Collaborative Semantic Occupancy Prediction with Hybrid Feature Fusion in Connected Automated Vehicles

Collaborative perception in automated vehicles leverages the exchange of information between agents, aiming to elevate perception results. Previous camera-based collaborative 3D perception methods typically employ 3D bounding boxes or bird's eye views as representations of the environment. However, these approaches fall short in offering a comprehensive 3D environmental prediction. To bridge this gap, we introduce the first method for collaborative 3D semantic occupancy prediction. Particularly, it improves local 3D semantic occupancy predictions by hybrid fusion of (i) semantic and occupancy task features, and (ii) compressed orthogonal attention features shared between vehicles. Additionally, due to the lack of a collaborative perception dataset designed for semantic occupancy prediction, we augment a current collaborative perception dataset to include 3D collaborative semantic occupancy labels for a more robust evaluation. The experimental findings highlight that: (i) our collaborative semantic occupancy predictions excel above the results from single vehicles by over 30%, and (ii) models anchored on semantic occupancy outpace state-of-the-art collaborative 3D detection techniques in subsequent perception applications, showcasing enhanced accuracy and enriched semantic-awareness in road environments.

VLTSeg: Simple Transfer of CLIP-Based Vision-Language Representations for Domain Generalized Semantic Segmentation

Domain generalization (DG) remains a significant challenge for perception based on deep neural networks (DNN), where domain shifts occur due to lighting, weather, or geolocation changes. In this work, we propose VLTSeg to enhance domain generalization in semantic segmentation, where the network is solely trained on the source domain and evaluated on unseen target domains. Our method leverages the inherent semantic robustness of vision-language models. First, by substituting traditional vision-only backbones with pre-trained encoders from CLIP and EVA-CLIP as transfer learning setting we find that in the field of DG, vision-language pre-training significantly outperforms supervised and self-supervised vision pre-training. We thus propose a new vision-language approach for domain generalized segmentation, which improves the domain generalization SOTA by 7.6% mIoU when training on the synthetic GTA5 dataset. We further show the superior generalization capabilities of vision-language segmentation models by reaching 76.48% mIoU on the popular Cityscapes-to-ACDC benchmark, outperforming the previous SOTA approach by 6.9% mIoU on the test set at the time of writing. Additionally, our approach shows strong in-domain generalization capabilities indicated by 86.1% mIoU on the Cityscapes test set, resulting in a shared first place with the previous SOTA on the current leaderboard at the time of submission.

Transformation Decoupling Strategy based on Screw Theory for Deterministic Point Cloud Registration with Gravity Prior

Point cloud registration is challenging in the presence of heavy outlier correspondences. This paper focuses on addressing the robust correspondence-based registration problem with gravity prior that often arises in practice. The gravity directions are typically obtained by inertial measurement units (IMUs) and can reduce the degree of freedom (DOF) of rotation from 3 to 1. We propose a novel transformation decoupling strategy by leveraging screw theory. This strategy decomposes the original 4-DOF problem into three sub-problems with 1-DOF, 2-DOF, and 1-DOF, respectively, thereby enhancing the computation efficiency. Specifically, the first 1-DOF represents the translation along the rotation axis and we propose an interval stabbing-based method to solve it. The second 2-DOF represents the pole which is an auxiliary variable in screw theory and we utilize a branch-and-bound method to solve it. The last 1-DOF represents the rotation angle and we propose a global voting method for its estimation. The proposed method sequentially solves three consensus maximization sub-problems, leading to efficient and deterministic registration. In particular, it can even handle the correspondence-free registration problem due to its significant robustness. Extensive experiments on both synthetic and real-world datasets demonstrate that our method is more efficient and robust than state-of-the-art methods, even when dealing with outlier rates exceeding 99%.

Efficient and Deterministic Search Strategy Based on Residual Projections for Point Cloud Registration

Estimating the rigid transformation between two LiDAR scans through putative 3D correspondences is a typical point cloud registration paradigm. Current 3D feature matching approaches commonly lead to numerous outlier correspondences, making outlier-robust registration techniques indispensable. Many recent studies have adopted the branch and bound (BnB) optimization framework to solve the correspondence-based point cloud registration problem globally and deterministically. Nonetheless, BnB-based methods are time-consuming to search the entire 6-dimensional parameter space, since their computational complexity is exponential to the dimension of the solution domain. In order to enhance algorithm efficiency, existing works attempt to decouple the 6 degrees of freedom (DOF) original problem into two 3-DOF sub-problems, thereby reducing the dimension of the parameter space. In contrast, our proposed approach introduces a novel pose decoupling strategy based on residual projections, effectively decomposing the raw problem into three 2-DOF rotation search sub-problems. Subsequently, we employ a novel BnB-based search method to solve these sub-problems, achieving efficient and deterministic registration. Furthermore, our method can be adapted to address the challenging problem of simultaneous pose and correspondence registration (SPCR). Through extensive experiments conducted on synthetic and real-world datasets, we demonstrate that our proposed method outperforms state-of-the-art methods in terms of efficiency, while simultaneously ensuring robustness.

Spatio-temporal Tendency Reasoning for Human Body Pose and Shape Estimation from Videos

In this paper, we present a spatio-temporal tendency reasoning (STR) network for recovering human body pose and shape from videos. Previous approaches have focused on how to extend 3D human datasets and temporal-based learning to promote accuracy and temporal smoothing. Different from them, our STR aims to learn accurate and natural motion sequences in an unconstrained environment through temporal and spatial tendency and to fully excavate the spatio-temporal features of existing video data. To this end, our STR learns the representation of features in the temporal and spatial dimensions respectively, to concentrate on a more robust representation of spatio-temporal features. More specifically, for efficient temporal modeling, we first propose a temporal tendency reasoning (TTR) module. TTR constructs a time-dimensional hierarchical residual connection representation within a video sequence to effectively reason temporal sequences' tendencies and retain effective dissemination of human information. Meanwhile, for enhancing the spatial representation, we design a spatial tendency enhancing (STE) module to further learns to excite spatially time-frequency domain sensitive features in human motion information representations. Finally, we introduce integration strategies to integrate and refine the spatio-temporal feature representations. Extensive experimental findings on large-scale publically available datasets reveal that our STR remains competitive with the state-of-the-art on three datasets. Our code are available at https://github.com/Changboyang/STR.git.

OneEE: A One-Stage Framework for Fast Overlapping and Nested Event Extraction

Event extraction (EE) is an essential task of information extraction, which aims to extract structured event information from unstructured text. Most prior work focuses on extracting flat events while neglecting overlapped or nested ones. A few models for overlapped and nested EE includes several successive stages to extract event triggers and arguments,which suffer from error propagation. Therefore, we design a simple yet effective tagging scheme and model to formulate EE as word-word relation recognition, called OneEE. The relations between trigger or argument words are simultaneously recognized in one stage with parallel grid tagging, thus yielding a very fast event extraction speed. The model is equipped with an adaptive event fusion module to generate event-aware representations and a distance-aware predictor to integrate relative distance information for word-word relation recognition, which are empirically demonstrated to be effective mechanisms. Experiments on 3 overlapped and nested EE benchmarks, namely FewFC, Genia11, and Genia13, show that OneEE achieves the state-of-the-art (SOTA) results. Moreover, the inference speed of OneEE is faster than those of baselines in the same condition, and can be further substantially improved since it supports parallel inference.

Swin-Unet: Unet-like Pure Transformer for Medical Image Segmentation

In the past few years, convolutional neural networks (CNNs) have achieved milestones in medical image analysis. Especially, the deep neural networks based on U-shaped architecture and skip-connections have been widely applied in a variety of medical image tasks. However, although CNN has achieved excellent performance, it cannot learn global and long-range semantic information interaction well due to the locality of the convolution operation. In this paper, we propose Swin-Unet, which is an Unet-like pure Transformer for medical image segmentation. The tokenized image patches are fed into the Transformer-based U-shaped Encoder-Decoder architecture with skip-connections for local-global semantic feature learning. Specifically, we use hierarchical Swin Transformer with shifted windows as the encoder to extract context features. And a symmetric Swin Transformer-based decoder with patch expanding layer is designed to perform the up-sampling operation to restore the spatial resolution of the feature maps. Under the direct down-sampling and up-sampling of the inputs and outputs by 4x, experiments on multi-organ and cardiac segmentation tasks demonstrate that the pure Transformer-based U-shaped Encoder-Decoder network outperforms those methods with full-convolution or the combination of transformer and convolution. The codes and trained models will be publicly available at https://github.com/HuCaoFighting/Swin-Unet.

Lightweight Convolutional Neural Network with Gaussian-based Grasping Representation for Robotic Grasping Detection

The method of deep learning has achieved excellent results in improving the performance of robotic grasping detection. However, the deep learning methods used in general object detection are not suitable for robotic grasping detection. Current modern object detectors are difficult to strike a balance between high accuracy and fast inference speed. In this paper, we present an efficient and robust fully convolutional neural network model to perform robotic grasping pose estimation from an n-channel input image of the real grasping scene. The proposed network is a lightweight generative architecture for grasping detection in one stage. Specifically, a grasping representation based on Gaussian kernel is introduced to encode training samples, which embodies the principle of maximum central point grasping confidence. Meanwhile, to extract multi-scale information and enhance the feature discriminability, a receptive field block (RFB) is assembled to the bottleneck of our grasping detection architecture. Besides, pixel attention and channel attention are combined to automatically learn to focus on fusing context information of varying shapes and sizes by suppressing the noise feature and highlighting the grasping object feature. Extensive experiments on two public grasping datasets, Cornell and Jacquard demonstrate the state-of-the-art performance of our method in balancing accuracy and inference speed. The network is an order of magnitude smaller than other excellent algorithms while achieving better performance with an accuracy of 98.9$\%$ and 95.6$\%$ on the Cornell and Jacquard datasets, respectively.

Event-based Robotic Grasping Detection with Neuromorphic Vision Sensor and Event-Stream Dataset

Robotic grasping plays an important role in the field of robotics. The current state-of-the-art robotic grasping detection systems are usually built on the conventional vision, such as RGB-D camera. Compared to traditional frame-based computer vision, neuromorphic vision is a small and young community of research. Currently, there are limited event-based datasets due to the troublesome annotation of the asynchronous event stream. Annotating large scale vision dataset often takes lots of computation resources, especially the troublesome data for video-level annotation. In this work, we consider the problem of detecting robotic grasps in a moving camera view of a scene containing objects. To obtain more agile robotic perception, a neuromorphic vision sensor (DAVIS) attaching to the robot gripper is introduced to explore the potential usage in grasping detection. We construct a robotic grasping dataset named Event-Stream Dataset with 91 objects. A spatio-temporal mixed particle filter (SMP Filter) is proposed to track the led-based grasp rectangles which enables video-level annotation of a single grasp rectangle per object. As leds blink at high frequency, the Event-Stream dataset is annotated in a high frequency of 1 kHz. Based on the Event-Stream dataset, we develop a deep neural network for grasping detection which consider the angle learning problem as classification instead of regression. The method performs high detection accuracy on our Event-Stream dataset with 93% precision at object-wise level. This work provides a large-scale and well-annotated dataset, and promotes the neuromorphic vision applications in agile robot.