Multi-view 3D object detection systems often struggle with generating precise predictions due to the challenges in estimating depth from images, increasing redundant and incorrect detections. Our paper presents Ray Denoising, an innovative method that enhances detection accuracy by strategically sampling along camera rays to construct hard negative examples. These examples, visually challenging to differentiate from true positives, compel the model to learn depth-aware features, thereby improving its capacity to distinguish between true and false positives. Ray Denoising is designed as a plug-and-play module, compatible with any DETR-style multi-view 3D detectors, and it only minimally increases training computational costs without affecting inference speed. Our comprehensive experiments, including detailed ablation studies, consistently demonstrate that Ray Denoising outperforms strong baselines across multiple datasets. It achieves a 1.9\% improvement in mean Average Precision (mAP) over the state-of-the-art StreamPETR method on the NuScenes dataset. It shows significant performance gains on the Argoverse 2 dataset, highlighting its generalization capability. The code will be available at https://github.com/LiewFeng/RayDN.
The Hong Kong University of Science and Technology（香港科技大学）；National Institute of Informatics（国立信息学研究所）；Microsoft Research（微软研究院）
With the advent of depth sensing technologies, the extraction of object contours in images---a common and important pre-processing step for later higher-level computer vision tasks like object detection and human action recognition---has become easier. However, acquisition noise in captured depth images means that detected contours suffer from unavoidable errors. In this paper, we propose to jointly denoise and compress detected contours in an image for bandwidth-constrained transmission to a client, who can then carry out aforementioned application-specific tasks using the decoded contours as…
Semantic segmentation has achieved remarkable progress but remains challenging due to the complex scene, object occlusion, and so on. Some research works have attempted to use extra information such as a depth map to help RGB based semantic segmentation because the depth map could provide complementary geometric cues. However, due to the inaccessibility of depth sensors, depth information is usually unavailable for the test images. In this paper, we leverage only the depth of training images as the privileged information to mine the hard pixels in semantic segmentation, in which depth informat…
DiffuPose: Monocular 3D Human Pose Estimation via Denoising Diffusion Probabilistic Model
Seoul National University（首尔国立大学）；Artificial Intelligence Institute of Seoul National University（首尔国立大学人工智能研究所）；Automation and Systems Research Institute（自动化与系统研究所）
本文提出 DiffuPose，一种基于去噪扩散概率模型和图卷积网络的 3D 人体姿态估计方法，通过生成多个 3D 姿态候选缓解深度模糊，在 Human3.6M 和 HumanEva-I 数据集上优于现有方法。
Hangzhou Dianzi University（杭州电子科技大学）；Tsinghua Shenzhen International Graduate School, Tsinghua University（清华大学深圳国际研究生院）；Tsinghua University（清华大学）；University of Science and Technology of China（中国科学技术大学）
The depth images denoising are increasingly becoming the hot research topic nowadays because they reflect the three-dimensional (3D) scene and can be applied in various fields of computer vision. But the depth images obtained from depth camera usually contain stains such as noise, which greatly impairs the performance of depth related applications. In this paper, considering that group-based image restoration methods are more effective in gathering the similarity among patches, a group based nuclear norm and learning graph (GNNLG) model was proposed. For each patch, we find and group the most …
Information Technologies Institute (ITI), Centre for Research and Technology Hellas (CERTH)（希腊研究与技术中心（CERTH）信息技术研究所（ITI））
Depth perception is considered an invaluable source of information for various vision tasks. However, depth maps acquired using consumer-level sensors still suffer from non-negligible noise. This fact has recently motivated researchers to exploit traditional filters, as well as the deep learning paradigm, in order to suppress the aforementioned non-uniform noise, while preserving geometric details. Despite the effort, deep depth denoising is still an open challenge mainly due to the lack of clean data that could be used as ground truth. In this paper, we propose a fully convolutional deep auto…
Time-of-Flight (ToF) cameras are subject to high levels of noise and distortions due to Multi-Path-Interference (MPI). While recent research showed that 2D neural networks are able to outperform previous traditional State-of-the-Art (SOTA) methods on denoising ToF-Data, little research on learning-based approaches has been done to make direct use of the 3D information present in depth images. In this paper, we propose an iterative denoising approach operating in 3D space, that is designed to learn on 2.5D data by enabling 3D point convolutions to correct the points' positions along the view di…
Generative models have recently undergone significant advancement due to the diffusion models. The success of these models can be often attributed to their use of guidance techniques, such as classifier or classifier-free guidance, which provide effective mechanisms to trade-off between fidelity and diversity. However, these methods are not capable of guiding a generated image to be aware of its geometric configuration, e.g., depth, which hinders their application to areas that require a certain level of depth awareness. To address this limitation, we propose a novel guidance method for diffus…
Center for Systems Biology Dresden (CSBD)（德累斯顿系统生物学中心）；Max-Planck Institute of Molecular Cell Biology and Genetics（马克斯·普朗克分子细胞生物学与遗传学研究所）
Deep learning (DL) has arguably emerged as the method of choice for the detection and segmentation of biological structures in microscopy images. However, DL typically needs copious amounts of annotated training data that is for biomedical projects typically not available and excessively expensive to generate. Additionally, tasks become harder in the presence of noise, requiring even more high-quality training data. Hence, we propose to use denoising networks to improve the performance of other DL-based image segmentation methods. More specifically, we present ideas on how state-of-the-art sel…
Zhejiang University（浙江大学）；City University of Hong Kong（香港城市大学）
Although PIFu-based 3D human reconstruction methods are popular, the quality of recovered details is still unsatisfactory. In a sparse (e.g., 3 RGBD sensors) capture setting, the depth noise is typically amplified in the PIFu representation, resulting in flat facial surfaces and geometry-fallible bodies. In this paper, we propose a novel geometry-aware two-scale PIFu for 3D human reconstruction from sparse, noisy inputs. Our key idea is to exploit the complementary properties of depth denoising and 3D reconstruction, for learning a two-scale PIFu representation to reconstruct high-frequency fa…
Shandong University of Science and Technology（山东科技大学）；York University（约克大学）；InterDigital Communications Inc.（InterDigital通信公司）；Purdue University（普渡大学）
A 3D point cloud is typically constructed from depth measurements acquired by sensors at one or more viewpoints. The measurements suffer from both quantization and noise corruption. To improve quality, previous works denoise a point cloud \textit{a posteriori} after projecting the imperfect depth data onto 3D space. Instead, we enhance depth measurements directly on the sensed images \textit{a priori}, before synthesizing a 3D point cloud. By enhancing near the physical sensing process, we tailor our optimization to our depth formation model before subsequent processing steps that obscure meas…
We formulate monocular depth estimation using denoising diffusion models, inspired by their recent successes in high fidelity image generation. To that end, we introduce innovations to address problems arising due to noisy, incomplete depth maps in training data, including step-unrolled denoising diffusion, an $L_1$ loss, and depth infilling during training. To cope with the limited availability of data for supervised training, we leverage pre-training on self-supervised image-to-image translation tasks. Despite the simplicity of the approach, with a generic loss and architecture, our DepthGen…
SelfReDepth: Self-Supervised Real-Time Depth Restoration for Consumer-Grade Sensors
Instituto Superior Técnico, Universidade de Lisboa（里斯本大学高等技术学院）；Instituto de Engenharia de Sistemas e Computadores, Investigação e Desenvolvimento（系统与计算机工程研究所）；Institute for System and Robotics（系统与机器人研究所）；Human Technology Institute, University of Technology Sydney（悉尼科技大学人类技术学院）
NeSLAM: Neural Implicit Mapping and Self-Supervised Feature Tracking With Depth Completion and Denoising
Institute of Medical Robotics and Department of Automation, Shanghai Jiao Tong University（上海交通大学医疗机器人研究所和自动化系）；Key Laboratory of System Control and Information Processing, Ministry of Education, Shang hai 200240, China（教育部系统控制与信息处理重点实验室，上海200240，中国）；School of Electrical and Electronic Engineering, Nanyang Technological University（南洋理工大学电子与电气工程学院）
Sparse coding of images is traditionally done by cutting them into small patches and representing each patch individually over some dictionary given a pre-determined number of nonzero coefficients to use for each patch. In lack of a way to effectively distribute a total number (or global budget) of nonzero coefficients across all patches, current sparse recovery algorithms distribute the global budget equally across all patches despite the wide range of differences in structural complexity among them. In this work we propose a new framework for joint sparse representation and recovery of all i…
Recently, much progress has been made in unsupervised denoising learning. However, existing methods more or less rely on some assumptions on the signal and/or degradation model, which limits their practical performance. How to construct an optimal criterion for unsupervised denoising learning without any prior knowledge on the degradation model is still an open question. Toward answering this question, this work proposes a criterion for unsupervised denoising learning based on the optimal transport theory. This criterion has favorable properties, e.g., approximately maximal preservation of the…
Southeast University（东南大学）；Shanghai United-imaging Healthcare Co., Ltd（上海联影医疗科技股份有限公司）；University of Birmingham（伯明翰大学）
In order to improve speckle noise denoising of block matching 3d filtering (BM3D) method, an image frequency-domain multi-layer fusion enhancement method (MLFE-BM3D) based on nonsubsampled contourlet transform (NSCT) has been proposed. The method designs a NSCT hard threshold denoising enhancement to preprocess the image, then uses fusion enhancement in NSCT domain to fuse the preliminary estimation results of images before and after the NSCT hard threshold denoising, finally, BM3D denoising is carried out with the fused image to obtain the final denoising result. Experiments on natural images…
Mitsubishi Electric Research Labs (MERL)（三菱电机研究实验室）
In 3D image/video acquisition, different views are often captured with varying noise levels across the views. In this paper, we propose a graph-based image enhancement technique that uses a higher quality view to enhance a degraded view. A depth map is utilized as auxiliary information to match the perspectives of the two views. Our method performs graph-based filtering of the noisy image by directly computing a projection of the image to be filtered onto a lower dimensional Krylov subspace of the graph Laplacian. We discuss two graph spectral denoising methods: first using Chebyshev polynomia…
Tsinghua University（清华大学）；University of Bath（巴斯大学）
Point clouds captured by depth sensors are often contaminated by noises, obstructing further analysis and applications. In this paper, we emphasize the importance of point distribution uniformity to downstream tasks. We demonstrate that point clouds produced by existing gradient-based denoisers lack uniformity despite having achieved promising quantitative results. To this end, we propose GPCD++, a gradient-based denoiser with an ultra-lightweight network named UniNet to address uniformity. Compared with previous state-of-the-art methods, our approach not only generates competitive or even bet…
University of Maryland（马里兰大学）；Microsoft Research（微软研究院）
Recent work has shown that the structure of convolutional neural networks (CNNs) induces a strong prior that favors natural images. This prior, known as a deep image prior (DIP), is an effective regularizer in inverse problems such as image denoising and inpainting. We extend the concept of the DIP to depth images. Given color images and noisy and incomplete target depth maps, we optimize a randomly-initialized CNN model to reconstruct a depth map restored by virtue of using the CNN network structure as a prior combined with a view-constrained photo-consistency loss. This loss is computed usin…
ASSERT: Adaptive Stochastic Sampling for Robust Diffusion Models on Analog Compute-in-Memory Hardware
School of Integrated Circuit Science and Engineering, Beihang University（北京航空航天大学集成电路科学与工程学院）；Zhicun Research Lab（知存研究院）；School of Integrated Circuits, Peking University（北京大学集成电路学院）；Department of Electrical and Computer Engineering, The University of Hong Kong（香港大学电机电子工程学系）
Heriot-Watt University（赫瑞-瓦特大学）；The University of Edinburgh（爱丁堡大学）
Three-dimensional imaging plays an important role in imaging applications where it is necessary to record depth. The number of applications that use depth imaging is increasing rapidly, and examples include self-driving autonomous vehicles and auto-focus assist on smartphone cameras. Light detection and ranging (LIDAR) via single-photon sensitive detector (SPAD) arrays is an emerging technology that enables the acquisition of depth images at high frame rates. However, the spatial resolution of this technology is typically low in comparison to the intensity images recorded by conventional camer…
Adept: Annotation-Denoising Auxiliary Tasks with Discrete Cosine Transform Map and Keypoint for Human-Centric Pretraining
College of Electrical Engineering, Zhejiang University（浙江大学电气工程学院）；School of Mechanical Engineering, Zhejiang University（浙江大学机械工程学院）；Ocean College, Zhejiang University（浙江大学海洋学院）；Hainan Institute, Zhejiang University（海南研究院）；Shanghai AI Laboratory（上海人工智能实验室）
Northwestern Polytechnical University（西北工业大学）；Harbin Institute of Technology（哈尔滨工业大学）；Peng Cheng Laboratory（鹏城实验室）；University of Macau（澳门大学）；The Chinese University of Hong Kong (Shenzhen)（香港中文大学（深圳））；Shenzhen Institute of Artificial Intelligence and Robotics for Society（深圳市人工智能与机器人研究院）
Deep convolutional neural networks (CNNs) are used for image denoising via automatically mining accurate structure information. However, most of existing CNNs depend on enlarging depth of designed networks to obtain better denoising performance, which may cause training difficulty. In this paper, we propose a multi-stage image denoising CNN with the wavelet transform (MWDCNN) via three stages, i.e., a dynamic convolutional block (DCB), two cascaded wavelet transform and enhancement blocks (WEBs) and a residual block (RB). DCB uses a dynamic convolution to dynamically adjust parameters of sever…
MPI-CBG/PKS (CSBD)（马克斯·普朗克分子细胞生物学与遗传学研究所/普朗克计算生物学中心（德累斯顿系统生物学中心））；Brno University of Technology（布尔诺理工大学）
Today, Convolutional Neural Networks (CNNs) are the leading method for image denoising. They are traditionally trained on pairs of images, which are often hard to obtain for practical applications. This motivates self-supervised training methods such as Noise2Void~(N2V) that operate on single noisy images. Self-supervised methods are, unfortunately, not competitive with models trained on image pairs. Here, we present 'Probabilistic Noise2Void' (PN2V), a method to train CNNs to predict per-pixel intensity distributions. Combining these with a suitable description of the noise, we obtain a compl…
Steklov Mathematical Institute（斯捷克洛夫数学研究所）；Neuromation OU；Samsung AI Center（三星人工智能中心）
Despite recent advances in computer vision based on various convolutional architectures, video understanding remains an important challenge. In this work, we present and discuss a top solution for the large-scale video classification (labeling) problem introduced as a Kaggle competition based on the YouTube-8M dataset. We show and compare different approaches to preprocessing, data augmentation, model architectures, and model combination. Our final model is based on a large ensemble of video- and frame-level models but fits into rather limiting hardware constraints. We apply an approach based …
