Sensor-Guided Optical Flow

This paper proposes a framework to guide an optical flow network with external cues to achieve superior accuracy either on known or unseen domains. Given the availability of sparse yet accurate optical flow hints from an external source, these are injected to modulate the correlation scores computed by a state-of-the-art optical flow network and guide it towards more accurate predictions. Although no real sensor can provide sparse flow hints, we show how these can be obtained by combining depth measurements from active sensors with geometry and hand-crafted optical flow algorithms, leading to accurate enough hints for our purpose. Experimental results with a state-of-the-art flow network on standard benchmarks support the effectiveness of our framework, both in simulated and real conditions.

Unsupervised Few-Shot Action Recognition via Action-Appearance Aligned Meta-Adaptation

We present MetaUVFS as the first Unsupervised Meta-learning algorithm for Video Few-Shot action recognition. MetaUVFS leverages over 550K unlabeled videos to train a two-stream 2D and 3D CNN architecture via contrastive learning to capture the appearance-specific spatial and action-specific spatio-temporal video features respectively. MetaUVFS comprises a novel Action-Appearance Aligned Meta-adaptation (A3M) module that learns to focus on the action-oriented video features in relation to the appearance features via explicit few-shot episodic meta-learning over unsupervised hard-mined episodes. Our action-appearance alignment and explicit few-shot learner conditions the unsupervised training to mimic the downstream few-shot task, enabling MetaUVFS to significantly outperform all unsupervised methods on few-shot benchmarks. Moreover, unlike previous few-shot action recognition methods that are supervised, MetaUVFS needs neither base-class labels nor a supervised pretrained backbone. Thus, we need to train MetaUVFS just once to perform competitively or sometimes even outperform state-of-the-art supervised methods on popular HMDB51, UCF101, and Kinetics100 few-shot datasets.

Identity-Disentangled Neural Deformation Model for Dynamic Meshes

Neural shape models can represent complex 3D shapes with a compact latent space. When applied to dynamically deforming shapes such as the human hands, however, they would need to preserve temporal coherence of the deformation as well as the intrinsic identity of the subject. These properties are difficult to regularize with manually designed loss functions. In this paper, we learn a neural deformation model that disentangles the identity-induced shape variations from pose-dependent deformations using implicit neural functions. We perform template-free unsupervised learning on 3D scans without explicit mesh correspondence or semantic correspondences of shapes across subjects. We can then apply the learned model to reconstruct partial dynamic 4D scans of novel subjects performing unseen actions. We propose two methods to integrate global pose alignment with our neural deformation model. Experiments demonstrate the efficacy of our method in the disentanglement of identities and pose. Our method also outperforms traditional skeleton-driven models in reconstructing surface details such as palm prints or tendons without limitations from a fixed template.

Unsupervised Domain Adaptation for LiDAR Panoptic Segmentation

Scene understanding is a pivotal task for autonomous vehicles to safely navigate in the environment. Recent advances in deep learning enable accurate semantic reconstruction of the surroundings from LiDAR data. However, these models encounter a large domain gap while deploying them on vehicles equipped with different LiDAR setups which drastically decreases their performance. Fine-tuning the model for every new setup is infeasible due to the expensive and cumbersome process of recording and manually labeling new data. Unsupervised Domain Adaptation (UDA) techniques are thus essential to fill this domain gap and retain the performance of models on new sensor setups without the need for additional data labeling. In this paper, we propose AdaptLPS, a novel UDA approach for LiDAR panoptic segmentation that leverages task-specific knowledge and accounts for variation in the number of scan lines, mounting position, intensity distribution, and environmental conditions. We tackle the UDA task by employing two complementary domain adaptation strategies, data-based and model-based. While data-based adaptations reduce the domain gap by processing the raw LiDAR scans to resemble the scans in the target domain, model-based techniques guide the network in extracting features that are representative for both domains. Extensive evaluations on three pairs of real-world autonomous driving datasets demonstrate that AdaptLPS outperforms existing UDA approaches by up to 6.41 pp in terms of the PQ score.

TöRF: Time-of-Flight Radiance Fields for Dynamic Scene View Synthesis

Neural networks can represent and accurately reconstruct radiance fields for static 3D scenes (e.g., NeRF). Several works extend these to dynamic scenes captured with monocular video, with promising performance. However, the monocular setting is known to be an under-constrained problem, and so methods rely on data-driven priors for reconstructing dynamic content. We replace these priors with measurements from a time-of-flight (ToF) camera, and introduce a neural representation based on an image formation model for continuous-wave ToF cameras. Instead of working with processed depth maps, we model the raw ToF sensor measurements to improve reconstruction quality and avoid issues with low reflectance regions, multi-path interference, and a sensor’s limited unambiguous depth range. We show that this approach improves robustness of dynamic scene reconstruction to erroneous calibration and large motions, and discuss the benefits and limitations of integrating RGB+ToF sensors that are now available on modern smartphones.

Transferability Estimation for Semantic Segmentation Task

Transferability estimation is a fundamental problem in transfer learning to predict how good the performance is when transferring a source model (or source task) to a target task. With the guidance of transferability score, we can efficiently select the highly transferable source models without performing the real transfer in practice. Recent analytical transferability metrics are mainly designed for image classification, and currently there is no specific investigation for the transferability estimation of semantic segmentation task, which is an essential problem in autonomous driving, medical image analysis, etc. Consequently, we further extend the recent analytical transferability metric OTCE (Optimal Transport based Conditional Entropy) score to the semantic segmentation task. The challenge in applying the OTCE score is the high dimensional segmentation output, which is difficult to find the optimal coupling between so many pixels under an acceptable computation cost. Thus we propose to randomly sample N pixels for computing OTCE score and take the expectation over K repetitions as the final transferability score. Experimental evaluation on Cityscapes, BDD100K and GTA5 datasets demonstrates that the OTCE score highly correlates with the transfer performance.

Real-Time Tactile Grasp Force Sensing Using Fingernail Imaging via Deep Neural Networks

This paper has introduced a novel approach for the real-time estimation of 3D tactile forces exerted by human fingertips via vision only. The introduced approach is entirely monocular vision-based and does not require any physical force sensor. Therefore, it is scalable, non-intrusive, and easily fused with other perception systems such as body pose estimation, making it ideal for HRI applications where force sensing is necessary. The introduced approach consists of three main modules: finger tracking for detection and tracking of each individual finger, image alignment for preserving the spatial information in the images, and the force model for estimating the 3D forces from coloration patterns in the images. The model has been implemented experimentally, and the results have shown a maximum RMS error of 8.4% (for the entire range of force levels) along all three directions. The estimation accuracy is comparable to the offline models in the literature, such as EigneNail, while, this model is capable of performing force estimation at 30 frames per second.

Self-Supervised Out-of-Distribution Detection and Localization with Natural Synthetic Anomalies (NSA)

We introduce a new self-supervised task, NSA, for training an end-to-end model for anomaly detection and localization using only normal data. NSA uses Poisson image editing to seamlessly blend scaled patches of various sizes from separate images. This creates a wide range of synthetic anomalies which are more similar to natural sub-image irregularities than previous data-augmentation strategies for self-supervised anomaly detection. We evaluate the proposed method using natural and medical images. Our experiments with the MVTec AD dataset show that a model trained to localize NSA anomalies generalizes well to detecting real-world a priori unknown types of manufacturing defects. Our method achieves an overall detection AUROC of 97.2 outperforming all previous methods that learn from scratch without pre-training datasets.

Language-Aligned Waypoint (LAW) Supervision for Vision-and-Language Navigation in Continuous Environments

In the Vision-and-Language Navigation (VLN) task an embodied agent navigates a 3D environment, following natural language instructions. A challenge in this task is how to handle ‘off the path’ scenarios where an agent veers from a reference path. Prior work supervises the agent with actions based on the shortest path from the agent’s location to the goal, but such goal-oriented supervision is often not in alignment with the instruction. Furthermore, the evaluation metrics employed by prior work do not measure how much of a language instruction the agent is able to follow. In this work, we propose a simple and effective language-aligned supervision scheme, and a new metric that measures the number of sub-instructions the agent has completed during navigation.

You Cannot Easily Catch Me: A Low-Detectable Adversarial Patch for Object Detectors

Blind spots or outright deceit can bedevil and deceive machine learning models. Unidentified objects such as digital “stickers,” also known as adversarial patches, can fool facial recognition systems, surveillance systems and self-driving cars. Fortunately, most existing adversarial patches can be outwitted, disabled and rejected by a simple classification network called an adversarial patch detector, which distinguishes adversarial patches from original images. An object detector classifies and predicts the types of objects within an image, such as by distinguishing a motorcyclist from the motorcycle, while also localizing each object’s placement within the image by “drawing” so-called bounding boxes around each object, once again separating the motorcyclist from the motorcycle. To train detectors even better, however, we need to keep subjecting them to confusing or deceitful adversarial patches as we probe for the models’ blind spots. For such probes, we came up with a novel approach, a Low-Detectable Adversarial Patch, which attacks an object detector with small and texture-consistent adversarial patches, making these adversaries less likely to be recognized. Concretely, we use several geometric primitives to model the shapes and positions of the patches. To enhance our attack performance, we also assign different weights to the bounding boxes in terms of loss function. Our experiments on the common detection dataset COCO as well as the driving-video dataset D2-City show that LDAP is an effective attack method, and can resist the adversarial patch detector.