$\mathrm{F^2Depth}$: Self-supervised Indoor Monocular Depth Estimation via Optical Flow Consistency and Feature Map Synthesis

Self-supervised monocular depth estimation methods have been increasingly given much attention due to the benefit of not requiring large, labelled datasets. Such self-supervised methods require high-quality salient features and consequently suffer from severe performance drop for indoor scenes, where low-textured regions dominant in the scenes are almost indiscriminative. To address the issue, we propose a self-supervised indoor monocular depth estimation framework called $\mathrm{F^2Depth}$. A self-supervised optical flow estimation network is introduced to supervise depth learning. To improve optical flow estimation performance in low-textured areas, only some patches of points with more discriminative features are adopted for finetuning based on our well-designed patch-based photometric loss. The finetuned optical flow estimation network generates high-accuracy optical flow as a supervisory signal for depth estimation. Correspondingly, an optical flow consistency loss is designed. Multi-scale feature maps produced by finetuned optical flow estimation network perform warping to compute feature map synthesis loss as another supervisory signal for depth learning. Experimental results on the NYU Depth V2 dataset demonstrate the effectiveness of the framework and our proposed losses. To evaluate the generalization ability of our $\mathrm{F^2Depth}$, we collect a Campus Indoor depth dataset composed of approximately 1500 points selected from 99 images in 18 scenes. Zero-shot generalization experiments on 7-Scenes dataset and Campus Indoor achieve $\delta_1$ accuracy of 75.8% and 76.0% respectively. The accuracy results show that our model can generalize well to monocular images captured in unknown indoor scenes.

Efficient Continuous-Time Ego-Motion Estimation for Asynchronous Event-based Data Associations

Event cameras are bio-inspired vision sensors that asynchronously measure per-pixel brightness changes. The high temporal resolution and asynchronicity of event cameras offer great potential for estimating the robot motion state. Recent works have adopted the continuous-time ego-motion estimation methods to exploit the inherent nature of event cameras. However, most of the adopted methods have poor real-time performance. To alleviate it, a lightweight Gaussian Process (GP)-based estimation framework is proposed to efficiently estimate motion trajectory from asynchronous event-driven data associations. Concretely, an asynchronous front-end pipeline is designed to adapt event-driven feature trackers and generate feature trajectories from event streams; a parallel dynamic sliding-window back-end is presented within the framework of sparse GP regression on SE(3). Notably, a specially designed state marginalization strategy is employed to ensure the consistency and sparsity of this GP regression. Experiments conducted on synthetic and real-world datasets demonstrate that the proposed method achieves competitive precision and superior robustness compared to the state-of-the-art. Furthermore, the evaluations on three 60 s trajectories show that the proposal outperforms the ISAM2-based method in terms of computational efficiency by 2.64, 4.22, and 11.70 times, respectively.

Feature Denoising Diffusion Model for Blind Image Quality Assessment

Blind Image Quality Assessment (BIQA) aims to evaluate image quality in line with human perception, without reference benchmarks. Currently, deep learning BIQA methods typically depend on using features from high-level tasks for transfer learning. However, the inherent differences between BIQA and these high-level tasks inevitably introduce noise into the quality-aware features. In this paper, we take an initial step towards exploring the diffusion model for feature denoising in BIQA, namely Perceptual Feature Diffusion for IQA (PFD-IQA), which aims to remove noise from quality-aware features. Specifically, (i) We propose a {Perceptual Prior Discovery and Aggregation module to establish two auxiliary tasks to discover potential low-level features in images that are used to aggregate perceptual text conditions for the diffusion model. (ii) We propose a Perceptual Prior-based Feature Refinement strategy, which matches noisy features to predefined denoising trajectories and then performs exact feature denoising based on text conditions. Extensive experiments on eight standard BIQA datasets demonstrate the superior performance to the state-of-the-art BIQA methods, i.e., achieving the PLCC values of 0.935 ( vs. 0.905 in KADID) and 0.922 ( vs. 0.894 in LIVEC).

Projective Parallel Single-Pixel Imaging: 3D Structured Light Scanning Under Global Illumination

We present projective parallel single-pixel imaging (pPSI), a 3D photography method that provides a robust and efficient way to analyze the light transport behavior and enables separation of light effect due to global illumination, thereby achieving 3D structured light scanning under global illumination. The light transport behavior is described by the light transport coefficients (LTC), which contain complete information for a projector camera pair, and is a 4D data set. However, the capture of LTC is generally time consuming. The 4D LTC in pPSI are reduced to projection functions, thereby enabling a highly efficient data capture process. We introduce the local maximum constraint, which provides constraint for the location of candidate correspondence matching points when projections are captured. Local slice extension (LSE) method is introduced to accelerate the capture of projection functions. Optimization is conducted for pPSI under several situations. The number of projection functions required for pPSI is optimized and the influence of capture ratio in LSE on the accuracy of the correspondence matching points is investigated. Discussions and experiments include two typical kinds of global illuminations: inter-reflections and subsurface scattering. The proposed method is validated with several challenging scenarios, and outperforms the state-of-the-art methods.

Adaptive Feature Selection for No-Reference Image Quality Assessment using Contrastive Mitigating Semantic Noise Sensitivity

The current state-of-the-art No-Reference Image Quality Assessment (NR-IQA) methods typically use feature extraction in upstream backbone networks, which assumes that all extracted features are relevant. However, we argue that not all features are beneficial, and some may even be harmful, necessitating careful selection. Empirically, we find that many image pairs with small feature spatial distances can have vastly different quality scores. To address this issue, we propose a Quality-Aware Feature Matching IQA metric(QFM-IQM) that employs contrastive learning to remove harmful features from the upstream task. Specifically, our approach enhances the semantic noise distinguish capabilities of neural networks by comparing image pairs with similar semantic features but varying quality scores and adaptively adjusting the upstream task's features by introducing disturbance. Furthermore, we utilize a distillation framework to expand the dataset and improve the model's generalization ability. Our approach achieves superior performance to the state-of-the-art NR-IQA methods on 8 standard NR-IQA datasets, achieving PLCC values of 0.932 (vs. 0.908 in TID2013) and 0.913 (vs. 0.894 in LIVEC).

Less is More: Learning Reference Knowledge Using No-Reference Image Quality Assessment

Image Quality Assessment (IQA) with reference images have achieved great success by imitating the human vision system, in which the image quality is effectively assessed by comparing the query image with its pristine reference image. However, for the images in the wild, it is quite difficult to access accurate reference images. We argue that it is possible to learn reference knowledge under the No-Reference Image Quality Assessment (NR-IQA) setting, which is effective and efficient empirically. Concretely, by innovatively introducing a novel feature distillation method in IQA, we propose a new framework to learn comparative knowledge from non-aligned reference images. And then, to achieve fast convergence and avoid overfitting, we further propose an inductive bias regularization. Such a framework not only solves the congenital defects of NR-IQA but also improves the feature extraction framework, enabling it to express more abundant quality information. Surprisingly, our method utilizes less input while obtaining a more significant improvement compared to the teacher models. Extensive experiments on eight standard NR-IQA datasets demonstrate the superior performance to the state-of-the-art NR-IQA methods, i.e., achieving the PLCC values of 0.917 (vs. 0.884 in LIVEC) and 0.686 (vs. 0.661 in LIVEFB).

Data-Driven Minimax Optimization with Expectation Constraints

Attention to data-driven optimization approaches, including the well-known stochastic gradient descent method, has grown significantly over recent decades, but data-driven constraints have rarely been studied, because of the computational challenges of projections onto the feasible set defined by these hard constraints. In this paper, we focus on the non-smooth convex-concave stochastic minimax regime and formulate the data-driven constraints as expectation constraints. The minimax expectation constrained problem subsumes a broad class of real-world applications, including two-player zero-sum game and data-driven robust optimization. We propose a class of efficient primal-dual algorithms to tackle the minimax expectation-constrained problem, and show that our algorithms converge at the optimal rate of $\mathcal{O}(\frac{1}{\sqrt{N}})$. We demonstrate the practical efficiency of our algorithms by conducting numerical experiments on large-scale real-world applications.

Robust Security Analysis Based on Random Geometry Theory for Satellite-Terrestrial-Vehicle Network

Driven by B5G and 6G technologies, multi-network fusion is an indispensable tendency for future communications. In this paper, we focus on and analyze the \emph{security performance} (SP) of the \emph{satellite-terrestrial downlink transmission} (STDT). Here, the STDT is composed of a satellite network and a vehicular network with a legitimate mobile receiver and an mobile eavesdropper distributing. To theoretically analyze the SP of this system from the perspective of mobile terminals better, the random geometry theory is adopted, which assumes that both terrestrial vehicles are distributed stochastically in one beam of the satellite. Furthermore, based on this theory, the closed-form analytical expressions for two crucial and specific indicators in the STDT are derived, respectively, the secrecy outage probability and the ergodic secrecy capacity. Additionally, several related variables restricting the SP of the STDT are discussed, and specific schemes are presented to enhance the SP. Then, the asymptotic property is investigated in the high signal-to-noise ratio scenario, and accurate and asymptotic closed-form expressions are given. Finally, simulation results show that, under the precondition of guaranteeing the reliability of the STDT, the asymptotic solutions outperform the corresponding accurate results significantly in the effectiveness.

On Geometric Connections of Embedded and Quotient Geometries in Riemannian Fixed-rank Matrix Optimization

In this paper, we propose a general procedure for establishing the landscape connections of a Riemannian optimization problem under the embedded and quotient geometries. By applying the general procedure to the fixed-rank positive semidefinite (PSD) and general matrix optimization, we establish an exact Riemannian gradient connection under two geometries at every point on the manifold and sandwich inequalities between the spectra of Riemannian Hessians at Riemannian first-order stationary points (FOSPs). These results immediately imply an equivalence on the sets of Riemannian FOSPs, Riemannian second-order stationary points (SOSPs) and strict saddles of fixed-rank matrix optimization under the embedded and the quotient geometries. To the best of our knowledge, this is the first geometric landscape connection between the embedded and the quotient geometries for fixed-rank matrix optimization and it provides a concrete example on how these two geometries are connected in Riemannian optimization. In addition, the effects of the Riemannian metric and quotient structure on the landscape connection are discussed. We also observe an algorithmic connection for fixed-rank matrix optimization under two geometries with some specific Riemannian metrics. A number of novel ideas and technical ingredients including a unified treatment for different Riemannian metrics and new horizontal space representations under quotient geometries are developed to obtain our results. The results in this paper deepen our understanding of geometric connections of Riemannian optimization under different Riemannian geometries and provide a few new theoretical insights to unanswered questions in the literature.

Nonconvex Factorization and Manifold Formulations are Almost Equivalent in Low-rank Matrix Optimization

In this paper, we consider the geometric landscape connection of the widely studied manifold and factorization formulations in low-rank positive semidefinite (PSD) and general matrix optimization. We establish an equivalence on the set of first-order stationary points (FOSPs) and second-order stationary points (SOSPs) between the manifold and the factorization formulations. We further give a sandwich inequality on the spectrum of Riemannian and Euclidean Hessians at FOSPs, which can be used to transfer more geometric properties from one formulation to another. Similarities and differences on the landscape connection under the PSD case and the general case are discussed. To the best of our knowledge, this is the first geometric landscape connection between the manifold and the factorization formulations for handling rank constraints. In the general low-rank matrix optimization, the landscape connection of two factorization formulations (unregularized and regularized ones) is also provided. By applying these geometric landscape connections, we are able to solve unanswered questions in literature and establish stronger results in the applications on geometric analysis of phase retrieval, well-conditioned low-rank matrix optimization, and the role of regularization in factorization arising from machine learning and signal processing.