Object detection is a challenging task in remote sensing because objects only occupy a few pixels in the images, and the models are required to simultaneously learn object locations and detection. Even though the established approaches well perform for the objects of regular sizes, they achieve weak performance when analyzing small ones or getting stuck in the local minima (e.g. false object parts). Two possible issues stand in their way. First, the existing methods struggle to perform stably on the detection of small objects because of the complicated background. Second, most of the standard methods used hand-crafted features, and do not work well on the detection of objects parts of which are missing. We here address the above issues and propose a new architecture with a multiple patch feature pyramid network (MPFP-Net). Different from the current models that during training only pursue the most discriminative patches, in MPFPNet the patches are divided into class-affiliated subsets, in which the patches are related and based on the primary loss function, a sequence of smooth loss functions are determined for the subsets to improve the model for collecting small object parts. To enhance the feature representation for patch selection, we introduce an effective method to regularize the residual values and make the fusion transition layers strictly norm-preserving. The network contains bottom-up and crosswise connections to fuse the features of different scales to achieve better accuracy, compared to several state-of-the-art object detection models. Also, the developed architecture is more efficient than the baselines.
We propose augmenting deep neural networks with an attention mechanism for the visual object detection task. As perceiving a scene, humans have the capability of multiple fixation points, each attended to scene content at different locations and scales. However, such a mechanism is missing in the current state-of-the-art visual object detection methods. Inspired by the human vision system, we propose a novel deep network architecture that imitates this attention mechanism. As detecting objects in an image, the network adaptively places a sequence of glimpses of different shapes at different locations in the image. Evidences of the presence of an object and its location are extracted from these glimpses, which are then fused for estimating the object class and bounding box coordinates. Due to lacks of ground truth annotations of the visual attention mechanism, we train our network using a reinforcement learning algorithm with policy gradients. Experiment results on standard object detection benchmarks show that the proposed network consistently outperforms the baseline networks that does not model the attention mechanism.
In this paper, we propose deformable deep convolutional neural networks for generic object detection. This new deep learning object detection framework has innovations in multiple aspects. In the proposed new deep architecture, a new deformation constrained pooling (def-pooling) layer models the deformation of object parts with geometric constraint and penalty. A new pre-training strategy is proposed to learn feature representations more suitable for the object detection task and with good generalization capability. By changing the net structures, training strategies, adding and removing some key components in the detection pipeline, a set of models with large diversity are obtained, which significantly improves the effectiveness of model averaging. The proposed approach improves the mean averaged precision obtained by RCNN \cite{girshick2014rich}, which was the state-of-the-art, from 31\% to 50.3\% on the ILSVRC2014 detection test set. It also outperforms the winner of ILSVRC2014, GoogLeNet, by 6.1\%. Detailed component-wise analysis is also provided through extensive experimental evaluation, which provide a global view for people to understand the deep learning object detection pipeline.
Few-shot object detection (FSOD) aims to detect objects using only few examples. It's critically needed for many practical applications but so far remains challenging. We propose a meta-learning based few-shot object detection method by transferring meta-knowledge learned from data-abundant base classes to data-scarce novel classes. Our method incorporates a coarse-to-fine approach into the proposal based object detection framework and integrates prototype based classifiers into both the proposal generation and classification stages. To improve proposal generation for few-shot novel classes, we propose to learn a lightweight matching network to measure the similarity between each spatial position in the query image feature map and spatially-pooled class features, instead of the traditional object/nonobject classifier, thus generating category-specific proposals and improving proposal recall for novel classes. To address the spatial misalignment between generated proposals and few-shot class examples, we propose a novel attentive feature alignment method, thus improving the performance of few-shot object detection. Meanwhile we jointly learn a Faster R-CNN detection head for base classes. Extensive experiments conducted on multiple FSOD benchmarks show our proposed approach achieves state of the art results under (incremental) few-shot learning settings.
The strong demand of autonomous driving in the industry has lead to strong interest in 3D object detection and resulted in many excellent 3D object detection algorithms. However, the vast majority of algorithms only model single-frame data, ignoring the temporal information of the sequence of data. In this work, we propose a new transformer, called Temporal-Channel Transformer, to model the spatial-temporal domain and channel domain relationships for video object detecting from Lidar data. As a special design of this transformer, the information encoded in the encoder is different from that in the decoder, i.e. the encoder encodes temporal-channel information of multiple frames while the decoder decodes the spatial-channel information for the current frame in a voxel-wise manner. Specifically, the temporal-channel encoder of the transformer is designed to encode the information of different channels and frames by utilizing the correlation among features from different channels and frames. On the other hand, the spatial decoder of the transformer will decode the information for each location of the current frame. Before conducting the object detection with detection head, the gate mechanism is deployed for re-calibrating the features of current frame, which filters out the object irrelevant information by repetitively refine the representation of target frame along with the up-sampling process. Experimental results show that we achieve the state-of-the-art performance in grid voxel-based 3D object detection on the nuScenes benchmark.
We introduce H3DNet, which takes a colorless 3D point cloud as input and outputs a collection of oriented object bounding boxes (or BB) and their semantic labels. The critical idea of H3DNet is to predict a hybrid set of geometric primitives, i.e., BB centers, BB face centers, and BB edge centers. We show how to convert the predicted geometric primitives into object proposals by defining a distance function between an object and the geometric primitives. This distance function enables continuous optimization of object proposals, and its local minimums provide high-fidelity object proposals. H3DNet then utilizes a matching and refinement module to classify object proposals into detected objects and fine-tune the geometric parameters of the detected objects. The hybrid set of geometric primitives not only provides more accurate signals for object detection than using a single type of geometric primitives, but it also provides an overcomplete set of constraints on the resulting 3D layout. Therefore, H3DNet can tolerate outliers in predicted geometric primitives. Our model achieves state-of-the-art 3D detection results on two large datasets with real 3D scans, ScanNet and SUN RGB-D.
Detection of objects in cluttered indoor environments is one of the key enabling functionalities for service robots. The best performing object detection approaches in computer vision exploit deep Convolutional Neural Networks (CNN) to simultaneously detect and categorize the objects of interest in cluttered scenes. Training of such models typically requires large amounts of annotated training data which is time consuming and costly to obtain. In this work we explore the ability of using synthetically generated composite images for training state-of-the-art object detectors, especially for object instance detection. We superimpose 2D images of textured object models into images of real environments at variety of locations and scales. Our experiments evaluate different superimposition strategies ranging from purely image-based blending all the way to depth and semantics informed positioning of the object models into real scenes. We demonstrate the effectiveness of these object detector training strategies on two publicly available datasets, the GMU-Kitchens and the Washington RGB-D Scenes v2. As one observation, augmenting some hand-labeled training data with synthetic examples carefully composed onto scenes yields object detectors with comparable performance to using much more hand-labeled data. Broadly, this work charts new opportunities for training detectors for new objects by exploiting existing object model repositories in either a purely automatic fashion or with only a very small number of human-annotated examples.
With the improvement of computer performance and the increase of data volume, the object detection based on convolutional neural network (CNN) has become the main algorithm for object detection. This paper summarizes the research progress of convolutional neural networks and their applications in object detection, and focuses on analyzing and discussing a specific idea and method of applying convolutional neural networks for object detection, pointing out the current deficiencies and future development direction.
We propose DOPS, a fast single-stage 3D object detection method for LIDAR data. Previous methods often make domain-specific design decisions, for example projecting points into a bird-eye view image in autonomous driving scenarios. In contrast, we propose a general-purpose method that works on both indoor and outdoor scenes. The core novelty of our method is a fast, single-pass architecture that both detects objects in 3D and estimates their shapes. 3D bounding box parameters are estimated in one pass for every point, aggregated through graph convolutions, and fed into a branch of the network that predicts latent codes representing the shape of each detected object. The latent shape space and shape decoder are learned on a synthetic dataset and then used as supervision for the end-to-end training of the 3D object detection pipeline. Thus our model is able to extract shapes without access to ground-truth shape information in the target dataset. During experiments, we find that our proposed method achieves state-of-the-art results by ~5% on object detection in ScanNet scenes, and it gets top results by 3.4% in the Waymo Open Dataset, while reproducing the shapes of detected cars.
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