Codebook Transfer with Part-of-Speech for Vector-Quantized Image Modeling

Vector-Quantized Image Modeling (VQIM) is a fundamental research problem in image synthesis, which aims to represent an image with a discrete token sequence. Existing studies effectively address this problem by learning a discrete codebook from scratch and in a code-independent manner to quantize continuous representations into discrete tokens. However, learning a codebook from scratch and in a code-independent manner is highly challenging, which may be a key reason causing codebook collapse, i.e., some code vectors can rarely be optimized without regard to the relationship between codes and good codebook priors such that die off finally. In this paper, inspired by pretrained language models, we find that these language models have actually pretrained a superior codebook via a large number of text corpus, but such information is rarely exploited in VQIM. To this end, we propose a novel codebook transfer framework with part-of-speech, called VQCT, which aims to transfer a well-trained codebook from pretrained language models to VQIM for robust codebook learning. Specifically, we first introduce a pretrained codebook from language models and part-of-speech knowledge as priors. Then, we construct a vision-related codebook with these priors for achieving codebook transfer. Finally, a novel codebook transfer network is designed to exploit abundant semantic relationships between codes contained in pretrained codebooks for robust VQIM codebook learning. Experimental results on four datasets show that our VQCT method achieves superior VQIM performance over previous state-of-the-art methods.

FoundLoc: Vision-based Onboard Aerial Localization in the Wild

Robust and accurate localization for Unmanned Aerial Vehicles (UAVs) is an essential capability to achieve autonomous, long-range flights. Current methods either rely heavily on GNSS, face limitations in visual-based localization due to appearance variances and stylistic dissimilarities between camera and reference imagery, or operate under the assumption of a known initial pose. In this paper, we developed a GNSS-denied localization approach for UAVs that harnesses both Visual-Inertial Odometry (VIO) and Visual Place Recognition (VPR) using a foundation model. This paper presents a novel vision-based pipeline that works exclusively with a nadir-facing camera, an Inertial Measurement Unit (IMU), and pre-existing satellite imagery for robust, accurate localization in varied environments and conditions. Our system demonstrated average localization accuracy within a $20$-meter range, with a minimum error below $1$ meter, under real-world conditions marked by drastic changes in environmental appearance and with no assumption of the vehicle's initial pose. The method is proven to be effective and robust, addressing the crucial need for reliable UAV localization in GNSS-denied environments, while also being computationally efficient enough to be deployed on resource-constrained platforms.

Toward Efficient and Robust Multiple Camera Visual-inertial Odometry

Efficiency and robustness are the essential criteria for the visual-inertial odometry (VIO) system. To process massive visual data, the high cost on CPU resources and computation latency limits VIO's possibility in integration with other applications. Recently, the powerful embedded GPUs have great potentials to improve the front-end image processing capability. Meanwhile, multi-camera systems can increase the visual constraints for back-end optimization. Inspired by these insights, we incorporate the GPU-enhanced algorithms in the field of VIO and thus propose a new front-end with NVIDIA Vision Programming Interface (VPI). This new front-end then enables multi-camera VIO feature association and provides more stable back-end pose optimization. Experiments with our new front-end on monocular datasets show the CPU resource occupation rate and computational latency are reduced by 40.4% and 50.6% without losing accuracy compared with the original VIO. The multi-camera system shows a higher VIO initialization success rate and better robustness overall state estimation.