ImLiDAR: Cross-Sensor Dynamic Message Propagation Network for 3D Object Detection

LiDAR and camera, as two different sensors, supply geometric (point clouds) and semantic (RGB images) information of 3D scenes. However, it is still challenging for existing methods to fuse data from the two cross sensors, making them complementary for quality 3D object detection (3OD). We propose ImLiDAR, a new 3OD paradigm to narrow the cross-sensor discrepancies by progressively fusing the multi-scale features of camera Images and LiDAR point clouds. ImLiDAR enables to provide the detection head with cross-sensor yet robustly fused features. To achieve this, two core designs exist in ImLiDAR. First, we propose a cross-sensor dynamic message propagation module to combine the best of the multi-scale image and point features. Second, we raise a direct set prediction problem that allows designing an effective set-based detector to tackle the inconsistency of the classification and localization confidences, and the sensitivity of hand-tuned hyperparameters. Besides, the novel set-based detector can be detachable and easily integrated into various detection networks. Comparisons on both the KITTI and SUN-RGBD datasets show clear visual and numerical improvements of our ImLiDAR over twenty-three state-of-the-art 3OD methods.

UTOPIC: Uncertainty-aware Overlap Prediction Network for Partial Point Cloud Registration

High-confidence overlap prediction and accurate correspondences are critical for cutting-edge models to align paired point clouds in a partial-to-partial manner. However, there inherently exists uncertainty between the overlapping and non-overlapping regions, which has always been neglected and significantly affects the registration performance. Beyond the current wisdom, we propose a novel uncertainty-aware overlap prediction network, dubbed UTOPIC, to tackle the ambiguous overlap prediction problem; to our knowledge, this is the first to explicitly introduce overlap uncertainty to point cloud registration. Moreover, we induce the feature extractor to implicitly perceive the shape knowledge through a completion decoder, and present a geometric relation embedding for Transformer to obtain transformation-invariant geometry-aware feature representations. With the merits of more reliable overlap scores and more precise dense correspondences, UTOPIC can achieve stable and accurate registration results, even for the inputs with limited overlapping areas. Extensive quantitative and qualitative experiments on synthetic and real benchmarks demonstrate the superiority of our approach over state-of-the-art methods.

CSDN: Cross-modal Shape-transfer Dual-refinement Network for Point Cloud Completion

How will you repair a physical object with some missings? You may imagine its original shape from previously captured images, recover its overall (global) but coarse shape first, and then refine its local details. We are motivated to imitate the physical repair procedure to address point cloud completion. To this end, we propose a cross-modal shape-transfer dual-refinement network (termed CSDN), a coarse-to-fine paradigm with images of full-cycle participation, for quality point cloud completion. CSDN mainly consists of "shape fusion" and "dual-refinement" modules to tackle the cross-modal challenge. The first module transfers the intrinsic shape characteristics from single images to guide the geometry generation of the missing regions of point clouds, in which we propose IPAdaIN to embed the global features of both the image and the partial point cloud into completion. The second module refines the coarse output by adjusting the positions of the generated points, where the local refinement unit exploits the geometric relation between the novel and the input points by graph convolution, and the global constraint unit utilizes the input image to fine-tune the generated offset. Different from most existing approaches, CSDN not only explores the complementary information from images but also effectively exploits cross-modal data in the whole coarse-to-fine completion procedure. Experimental results indicate that CSDN performs favorably against ten competitors on the cross-modal benchmark.

Editing Out-of-domain GAN Inversion via Differential Activations

Despite the demonstrated editing capacity in the latent space of a pretrained GAN model, inverting real-world images is stuck in a dilemma that the reconstruction cannot be faithful to the original input. The main reason for this is that the distributions between training and real-world data are misaligned, and because of that, it is unstable of GAN inversion for real image editing. In this paper, we propose a novel GAN prior based editing framework to tackle the out-of-domain inversion problem with a composition-decomposition paradigm. In particular, during the phase of composition, we introduce a differential activation module for detecting semantic changes from a global perspective, \ie, the relative gap between the features of edited and unedited images. With the aid of the generated Diff-CAM mask, a coarse reconstruction can intuitively be composited by the paired original and edited images. In this way, the attribute-irrelevant regions can be survived in almost whole, while the quality of such an intermediate result is still limited by an unavoidable ghosting effect. Consequently, in the decomposition phase, we further present a GAN prior based deghosting network for separating the final fine edited image from the coarse reconstruction. Extensive experiments exhibit superiorities over the state-of-the-art methods, in terms of qualitative and quantitative evaluations. The robustness and flexibility of our method is also validated on both scenarios of single attribute and multi-attribute manipulations.

Test-time Adaptation with Calibration of Medical Image Classification Nets for Label Distribution Shift

Class distribution plays an important role in learning deep classifiers. When the proportion of each class in the test set differs from the training set, the performance of classification nets usually degrades. Such a label distribution shift problem is common in medical diagnosis since the prevalence of disease vary over location and time. In this paper, we propose the first method to tackle label shift for medical image classification, which effectively adapt the model learned from a single training label distribution to arbitrary unknown test label distribution. Our approach innovates distribution calibration to learn multiple representative classifiers, which are capable of handling different one-dominating-class distributions. When given a test image, the diverse classifiers are dynamically aggregated via the consistency-driven test-time adaptation, to deal with the unknown test label distribution. We validate our method on two important medical image classification tasks including liver fibrosis staging and COVID-19 severity prediction. Our experiments clearly show the decreased model performance under label shift. With our method, model performance significantly improves on all the test datasets with different label shifts for both medical image diagnosis tasks.

A New Dataset and A Baseline Model for Breast Lesion Detection in Ultrasound Videos

Breast lesion detection in ultrasound is critical for breast cancer diagnosis. Existing methods mainly rely on individual 2D ultrasound images or combine unlabeled video and labeled 2D images to train models for breast lesion detection. In this paper, we first collect and annotate an ultrasound video dataset (188 videos) for breast lesion detection. Moreover, we propose a clip-level and video-level feature aggregated network (CVA-Net) for addressing breast lesion detection in ultrasound videos by aggregating video-level lesion classification features and clip-level temporal features. The clip-level temporal features encode local temporal information of ordered video frames and global temporal information of shuffled video frames. In our CVA-Net, an inter-video fusion module is devised to fuse local features from original video frames and global features from shuffled video frames, and an intra-video fusion module is devised to learn the temporal information among adjacent video frames. Moreover, we learn video-level features to classify the breast lesions of the original video as benign or malignant lesions to further enhance the final breast lesion detection performance in ultrasound videos. Experimental results on our annotated dataset demonstrate that our CVA-Net clearly outperforms state-of-the-art methods. The corresponding code and dataset are publicly available at \url{https://github.com/jhl-Det/CVA-Net}.

Dynamic Message Propagation Network for RGB-D Salient Object Detection

This paper presents a novel deep neural network framework for RGB-D salient object detection by controlling the message passing between the RGB images and depth maps on the feature level and exploring the long-range semantic contexts and geometric information on both RGB and depth features to infer salient objects. To achieve this, we formulate a dynamic message propagation (DMP) module with the graph neural networks and deformable convolutions to dynamically learn the context information and to automatically predict filter weights and affinity matrices for message propagation control. We further embed this module into a Siamese-based network to process the RGB image and depth map respectively and design a multi-level feature fusion (MFF) module to explore the cross-level information between the refined RGB and depth features. Compared with 17 state-of-the-art methods on six benchmark datasets for RGB-D salient object detection, experimental results show that our method outperforms all the others, both quantitatively and visually.

An Improved Normed-Deformable Convolution for Crowd Counting

In recent years, crowd counting has become an important issue in computer vision. In most methods, the density maps are generated by convolving with a Gaussian kernel from the ground-truth dot maps which are marked around the center of human heads. Due to the fixed geometric structures in CNNs and indistinct head-scale information, the head features are obtained incompletely. Deformable convolution is proposed to exploit the scale-adaptive capabilities for CNN features in the heads. By learning the coordinate offsets of the sampling points, it is tractable to improve the ability to adjust the receptive field. However, the heads are not uniformly covered by the sampling points in the deformable convolution, resulting in loss of head information. To handle the non-uniformed sampling, an improved Normed-Deformable Convolution (\textit{i.e.,}NDConv) implemented by Normed-Deformable loss (\textit{i.e.,}NDloss) is proposed in this paper. The offsets of the sampling points which are constrained by NDloss tend to be more even. Then, the features in the heads are obtained more completely, leading to better performance. Especially, the proposed NDConv is a light-weight module which shares similar computation burden with Deformable Convolution. In the extensive experiments, our method outperforms state-of-the-art methods on ShanghaiTech A, ShanghaiTech B, UCF\_QNRF, and UCF\_CC\_50 dataset, achieving 61.4, 7.8, 91.2, and 167.2 MAE, respectively. The code is available at https://github.com/bingshuangzhuzi/NDConv