Audio-Visual Event(AVE) dataset to systemically investigate three temporal localization tasks: supervised and weakly-supervised audio-visual event localization, and cross-modality localization. We develop an audio-guided visual attention mechanism to explore audio-visual correlations, propose a dual multimodal residual network (DMRN) to fuse information over the two modalities, and …
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…
Dalian University of Technology（大连理工大学）；Peng Cheng Laboratory（鹏城实验室）
This study addresses the issue of fusing infrared and visible images that appear differently for object detection. Aiming at generating an image of high visual quality, previous approaches discover commons underlying the two modalities and fuse upon the common space either by iterative optimization or deep networks. These approaches neglect that modality differences implying the complementary information are extremely important for both fusion and subsequent detection task. This paper proposes a bilevel optimization formulation for the joint problem of fusion and detection, and then unrolls to…
The Chinese University of Hong Kong（香港中文大学）；The University of Hong Kong（香港大学）；MEGVII Technology（旷视科技）；SmartMore（思谋科技）
In this work, we present a conceptually simple yet effective framework for cross-modality 3D object detection, named voxel field fusion. The proposed approach aims to maintain cross-modality consistency by representing and fusing augmented image features as a ray in the voxel field. To this end, the learnable sampler is first designed to sample vital features from the image plane that are projected to the voxel grid in a point-to-ray manner, which maintains the consistency in feature representation with spatial context. In addition, ray-wise fusion is conducted to fuse features with the supple…
A Progressive Single-Modality to Multi-Modality Classification Framework for Alzheimer's Disease Sub-type Diagnosis
School of Biomedical Engineering, ShanghaiTech University（上海科技大学生物医学工程学院）；Shanghai Artificial Intelligence Laboratory（上海人工智能实验室）；Shanghai United Imaging Intelligence Co., Ltd.（上海联影智能医疗科技有限公司）；Shanghai Clinical Research and Trial Center（上海临床研究与试验中心）
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）
Qing Yuan Research Institute（庆元研究院）；MoE Key Lab of Artificial Intelligence（教育部人工智能重点实验室）；AI Institute（人工智能研究院）；Shanghai Jiao Tong University（上海交通大学）
General object grasping is an important yet unsolved problem in the field of robotics. Most of the current methods either generate grasp poses with few DoF that fail to cover most of the success grasps, or only take the unstable depth image or point cloud as input which may lead to poor results in some cases. In this paper, we propose RGBD-Grasp, a pipeline that solves this problem by decoupling 7-DoF grasp detection into two sub-tasks where RGB and depth information are processed separately. In the first stage, an encoder-decoder like convolutional neural network Angle-View Net(AVN) is propos…
MS-DETR: Multispectral Pedestrian Detection Transformer with Loosely Coupled Fusion and Modality-Balanced Optimization
School of Computer Science, Northwestern Polytechnical University（西北工业大学计算机学院）；Research Development Institute of Northwestern Polytechnical University in Shenzhen（西北工业大学深圳研究院）
Modality-Guided Dynamic Graph Fusion and Temporal Diffusion for Self-Supervised RGB-T Tracking
School of Computer Sciences and Technology, China University of Mining and Technology（中国矿业大学计算机科学与技术学院）；Mine Digitization Engineering Research Center of the Ministry of Education, China（教育部 mine 数字化工程研究中心）
Anhui University（安徽大学）；Institute of Physical Science and Information Technology, Anhui University（安徽大学物质科学与信息技术研究院）
Image salient object detection (SOD) is an active research topic in computer vision and multimedia area. Fusing complementary information of RGB and depth has been demonstrated to be effective for image salient object detection which is known as RGB-D salient object detection problem. The main challenge for RGB-D salient object detection is how to exploit the salient cues of both intra-modality (RGB, depth) and cross-modality simultaneously which is known as cross-modality detection problem. In this paper, we tackle this challenge by designing a novel cross-modality Saliency Generative Adversa…
This paper proposes an approach to learn generic multi-modal mesh surface representations using a novel scheme for fusing texture and geometric data. Our approach defines an inverse mapping between different geometric descriptors computed on the mesh surface or its down-sampled version, and the corresponding 2D texture image of the mesh, allowing the construction of fused geometrically augmented images (FGAI). This new fused modality enables us to learn feature representations from 3D data in a highly efficient manner by simply employing standard convolutional neural networks in a transfer-lea…
Nanyang Technological University（南洋理工大学）；ZJU-Hangzhou Global Scientific and Technological Innovation Center（浙江大学杭州国际科创中心）；Zhejiang University（浙江大学）
Audio-visual speech recognition (AVSR) has gained remarkable success for ameliorating the noise-robustness of speech recognition. Mainstream methods focus on fusing audio and visual inputs to obtain modality-invariant representations. However, such representations are prone to over-reliance on audio modality as it is much easier to recognize than video modality in clean conditions. As a result, the AVSR model underestimates the importance of visual stream in face of noise corruption. To this end, we leverage visual modality-specific representations to provide stable complementary information f…
DEYOLO: Dual-Feature-Enhancement YOLO for Cross-Modality Object Detection
College of Artificial Intelligence, Nankai University（南开大学人工智能学院）；Engineering Research Center of Trusted Behavior Intelligence, Ministry of Education, Nankai University（南开大学教育部可信行为智能工程研究中心）
Microsoft Research-Asia（微软亚洲研究院）；Peking University（北京大学）；Capital Medical University（首都医科大学）；UC Berkeley（加州大学伯克利分校）；Deepwise AI Lab（深睿人工智能实验室）
Fusing data from multiple modalities provides more information to train machine learning systems. However, it is prohibitively expensive and time-consuming to label each modality with a large amount of data, which leads to a crucial problem of semi-supervised multi-modal learning. Existing methods suffer from either ineffective fusion across modalities or lack of theoretical guarantees under proper assumptions. In this paper, we propose a novel information-theoretic approach, namely \textbf{T}otal \textbf{C}orrelation \textbf{G}ain \textbf{M}aximization (TCGM), for semi-supervised multi-modal …
Harbin Institute of Technology (Shenzhen)（哈尔滨工业大学（深圳））；Northwestern Polytechnical University（西北工业大学）；Terminus Group（特斯联集团）；Institute of High Performance Computing, A*STAR（新加坡科技研究局高性能计算研究所）
Accelerated multi-modal magnetic resonance (MR) imaging is a new and effective solution for fast MR imaging, providing superior performance in restoring the target modality from its undersampled counterpart with guidance from an auxiliary modality. However, existing works simply combine the auxiliary modality as prior information, lacking in-depth investigations on the potential mechanisms for fusing different modalities. Further, they usually rely on the convolutional neural networks (CNNs), which is limited by the intrinsic locality in capturing the long-distance dependency. To this end, we …
A Semantic-Aware and Multi-Guided Network for Infrared-Visible Image Fusion
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）；Institute of Digital Media, School of Electronic Engineering and Computer Science, Peking University（数字媒体研究所，电子工程与计算机科学学院，北京大学）
Decomposing and Fusing Intra- and Inter-Sensor Spatio-Temporal Signal for Multi-Sensor Wearable Human Activity Recognition
School of Big Data and Software Engineering, Chongqing University（重庆大学大数据与软件学院）；Center for Data Science, Peking University（北京大学数据科学中心）；School of Mathematical Sciences, Peking University（北京大学数学科学学院）；School of Computer Science and Engineering, Beihang University（北京航空航天大学计算机科学与工程学院）
DAMSDet: Dynamic Adaptive Multispectral Detection Transformer with Competitive Query Selection and Adaptive Feature Fusion
School of Communications and Information Engineering, Chongqing University of Posts and Telecommunications（重庆邮电大学通信与信息工程学院）；School of Mathematics and Statistics, Xi’an Jiaotong University（西安交通大学数学与统计学院）；School of Intelligent Systems Engineering, Sun Yat-sen University（中山大学智能系统工程学院）
