Probing neural representations of scene perception in a hippocampally dependent task using artificial neural networks
Kavli Institute for Systems Neuroscience（卡夫利系统神经科学研究所）；NTNU（挪威科技大学）；Max-Planck-Insitute for Human Cognitive and Brain Sciences（马克斯·普朗克人类认知与脑科学研究所）；UCL（伦敦大学学院）
Deep artificial neural networks (DNNs) trained through backpropagation provide effective models of the mammalian visual system, accurately capturing the hierarchy of neural responses through primary visual cortex to inferior temporal cortex (IT). However, the ability of these networks to explain representations in higher cortical areas is relatively lacking and considerably less well researched. For example, DNNs have been less successful as a model of the egocentric to allocentric transformation embodied by circuits in retrosplenial and posterior parietal cortex. We describe a novel scene perception benchmark inspired by a hippocampal dependent task, designed to probe the ability of DNNs to transform scenes viewed from different egocentric perspectives. Using a network architecture inspired by the connectivity between temporal lobe structures and the hippocampus, we demonstrate that DNNs trained using a triplet loss can learn this task. Moreover, by enforcing a factorized latent space, we can split information propagation into "what" and "where" pathways, which we use to reconstruct the input. This allows us to beat the state-of-the-art for unsupervised object segmentation on the CATER and MOVi-A,B,C benchmarks.
MIT（麻省理工学院）；MIT-IBM Watson AI Lab（麻省理工学院-IBM沃森人工智能实验室）
We present 3DP3, a framework for inverse graphics that uses inference in a structured generative model of objects, scenes, and images. 3DP3 uses (i) voxel models to represent the 3D shape of objects, (ii) hierarchical scene graphs to decompose scenes into objects and the contacts between them, and (iii) depth image likelihoods based on real-time graphics. Given an observed RGB-D image, 3DP3's inference algorithm infers the underlying latent 3D scene, including the object poses and a parsimonious joint parametrization of these poses, using fast bottom-up pose proposals, novel involutive MCMC up…
UniEmoX: Cross-modal Semantic-Guided Large-Scale Pretraining for Universal Scene Emotion Perception
School of Artificial Intelligence, Anhui University（安徽大学人工智能学院）；Institute of Artificial Intelligence, Hefei Comprehensive National Science Center（合肥国家综合科学中心人工智能研究所）；Anhui Province Key Laboratory of Affective Computing and Advanced Intelligent Machines, School of Computer Science and Information Engineering, Hefei University of Technology（安徽省情感计算与先进智能机器重点实验室，合肥工业大学计算机科学与信息工程学院）；Department of Computer and Network Engineering, The University of Electro-Communications（电子通信大学计算机与网络工程系）
Humans are sensitive to complexity and regularity in patterns. The subjective perception of pattern complexity is correlated to algorithmic (Kolmogorov-Chaitin) complexity as defined in computer science, but also to the frequency of naturally occurring patterns. However, the possible mediational role of natural frequencies in the perception of algorithmic complexity remains unclear. Here we reanalyze Hsu et al. (2010) through a mediational analysis, and complement their results in a new experiment. We conclude that human perception of complexity seems partly shaped by natural scenes statistics…
The Chinese University of Hong Kong（香港中文大学）；Johns Hopkins University（约翰斯·霍普金斯大学）
Reconstructing the scene of robotic surgery from the stereo endoscopic video is an important and promising topic in surgical data science, which potentially supports many applications such as surgical visual perception, robotic surgery education and intra-operative context awareness. However, current methods are mostly restricted to reconstructing static anatomy assuming no tissue deformation, tool occlusion and de-occlusion, and camera movement. However, these assumptions are not always satisfied in minimal invasive robotic surgeries. In this work, we present an efficient reconstruction pipel…
Dynamic V2X Autonomous Perception from Road-to-Vehicle Vision
Suzhou University of Science and Technology（苏州科技大学）；CRIPAC（中国科学院自动化研究所模式识别国家重点实验室）；CASIA（中国科学院自动化研究所）；Suzhou Institute of Trade Commerce（苏州经贸职业技术学院）；Tianjin University（天津大学）
Mobile robots, performing long-term manipulation activities in human environments, have to perceive a wide variety of objects possessing very different visual characteristics and need to reliably keep track of these throughout the execution of a task. In order to be efficient, robot perception capabilities need to go beyond what is currently perceivable and should be able to answer queries about both current and past scenes. In this paper we investigate a perception system for long-term robot manipulation that keeps track of the changing environment and builds a representation of the perceived…
The process of human affect understanding involves the ability to infer person specific emotional states from various sources including images, speech, and language. Affect perception from images has predominantly focused on expressions extracted from salient face crops. However, emotions perceived by humans rely on multiple contextual cues including social settings, foreground interactions, and ambient visual scenes. In this work, we leverage pretrained vision-language (VLN) models to extract descriptions of foreground context from images. Further, we propose a multimodal context fusion (MCF)…
We present a unified representation for actionable spatial perception: 3D Dynamic Scene Graphs. Scene graphs are directed graphs where nodes represent entities in the scene (e.g. objects, walls, rooms), and edges represent relations (e.g. inclusion, adjacency) among nodes. Dynamic scene graphs (DSGs) extend this notion to represent dynamic scenes with moving agents (e.g. humans, robots), and to include actionable information that supports planning and decision-making (e.g. spatio-temporal relations, topology at different levels of abstraction). Our second contribution is to provide the first f…
InfBaGel: Human-Object-Scene Interaction Generation with Dynamic Perception and Iterative Refinement
Shanghai Jiao Tong University（上海交通大学）；Shanghai Artificial Intelligence Laboratory（上海人工智能实验室）；Sichuan University（四川大学）；Shenzhen University（深圳大学）；The University of Hong Kong（香港大学）
Thapar Institute of Engineering and Technology（塔帕尔工程技术学院）
This paper represents a cost-effective scene perception system aimed towards visually impaired individual. We use an odroid system integrated with an USB camera and USB laser that can be attached on the chest. The system classifies the detected objects along with its distance from the user and provides a voice output. Experimental results provided in this paper use outdoor traffic scenes. The object detection and classification framework exploits a multi-modal fusion based faster RCNN using motion, sharpening and blurring filters for efficient feature representation.
City-VLM: Towards Multidomain Perception Scene Understanding via Multimodal Incomplete Learning
The Hong Kong University of Science and Technology (Guangzhou)（香港科学与技术大学（广州））；Zhejiang University（浙江大学）；Fudan University（复旦大学）；Harbin Institute of Technology (Shenzhen)（哈尔滨工业大学（深圳））；Terminus Technologies Co., Ltd.；Pengcheng Laboratory（鹏城实验室）
One at a Time: Progressive Multi-step Volumetric Probability Learning for Reliable 3D Scene Perception
Shanghai Jiao Tong University（上海交通大学）；Ningbo Institute of Digital Twin, Eastern Institute of Technology（宁波数字孪生研究院，东方理工）；Tokyo Institute of Technology（东京工业大学）；PhiGent Robotics（PhiGent机器人公司）
University of California, Los Angeles（加利福尼亚大学洛杉矶分校）
Recent advancements in Vehicle-to-Everything communication technology have enabled autonomous vehicles to share sensory information to obtain better perception performance. With the rapid growth of autonomous vehicles and intelligent infrastructure, the V2X perception systems will soon be deployed at scale, which raises a safety-critical question: \textit{how can we evaluate and improve its performance under challenging traffic scenarios before the real-world deployment?} Collecting diverse large-scale real-world test scenes seems to be the most straightforward solution, but it is expensive an…
Virtualizing the physical world into virtual models has been a critical technique for robot navigation and planning in the real world. To foster manipulation with articulated objects in everyday life, this work explores building articulation models of indoor scenes through a robot's purposeful interactions in these scenes. Prior work on articulation reasoning primarily focuses on siloed objects of limited categories. To extend to room-scale environments, the robot has to efficiently and effectively explore a large-scale 3D space, locate articulated objects, and infer their articulations. We in…
Harman International（哈曼国际）；University of Virginia（弗吉尼亚大学）
As the demand for enabling high-level autonomous driving has increased in recent years and visual perception is one of the critical features to enable fully autonomous driving, in this paper, we introduce an efficient approach for simultaneous object detection, depth estimation and pixel-level semantic segmentation using a shared convolutional architecture. The proposed network model, which we named Driving Scene Perception Network (DSPNet), uses multi-level feature maps and multi-task learning to improve the accuracy and efficiency of object detection, depth estimation and image segmentation …
OccScene: Semantic Occupancy-based Cross-task Mutual Learning for 3D Scene Generation
School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University（电子信息与电气工程学院，上海交通大学）；Ningbo Institute of Digital Twin, Eastern Institute of Technology（宁波数字孪生研究所，东部技术研究所）；PhiGent Robotics, Beijing, China（PhiGent Robotics，北京，中国）
Every Scene Text Recognition (STR) task consists of text localization \& text recognition as the prominent sub-tasks. However, in real-world applications with fixed camera positions such as equipment monitor reading, image-based data entry, and printed document data extraction, the underlying data tends to be regular scene text. Hence, in these tasks, the use of generic, bulky models comes up with significant disadvantages compared to customized, efficient models in terms of model deployability, data privacy \& model reliability. Therefore, this paper introduces the underlying concepts, theory…
We present a system for 3D semantic scene perception consisting of a network of distributed smart edge sensors. The sensor nodes are based on an embedded CNN inference accelerator and RGB-D and thermal cameras. Efficient vision CNN models for object detection, semantic segmentation, and human pose estimation run on-device in real time. 2D human keypoint estimations, augmented with the RGB-D depth estimate, as well as semantically annotated point clouds are streamed from the sensors to a central backend, where multiple viewpoints are fused into an allocentric 3D semantic scene model. As the ima…
Shared representations in brains and models reveal a two-route cortical organization during scene perception
Department of Cognition, Development and Education Psychology, Faculty of Psychology, University of Barcelona（认知、发展与教育心理学系，心理学学院，巴塞罗那大学）；Institute of Neurosciences, University of Barcelona（神经科学研究所，巴塞罗那大学）；Bellvitge Institute for Biomedical Research（Bellvitge生物医学研究 institute）
The significant progress on Generative Adversarial Networks (GANs) have made it possible to generate surprisingly realistic images for single object based on natural language descriptions. However, controlled generation of images for multiple entities with explicit interactions is still difficult to achieve due to the scene layout generation heavily suffer from the diversity object scaling and spatial locations. In this paper, we proposed a novel framework for generating realistic image layout from textual scene graphs. In our framework, a spatial constraint module is designed to fit reasonabl…
Reinforcing Egocentric Spatial Perception in Multimodal Large Language Models via Ego Scene Augmentation
The Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州））；Guangxi Zhuang Autonomous Region Information Center（广西壮族自治区信息中心）；The Hong Kong University of Science and Technology（香港科技大学）
StixelNExT++: Lightweight Monocular Scene Segmentation and Representation for Collective Perception
Institut Pascal ISPR (Image, Systems of Perception, Robotics), Universite Clermont Auvergne INP / CNRS（帕斯卡尔研究所（图像、感知系统、机器人），克莱蒙特大学INP/CNRS）；Institute for Intelligent Systems at Esslingen University of Applied Sciences（埃斯林根应用科学大学智能系统研究所）
Tsinghua University（清华大学）；Technical University of Munich（慕尼黑工业大学）；ETH Zurich（苏黎世联邦理工学院）；Munich Center for Machine Learning（慕尼黑机器学习中心）；Microsoft（微软）；Stanford University（斯坦福大学）
SEPT: Standard-Definition Map Enhanced Scene Perception and Topology Reasoning for Autonomous Driving
Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology（电子与计算机工程系，香港科学与技术大学）；Zhuoyu Technology（卓予科技）；State Key Laboratory for Novel Software Technology, Nanjing University（新型软件技术国家重点实验室，南京大学）
DIP-R1: Deep Inspection and Perception with RL Looking Through and Understanding Complex Scenes
Integrated Vision and Language Lab., School of Electrical Engineering, Korea Advanced Institute of Science and Technology (KAIST)（整合视觉与语言实验室，电气工程学院，韩国科学技术院（KAIST））
ShanghaiTech University（上海科技大学）；The Chinese University of Hong Kong（香港中文大学）；RWTH Aachen University（亚琛工业大学）；Shanghai AI Laboratory（上海人工智能实验室）；University of Kentucky（肯塔基大学）；University of Maryland at College Park（马里兰大学帕克分校）
Accurately detecting and tracking pedestrians in 3D space is challenging due to large variations in rotations, poses and scales. The situation becomes even worse for dense crowds with severe occlusions. However, existing benchmarks either only provide 2D annotations, or have limited 3D annotations with low-density pedestrian distribution, making it difficult to build a reliable pedestrian perception system especially in crowded scenes. To better evaluate pedestrian perception algorithms in crowded scenarios, we introduce a large-scale multimodal dataset,STCrowd. Specifically, in STCrowd, there…
CNRS（法国国家科学研究中心）；UNIC（神经信息与复杂性实验室）；Ceremade（Ceremade研究中心）；Univ. Paris-Dauphine（巴黎第九大学）；Institut de Neurosciences de la Timone（蒂莫内神经科学研究所）；UMR 7289 CNRS/Aix-Marseille Université（法国国家科学研究中心/艾克斯-马赛大学 UMR 7289 联合研究单位）
Perception is often described as a predictive process based on an optimal inference with respect to a generative model. We study here the principled construction of a generative model specifically crafted to probe motion perception. In that context, we first provide an axiomatic, biologically-driven derivation of the model. This model synthesizes random dynamic textures which are defined by stationary Gaussian distributions obtained by the random aggregation of warped patterns. Importantly, we show that this model can equivalently be described as a stochastic partial differential equation. Usi…
Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology（卡尔斯鲁厄理工学院人形机器人与智能系统研究所）；Hangzhou SurImage Technology Company Ltd.（杭州 SurImage 科技有限公司）；Hangzhou KrVision Technology Company Ltd.（杭州 KrVision 科技有限公司）
As the scene information, including objectness and scene type, are important for people with visual impairment, in this work we present a multi-task efficient perception system for the scene parsing and recognition tasks. Building on the compact ResNet backbone, our designed network architecture has two paths with shared parameters. In the structure, the semantic segmentation path integrates fast attention, with the aim of harvesting long-range contextual information in an efficient manner. Simultaneously, the scene recognition path attains the scene type inference by passing the semantic feat…
Albert Einstein College of Medicine（阿尔伯特·爱因斯坦医学院）；École Normale Supérieure（巴黎高等师范学院）；PSL University（巴黎文理研究大学）
Texture synthesis models are important tools for understanding visual processing. In particular, statistical approaches based on neurally relevant features have been instrumental in understanding aspects of visual perception and of neural coding. New deep learning-based approaches further improve the quality of synthetic textures. Yet, it is still unclear why deep texture synthesis performs so well, and applications of this new framework to probe visual perception are scarce. Here, we show that distributions of deep convolutional neural network (CNN) activations of a texture are well described…
University of Michigan（密歇根大学）；Ford Motor Company（福特汽车公司）
We propose a novel and pragmatic framework for traffic scene perception with roadside cameras. The proposed framework covers a full-stack of roadside perception pipeline for infrastructure-assisted autonomous driving, including object detection, object localization, object tracking, and multi-camera information fusion. Unlike previous vision-based perception frameworks rely upon depth offset or 3D annotation at training, we adopt a modular decoupling design and introduce a landmark-based 3D localization method, where the detection and localization can be well decoupled so that the model can be…
University of Toronto（多伦多大学）；Uber ATG（优步先进技术集团）；Brown University（布朗大学）
Self-driving vehicles must perceive and predict the future positions of nearby actors in order to avoid collisions and drive safely. A learned deep learning module is often responsible for this task, requiring large-scale, high-quality training datasets. As data collection is often significantly cheaper than labeling in this domain, the decision of which subset of examples to label can have a profound impact on model performance. Active learning techniques, which leverage the state of the current model to iteratively select examples for labeling, offer a promising solution to this problem. How…
