EPro-PnP: Generalized End-to-End Probabilistic Perspective-n-Points for Monocular Object Pose Estimation

Locating 3D objects from a single RGB image via Perspective-n-Point (PnP) is a long-standing problem in computer vision. Driven by end-to-end deep learning, recent studies suggest interpreting PnP as a differentiable layer, allowing for partial learning of 2D-3D point correspondences by backpropagating the gradients of pose loss. Yet, learning the entire correspondences from scratch is highly challenging, particularly for ambiguous pose solutions, where the globally optimal pose is theoretically non-differentiable w.r.t. the points. In this paper, we propose the EPro-PnP, a probabilistic PnP layer for general end-to-end pose estimation, which outputs a distribution of pose with differentiable probability density on the SE(3) manifold. The 2D-3D coordinates and corresponding weights are treated as intermediate variables learned by minimizing the KL divergence between the predicted and target pose distribution. The underlying principle generalizes previous approaches, and resembles the attention mechanism. EPro-PnP can enhance existing correspondence networks, closing the gap between PnP-based method and the task-specific leaders on the LineMOD 6DoF pose estimation benchmark. Furthermore, EPro-PnP helps to explore new possibilities of network design, as we demonstrate a novel deformable correspondence network with the state-of-the-art pose accuracy on the nuScenes 3D object detection benchmark. Our code is available at https://github.com/tjiiv-cprg/EPro-PnP-v2.

Revisit Parameter-Efficient Transfer Learning: A Two-Stage Paradigm

Parameter-Efficient Transfer Learning (PETL) aims at efficiently adapting large models pre-trained on massive data to downstream tasks with limited task-specific data. In view of the practicality of PETL, previous works focus on tuning a small set of parameters for each downstream task in an end-to-end manner while rarely considering the task distribution shift issue between the pre-training task and the downstream task. This paper proposes a novel two-stage paradigm, where the pre-trained model is first aligned to the target distribution. Then the task-relevant information is leveraged for effective adaptation. Specifically, the first stage narrows the task distribution shift by tuning the scale and shift in the LayerNorm layers. In the second stage, to efficiently learn the task-relevant information, we propose a Taylor expansion-based importance score to identify task-relevant channels for the downstream task and then only tune such a small portion of channels, making the adaptation to be parameter-efficient. Overall, we present a promising new direction for PETL, and the proposed paradigm achieves state-of-the-art performance on the average accuracy of 19 downstream tasks.

Head-Free Lightweight Semantic Segmentation with Linear Transformer

Existing semantic segmentation works have been mainly focused on designing effective decoders; however, the computational load introduced by the overall structure has long been ignored, which hinders their applications on resource-constrained hardwares. In this paper, we propose a head-free lightweight architecture specifically for semantic segmentation, named Adaptive Frequency Transformer. It adopts a parallel architecture to leverage prototype representations as specific learnable local descriptions which replaces the decoder and preserves the rich image semantics on high-resolution features. Although removing the decoder compresses most of the computation, the accuracy of the parallel structure is still limited by low computational resources. Therefore, we employ heterogeneous operators (CNN and Vision Transformer) for pixel embedding and prototype representations to further save computational costs. Moreover, it is very difficult to linearize the complexity of the vision Transformer from the perspective of spatial domain. Due to the fact that semantic segmentation is very sensitive to frequency information, we construct a lightweight prototype learning block with adaptive frequency filter of complexity $O(n)$ to replace standard self attention with $O(n^{2})$. Extensive experiments on widely adopted datasets demonstrate that our model achieves superior accuracy while retaining only 3M parameters. On the ADE20K dataset, our model achieves 41.8 mIoU and 4.6 GFLOPs, which is 4.4 mIoU higher than Segformer, with 45% less GFLOPs. On the Cityscapes dataset, our model achieves 78.7 mIoU and 34.4 GFLOPs, which is 2.5 mIoU higher than Segformer with 72.5% less GFLOPs. Code is available at https://github.com/dongbo811/AFFormer.

A Unified Multimodal De- and Re-coupling Framework for RGB-D Motion Recognition

Motion recognition is a promising direction in computer vision, but the training of video classification models is much harder than images due to insufficient data and considerable parameters. To get around this, some works strive to explore multimodal cues from RGB-D data. Although improving motion recognition to some extent, these methods still face sub-optimal situations in the following aspects: (i) Data augmentation, i.e., the scale of the RGB-D datasets is still limited, and few efforts have been made to explore novel data augmentation strategies for videos; (ii) Optimization mechanism, i.e., the tightly space-time-entangled network structure brings more challenges to spatiotemporal information modeling; And (iii) cross-modal knowledge fusion, i.e., the high similarity between multimodal representations caused to insufficient late fusion. To alleviate these drawbacks, we propose to improve RGB-D-based motion recognition both from data and algorithm perspectives in this paper. In more detail, firstly, we introduce a novel video data augmentation method dubbed ShuffleMix, which acts as a supplement to MixUp, to provide additional temporal regularization for motion recognition. Secondly, a Unified Multimodal De-coupling and multi-stage Re-coupling framework, termed UMDR, is proposed for video representation learning. Finally, a novel cross-modal Complement Feature Catcher (CFCer) is explored to mine potential commonalities features in multimodal information as the auxiliary fusion stream, to improve the late fusion results. The seamless combination of these novel designs forms a robust spatiotemporal representation and achieves better performance than state-of-the-art methods on four public motion datasets. Specifically, UMDR achieves unprecedented improvements of +4.5% on the Chalearn IsoGD dataset.Our code is available at https://github.com/zhoubenjia/MotionRGBD-PAMI.

Focal and Global Spatial-Temporal Transformer for Skeleton-based Action Recognition

Despite great progress achieved by transformer in various vision tasks, it is still underexplored for skeleton-based action recognition with only a few attempts. Besides, these methods directly calculate the pair-wise global self-attention equally for all the joints in both the spatial and temporal dimensions, undervaluing the effect of discriminative local joints and the short-range temporal dynamics. In this work, we propose a novel Focal and Global Spatial-Temporal Transformer network (FG-STFormer), that is equipped with two key components: (1) FG-SFormer: focal joints and global parts coupling spatial transformer. It forces the network to focus on modelling correlations for both the learned discriminative spatial joints and human body parts respectively. The selective focal joints eliminate the negative effect of non-informative ones during accumulating the correlations. Meanwhile, the interactions between the focal joints and body parts are incorporated to enhance the spatial dependencies via mutual cross-attention. (2) FG-TFormer: focal and global temporal transformer. Dilated temporal convolution is integrated into the global self-attention mechanism to explicitly capture the local temporal motion patterns of joints or body parts, which is found to be vital important to make temporal transformer work. Extensive experimental results on three benchmarks, namely NTU-60, NTU-120 and NW-UCLA, show our FG-STFormer surpasses all existing transformer-based methods, and compares favourably with state-of-the art GCN-based methods.

Effective Vision Transformer Training: A Data-Centric Perspective

Vision Transformers (ViTs) have shown promising performance compared with Convolutional Neural Networks (CNNs), but the training of ViTs is much harder than CNNs. In this paper, we define several metrics, including Dynamic Data Proportion (DDP) and Knowledge Assimilation Rate (KAR), to investigate the training process, and divide it into three periods accordingly: formation, growth and exploration. In particular, at the last stage of training, we observe that only a tiny portion of training examples is used to optimize the model. Given the data-hungry nature of ViTs, we thus ask a simple but important question: is it possible to provide abundant ``effective'' training examples at EVERY stage of training? To address this issue, we need to address two critical questions, \ie, how to measure the ``effectiveness'' of individual training examples, and how to systematically generate enough number of ``effective'' examples when they are running out. To answer the first question, we find that the ``difficulty'' of training samples can be adopted as an indicator to measure the ``effectiveness'' of training samples. To cope with the second question, we propose to dynamically adjust the ``difficulty'' distribution of the training data in these evolution stages. To achieve these two purposes, we propose a novel data-centric ViT training framework to dynamically measure the ``difficulty'' of training samples and generate ``effective'' samples for models at different training stages. Furthermore, to further enlarge the number of ``effective'' samples and alleviate the overfitting problem in the late training stage of ViTs, we propose a patch-level erasing strategy dubbed PatchErasing. Extensive experiments demonstrate the effectiveness of the proposed data-centric ViT training framework and techniques.

FT-HID: A Large Scale RGB-D Dataset for First and Third Person Human Interaction Analysis

Analysis of human interaction is one important research topic of human motion analysis. It has been studied either using first person vision (FPV) or third person vision (TPV). However, the joint learning of both types of vision has so far attracted little attention. One of the reasons is the lack of suitable datasets that cover both FPV and TPV. In addition, existing benchmark datasets of either FPV or TPV have several limitations, including the limited number of samples, participant subjects, interaction categories, and modalities. In this work, we contribute a large-scale human interaction dataset, namely, FT-HID dataset. FT-HID contains pair-aligned samples of first person and third person visions. The dataset was collected from 109 distinct subjects and has more than 90K samples for three modalities. The dataset has been validated by using several existing action recognition methods. In addition, we introduce a novel multi-view interaction mechanism for skeleton sequences, and a joint learning multi-stream framework for first person and third person visions. Both methods yield promising results on the FT-HID dataset. It is expected that the introduction of this vision-aligned large-scale dataset will promote the development of both FPV and TPV, and their joint learning techniques for human action analysis. The dataset and code are available at \href{https://github.com/ENDLICHERE/FT-HID}{here}.

BP-Triplet Net for Unsupervised Domain Adaptation: A Bayesian Perspective

Triplet loss, one of the deep metric learning (DML) methods, is to learn the embeddings where examples from the same class are closer than examples from different classes. Motivated by DML, we propose an effective BP-Triplet Loss for unsupervised domain adaption (UDA) from the perspective of Bayesian learning and we name the model as BP-Triplet Net. In previous metric learning based methods for UDA, sample pairs across domains are treated equally, which is not appropriate due to the domain bias. In our work, considering the different importance of pair-wise samples for both feature learning and domain alignment, we deduce our BP-Triplet loss for effective UDA from the perspective of Bayesian learning. Our BP-Triplet loss adjusts the weights of pair-wise samples in intra domain and inter domain. Especially, it can self attend to the hard pairs (including hard positive pair and hard negative pair). Together with the commonly used adversarial loss for domain alignment, the quality of target pseudo labels is progressively improved. Our method achieved low joint error of the ideal source and target hypothesis. The expected target error can then be upper bounded following Ben-David s theorem. Comprehensive evaluations on five benchmark datasets, handwritten digits, Office31, ImageCLEF-DA, Office-Home and VisDA-2017 demonstrate the effectiveness of the proposed approach for UDA.

Image-to-Video Re-Identification via Mutual Discriminative Knowledge Transfer

The gap in representations between image and video makes Image-to-Video Re-identification (I2V Re-ID) challenging, and recent works formulate this problem as a knowledge distillation (KD) process. In this paper, we propose a mutual discriminative knowledge distillation framework to transfer a video-based richer representation to an image based representation more effectively. Specifically, we propose the triplet contrast loss (TCL), a novel loss designed for KD. During the KD process, the TCL loss transfers the local structure, exploits the higher order information, and mitigates the misalignment of the heterogeneous output of teacher and student networks. Compared with other losses for KD, the proposed TCL loss selectively transfers the local discriminative features from teacher to student, making it effective in the ReID. Besides the TCL loss, we adopt mutual learning to regularize both the teacher and student networks training. Extensive experiments demonstrate the effectiveness of our method on the MARS, DukeMTMC-VideoReID and VeRi-776 benchmarks.

ELSA: Enhanced Local Self-Attention for Vision Transformer

Self-attention is powerful in modeling long-range dependencies, but it is weak in local finer-level feature learning. The performance of local self-attention (LSA) is just on par with convolution and inferior to dynamic filters, which puzzles researchers on whether to use LSA or its counterparts, which one is better, and what makes LSA mediocre. To clarify these, we comprehensively investigate LSA and its counterparts from two sides: \emph{channel setting} and \emph{spatial processing}. We find that the devil lies in the generation and application of spatial attention, where relative position embeddings and the neighboring filter application are key factors. Based on these findings, we propose the enhanced local self-attention (ELSA) with Hadamard attention and the ghost head. Hadamard attention introduces the Hadamard product to efficiently generate attention in the neighboring case, while maintaining the high-order mapping. The ghost head combines attention maps with static matrices to increase channel capacity. Experiments demonstrate the effectiveness of ELSA. Without architecture / hyperparameter modification, drop-in replacing LSA with ELSA boosts Swin Transformer \cite{swin} by up to +1.4 on top-1 accuracy. ELSA also consistently benefits VOLO \cite{volo} from D1 to D5, where ELSA-VOLO-D5 achieves 87.2 on the ImageNet-1K without extra training images. In addition, we evaluate ELSA in downstream tasks. ELSA significantly improves the baseline by up to +1.9 box Ap / +1.3 mask Ap on the COCO, and by up to +1.9 mIoU on the ADE20K. Code is available at \url{https://github.com/damo-cv/ELSA}.