Decoupled Multimodal Prototypes for Visual Recognition with Missing Modalities

Multimodal learning enhances deep learning models by enabling them to perceive and understand information from multiple data modalities, such as visual and textual inputs. However, most existing approaches assume the availability of all modalities, an assumption that often fails in real-world applications. Recent works have introduced learnable missing-case-aware prompts to mitigate performance degradation caused by missing modalities while reducing the need for extensive model fine-tuning. Building upon the effectiveness of missing-case-aware handling for missing modalities, we propose a novel decoupled prototype-based output head, which leverages missing-case-aware class-wise prototypes tailored for each individual modality. This approach dynamically adapts to different missing modality scenarios and can be seamlessly integrated with existing prompt-based methods. Extensive experiments demonstrate that our proposed output head significantly improves performance across a wide range of missing-modality scenarios and varying missing rates.

LIR-LIVO: A Lightweight,Robust LiDAR/Vision/Inertial Odometry with Illumination-Resilient Deep Features

In this paper, we propose LIR-LIVO, a lightweight and robust LiDAR-inertial-visual odometry system designed for challenging illumination and degraded environments. The proposed method leverages deep learning-based illumination-resilient features and LiDAR-Inertial-Visual Odometry (LIVO). By incorporating advanced techniques such as uniform depth distribution of features enabled by depth association with LiDAR point clouds and adaptive feature matching utilizing Superpoint and LightGlue, LIR-LIVO achieves state-of-the-art (SOTA) accuracy and robustness with low computational cost. Experiments are conducted on benchmark datasets, including NTU-VIRAL, Hilti'22, and R3LIVE-Dataset. The corresponding results demonstrate that our proposed method outperforms other SOTA methods on both standard and challenging datasets. Particularly, the proposed method demonstrates robust pose estimation under poor ambient lighting conditions in the Hilti'22 dataset. The code of this work is publicly accessible on GitHub to facilitate advancements in the robotics community.