Unsupervised Domain Adaptation for Semantic Segmentation with Pseudo Label Self-Refinement

Deep learning-based solutions for semantic segmentation suffer from significant performance degradation when tested on data with different characteristics than what was used during the training. Adapting the models using annotated data from the new domain is not always practical. Unsupervised Domain Adaptation (UDA) approaches are crucial in deploying these models in the actual operating conditions. Recent state-of-the-art (SOTA) UDA methods employ a teacher-student self-training approach, where a teacher model is used to generate pseudo-labels for the new data which in turn guide the training process of the student model. Though this approach has seen a lot of success, it suffers from the issue of noisy pseudo-labels being propagated in the training process. To address this issue, we propose an auxiliary pseudo-label refinement network (PRN) for online refining of the pseudo labels and also localizing the pixels whose predicted labels are likely to be noisy. Being able to improve the quality of pseudo labels and select highly reliable ones, PRN helps self-training of segmentation models to be robust against pseudo label noise propagation during different stages of adaptation. We evaluate our approach on benchmark datasets with three different domain shifts, and our approach consistently performs significantly better than the previous state-of-the-art methods.

C-SFDA: A Curriculum Learning Aided Self-Training Framework for Efficient Source Free Domain Adaptation

Unsupervised domain adaptation (UDA) approaches focus on adapting models trained on a labeled source domain to an unlabeled target domain. UDA methods have a strong assumption that the source data is accessible during adaptation, which may not be feasible in many real-world scenarios due to privacy concerns and resource constraints of devices. In this regard, source-free domain adaptation (SFDA) excels as access to source data is no longer required during adaptation. Recent state-of-the-art (SOTA) methods on SFDA mostly focus on pseudo-label refinement based self-training which generally suffers from two issues: i) inevitable occurrence of noisy pseudo-labels that could lead to early training time memorization, ii) refinement process requires maintaining a memory bank which creates a significant burden in resource constraint scenarios. To address these concerns, we propose C-SFDA, a curriculum learning aided self-training framework for SFDA that adapts efficiently and reliably to changes across domains based on selective pseudo-labeling. Specifically, we employ a curriculum learning scheme to promote learning from a restricted amount of pseudo labels selected based on their reliabilities. This simple yet effective step successfully prevents label noise propagation during different stages of adaptation and eliminates the need for costly memory-bank based label refinement. Our extensive experimental evaluations on both image recognition and semantic segmentation tasks confirm the effectiveness of our method. C-SFDA is readily applicable to online test-time domain adaptation and also outperforms previous SOTA methods in this task.

Cross-View Visual Geo-Localization for Outdoor Augmented Reality

Precise estimation of global orientation and location is critical to ensure a compelling outdoor Augmented Reality (AR) experience. We address the problem of geo-pose estimation by cross-view matching of query ground images to a geo-referenced aerial satellite image database. Recently, neural network-based methods have shown state-of-the-art performance in cross-view matching. However, most of the prior works focus only on location estimation, ignoring orientation, which cannot meet the requirements in outdoor AR applications. We propose a new transformer neural network-based model and a modified triplet ranking loss for joint location and orientation estimation. Experiments on several benchmark cross-view geo-localization datasets show that our model achieves state-of-the-art performance. Furthermore, we present an approach to extend the single image query-based geo-localization approach by utilizing temporal information from a navigation pipeline for robust continuous geo-localization. Experimentation on several large-scale real-world video sequences demonstrates that our approach enables high-precision and stable AR insertion.

GraphMapper: Efficient Visual Navigation by Scene Graph Generation

Understanding the geometric relationships between objects in a scene is a core capability in enabling both humans and autonomous agents to navigate in new environments. A sparse, unified representation of the scene topology will allow agents to act efficiently to move through their environment, communicate the environment state with others, and utilize the representation for diverse downstream tasks. To this end, we propose a method to train an autonomous agent to learn to accumulate a 3D scene graph representation of its environment by simultaneously learning to navigate through said environment. We demonstrate that our approach, GraphMapper, enables the learning of effective navigation policies through fewer interactions with the environment than vision-based systems alone. Further, we show that GraphMapper can act as a modular scene encoder to operate alongside existing Learning-based solutions to not only increase navigational efficiency but also generate intermediate scene representations that are useful for other future tasks.

SASRA: Semantically-aware Spatio-temporal Reasoning Agent for Vision-and-Language Navigation in Continuous Environments

This paper presents a novel approach for the Vision-and-Language Navigation (VLN) task in continuous 3D environments, which requires an autonomous agent to follow natural language instructions in unseen environments. Existing end-to-end learning-based VLN methods struggle at this task as they focus mostly on utilizing raw visual observations and lack the semantic spatio-temporal reasoning capabilities which is crucial in generalizing to new environments. In this regard, we present a hybrid transformer-recurrence model which focuses on combining classical semantic mapping techniques with a learning-based method. Our method creates a temporal semantic memory by building a top-down local ego-centric semantic map and performs cross-modal grounding to align map and language modalities to enable effective learning of VLN policy. Empirical results in a photo-realistic long-horizon simulation environment show that the proposed approach outperforms a variety of state-of-the-art methods and baselines with over 22% relative improvement in SPL in prior unseen environments.

RGB2LIDAR: Towards Solving Large-Scale Cross-Modal Visual Localization

We study an important, yet largely unexplored problem of large-scale cross-modal visual localization by matching ground RGB images to a geo-referenced aerial LIDAR 3D point cloud (rendered as depth images). Prior works were demonstrated on small datasets and did not lend themselves to scaling up for large-scale applications. To enable large-scale evaluation, we introduce a new dataset containing over 550K pairs (covering 143 km^2 area) of RGB and aerial LIDAR depth images. We propose a novel joint embedding based method that effectively combines the appearance and semantic cues from both modalities to handle drastic cross-modal variations. Experiments on the proposed dataset show that our model achieves a strong result of a median rank of 5 in matching across a large test set of 50K location pairs collected from a 14km^2 area. This represents a significant advancement over prior works in performance and scale. We conclude with qualitative results to highlight the challenging nature of this task and the benefits of the proposed model. Our work provides a foundation for further research in cross-modal visual localization.

Text-based Localization of Moments in a Video Corpus

Prior works on text-based video moment localization focus on temporally grounding the textual query in an untrimmed video. These works assume that the relevant video is already known and attempt to localize the moment on that relevant video only. Different from such works, we relax this assumption and address the task of localizing moments in a corpus of videos for a given sentence query. This task poses a unique challenge as the system is required to perform: (i) retrieval of the relevant video where only a segment of the video corresponds with the queried sentence, and (ii) temporal localization of moment in the relevant video based on sentence query. Towards overcoming this challenge, we propose Hierarchical Moment Alignment Network (HMAN) which learns an effective joint embedding space for moments and sentences. In addition to learning subtle differences between intra-video moments, HMAN focuses on distinguishing inter-video global semantic concepts based on sentence queries. Qualitative and quantitative results on three benchmark text-based video moment retrieval datasets - Charades-STA, DiDeMo, and ActivityNet Captions - demonstrate that our method achieves promising performance on the proposed task of temporal localization of moments in a corpus of videos.

Weakly Supervised Video Moment Retrieval From Text Queries

There have been a few recent methods proposed in text to video moment retrieval using natural language queries, but requiring full supervision during training. However, acquiring a large number of training videos with temporal boundary annotations for each text description is extremely time-consuming and often not scalable. In order to cope with this issue, in this work, we introduce the problem of learning from weak labels for the task of text to video moment retrieval. The weak nature of the supervision is because, during training, we only have access to the video-text pairs rather than the temporal extent of the video to which different text descriptions relate. We propose a joint visual-semantic embedding based framework that learns the notion of relevant segments from video using only video-level sentence descriptions. Specifically, our main idea is to utilize latent alignment between video frames and sentence descriptions using Text-Guided Attention (TGA). TGA is then used during the test phase to retrieve relevant moments. Experiments on two benchmark datasets demonstrate that our method achieves comparable performance to state-of-the-art fully supervised approaches.

Webly Supervised Joint Embedding for Cross-Modal Image-Text Retrieval

Cross-modal retrieval between visual data and natural language description remains a long-standing challenge in multimedia. While recent image-text retrieval methods offer great promise by learning deep representations aligned across modalities, most of these methods are plagued by the issue of training with small-scale datasets covering a limited number of images with ground-truth sentences. Moreover, it is extremely expensive to create a larger dataset by annotating millions of images with sentences and may lead to a biased model. Inspired by the recent success of webly supervised learning in deep neural networks, we capitalize on readily-available web images with noisy annotations to learn robust image-text joint representation. Specifically, our main idea is to leverage web images and corresponding tags, along with fully annotated datasets, in training for learning the visual-semantic joint embedding. We propose a two-stage approach for the task that can augment a typical supervised pair-wise ranking loss based formulation with weakly-annotated web images to learn a more robust visual-semantic embedding. Experiments on two standard benchmark datasets demonstrate that our method achieves a significant performance gain in image-text retrieval compared to state-of-the-art approaches.

Diversity-aware Multi-Video Summarization

Most video summarization approaches have focused on extracting a summary from a single video; we propose an unsupervised framework for summarizing a collection of videos. We observe that each video in the collection may contain some information that other videos do not have, and thus exploring the underlying complementarity could be beneficial in creating a diverse informative summary. We develop a novel diversity-aware sparse optimization method for multi-video summarization by exploring the complementarity within the videos. Our approach extracts a multi-video summary which is both interesting and representative in describing the whole video collection. To efficiently solve our optimization problem, we develop an alternating minimization algorithm that minimizes the overall objective function with respect to one video at a time while fixing the other videos. Moreover, we introduce a new benchmark dataset, Tour20, that contains 140 videos with multiple human created summaries, which were acquired in a controlled experiment. Finally, by extensive experiments on the new Tour20 dataset and several other multi-view datasets, we show that the proposed approach clearly outperforms the state-of-the-art methods on the two problems-topic-oriented video summarization and multi-view video summarization in a camera network.