MANet: Multimodal Attention Network Based Point-View Fusion for 3D Shape Recognition

Yaxin Zhao, Jichao Jiao, Ning Li

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Auto-TLDR; Fusion Network for 3D Shape Recognition based on Multimodal Attention Mechanism

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3D shape recognition has attracted more and more attention as a task of 3D vision research. The proliferation of 3D data encourages various deep learning methods based on 3D data. Now there have been many deep learning models based on point-cloud data or multi-view data alone. However, in the era of big data, integrating data of two different modals to obtain a unified 3D shape descriptor is bound to improve the recognition accuracy. Therefore, this paper proposes a fusion network based on multimodal attention mechanism for 3D shape recognition. Considering the limitations of multi-view data, we introduce a soft attention scheme, which can use the global point-cloud features to filter the multi-view features, and then realize the effective fusion of the two features. More specifically, we obtain the enhanced multi-view features by mining the contribution of each multi-view image to the overall shape recognition, and then fuse the point-cloud features and the enhanced multi-view features to obtain a more discriminative 3D shape descriptor. We have performed relevant experiments on the ModelNet40 dataset, and experimental results verify the effectiveness of our method.

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PC-Net: A Deep Network for 3D Point Clouds Analysis

Zhuo Chen, Tao Guan, Yawei Luo, Yuesong Wang

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Auto-TLDR; PC-Net: A Hierarchical Neural Network for 3D Point Clouds Analysis

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Due to the irregularity and sparsity of 3D point clouds, applying convolutional neural networks directly on them can be nontrivial. In this work, we propose a simple but effective approach for 3D Point Clouds analysis, named PC-Net. PC-Net directly learns on point sets and is equipped with three new operations: first, we apply a novel scale-aware neighbor search for adaptive neighborhood extracting; second, for each neighboring point, we learn a local spatial feature as a complement to their associated features; finally, at the end we use a distance re-weighted pooling to aggregate all the features from local structure. With this module, we design hierarchical neural network for point cloud understanding. For both classification and segmentation tasks, our architecture proves effective in the experiments and our models demonstrate state-of-the-art performance over existing deep learning methods on popular point cloud benchmarks.

Cross-Regional Attention Network for Point Cloud Completion

Hang Wu, Yubin Miao

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Auto-TLDR; Learning-based Point Cloud Repair with Graph Convolution

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Point clouds obtained from real word scanning are always incomplete and ununiformly distributed, which would cause structural losses in 3D shape representations. Therefore, a learning-based method is introduced in this paper to repair partial point clouds and restore the complete shapes of target objects. First, we design an encoder that takes both local features and global features into consideration. Second, we establish a graph to connect the local features together, and then implement graph convolution with multi-head attention on it. The graph enables each local feature vector to search across the regions and selectively absorb other local features based on the its own features and global features. Third, we design a coarse decoder to collect cross-region features from the graph and generate coarse point clouds with low resolution, and a folding-based decoder to generate fine point clouds with high resolution. Our network is trained on six categories of objects in the ModelNet dataset, and its performance is compared with several existing methods, the results show that our network is able to generate dense complete point cloud with the highest accuracy.

FatNet: A Feature-Attentive Network for 3D Point Cloud Processing

Chaitanya Kaul, Nick Pears, Suresh Manandhar

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Auto-TLDR; Feature-Attentive Neural Networks for Point Cloud Classification and Segmentation

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The application of deep learning to 3D point clouds is challenging due to its lack of order. Inspired by the point embeddings of PointNet and the edge embeddings of DGCNNs, we propose three improvements to the task of point cloud analysis. First, we introduce a novel feature-attentive neural network layer, a FAT layer, that combines both global point-based features and local edge-based features in order to generate better embeddings. Second, we find that applying the same attention mechanism across two different forms of feature map aggregation, max pooling and average pooling, gives better performance than either alone. Third, we observe that residual feature reuse in this setting propagates information more effectively between the layers, and makes the network easier to train. Our architecture achieves state-of-the-art results on the task of point cloud classification, as demonstrated on the ModelNet40 dataset, and an extremely competitive performance on the ShapeNet part segmentation challenge.

Deep Space Probing for Point Cloud Analysis

Yirong Yang, Bin Fan, Yongcheng Liu, Hua Lin, Jiyong Zhang, Xin Liu, 蔡鑫宇 蔡鑫宇, Shiming Xiang, Chunhong Pan

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Auto-TLDR; SPCNN: Space Probing Convolutional Neural Network for Point Cloud Analysis

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3D points distribute in a continuous 3D space irregularly, thus directly adapting 2D image convolution to 3D points is not an easy job. Previous works often artificially divide the space into regular grids, yet it could be suboptimal to learn geometry. In this paper, we propose SPCNN, namely, Space Probing Convolutional Neural Network, which naturally generalizes image CNN to deal with point clouds. The key idea of SPCNN is learning to probe the 3D space in an adaptive manner. Specifically, we define a pool of learnable convolutional weights, and let each point in the local region learn to choose a suitable convolutional weight from the pool. This is achieved by constructing a geometry guided index-mapping function that implicitly establishes a correspondence between convolutional weights and some local regions in the neighborhood (Fig. 1). In this way, the index-mapping function learns to adaptively partition nearby space for local geometry pattern recognition. With this convolution as a basic operator, SPCNN, a hierarchical architecture can be developed for effective point cloud analysis. Extensive experiments on challenging benchmarks across three tasks demonstrate that SPCNN achieves the state-of-the-art or has competitive performance.

Progressive Scene Segmentation Based on Self-Attention Mechanism

Yunyi Pan, Yuan Gan, Kun Liu, Yan Zhang

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Auto-TLDR; Two-Stage Semantic Scene Segmentation with Self-Attention

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Semantic scene segmentation is vital for a large variety of applications as it enables understanding of 3D data. Nowadays, various approaches based upon point clouds ignore the mathematical distribution of points and treat the points equally. The methods following this direction neglect the imbalance problem of samples that naturally exists in scenes. To avoid these issues, we propose a two-stage semantic scene segmentation framework based on self-attention mechanism and achieved state-of-the-art performance on 3D scene understanding tasks. We split the whole task into two small ones which efficiently relief the sample imbalance issue. In addition, we have designed a new self-attention block which could be inserted into submanifold convolution networks to model the long-range dependencies that exists among points. The proposed network consists of an encoder and a decoder, with the spatial-wise and channel-wise attention modules inserted. The two-stage network shares a U-Net architecture and is an end-to-end trainable framework which could predict the semantic label for the scene point clouds fed into it. Experiments on standard benchmarks of 3D scenes implies that our network could perform at par or better than the existing state-of-the-art methods.

PointSpherical: Deep Shape Context for Point Cloud Learning in Spherical Coordinates

Hua Lin, Bin Fan, Yongcheng Liu, Yirong Yang, Zheng Pan, Jianbo Shi, Chunhong Pan, Huiwen Xie

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Auto-TLDR; Spherical Hierarchical Modeling of 3D Point Cloud

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We propose Spherical Hierarchical modeling of 3D point cloud. Inspired by Shape Context, we design a receptive field on each 3D point by placing a spherical coordinate on it. We sample points using the furthest point method and creating overlapping balls of points. For each ball, we divide the space into radial, polar angular and azimuthal angular bins on which we form a Spherical Hierarchy. We apply 1x1 CNN convolution on points to start the initial feature extraction. Repeated 3D CNN and max pooling over the Spherical bins propagate contextual information until all the information is condensed in the center bin. Extensive experiments on five datasets strongly evidence that our method outperform current models on various Point Cloud Learning tasks, including 2D/3D shape classification, 3D part segmentation and 3D semantic segmentation.

3D Point Cloud Registration Based on Cascaded Mutual Information Attention Network

Xiang Pan, Xiaoyi Ji

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Auto-TLDR; Cascaded Mutual Information Attention Network for 3D Point Cloud Registration

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For 3D point cloud registration, how to improve the local feature correlation of two point clouds is a challenging problem. In this paper, we propose a cascaded mutual information attention registration network. The network improves the accuracy of point cloud registration by stacking residual structure and using lateral connection. Firstly, the local reference coordinate system is defined by spherical representation for the local point set, which improves the stability and reliability of local features under noise. Secondly, the attention structure is used to improve the network depth and ensure the convergence of the network. Furthermore, a lateral connection is introduced into the network to avoid the loss of features in the process of concatenation. In the experimental part, the results of different algorithms are compared. It can be found that the proposed cascaded network can enhance the correlation of local features between different point clouds. As a result, it improves the registration accuracy significantly over the DCP and other typical algorithms.

Directional Graph Networks with Hard Weight Assignments

Miguel Dominguez, Raymond Ptucha

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Auto-TLDR; Hard Directional Graph Networks for Point Cloud Analysis

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Point cloud analysis is an important field for 3D scene understanding. It has applications in self driving cars and robotics (via LIDAR sensors), 3D graphics, and computer-aided design. Neural networks have recently achieved strong results on point cloud analysis problems such as classification and segmentation. Each point cloud network has the challenge of defining a convolution that can learn useful features on unstructured points. Some recent point cloud convolutions create separate weight matrices for separate directions like a CNN, but apply every weight matrix to every neighbor with soft assignments. This increases computational complexity and makes relatively small neighborhood aggregations expensive to compute. We propose Hard Directional Graph Networks (HDGN), a point cloud model that both learns directional weight matrices and assigns a single matrix to each neighbor, achieving directional convolutions at lower computational cost. HDGN's directional modeling achieves state-of-the-art results on multiple point cloud vision benchmarks.

PS^2-Net: A Locally and Globally Aware Network for Point-Based Semantic Segmentation

Na Zhao, Tat Seng Chua, Gim Hee Lee

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Auto-TLDR; PS2-Net: A Local and Globally Aware Deep Learning Framework for Semantic Segmentation on 3D Point Clouds

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In this paper, we present the PS^2-Net - a locally and globally aware deep learning framework for semantic segmentation on 3D scene-level point clouds. In order to deeply incorporate local structures and global context to support 3D scene segmentation, our network is built on four repeatedly stacked encoders, where each encoder has two basic components: EdgeConv that captures local structures and NetVLAD that models global context. Different from existing start-of-the-art methods for point-based scene semantic segmentation that either violate or do not achieve permutation invariance, our PS2-Net is designed to be permutation invariant which is an essential property of any deep network used to process unordered point clouds. We further provide theoretical proof to guarantee the permutation invariance property of our network. We perform extensive experiments on two large-scale 3D indoor scene datasets and demonstrate that our PS2-Net is able to achieve state-of-the-art performances as compared to existing approaches.

Joint Semantic-Instance Segmentation of 3D Point Clouds: Instance Separation and Semantic Fusion

Min Zhong, Gang Zeng

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Auto-TLDR; Joint Semantic Segmentation and Instance Separation of 3D Point Clouds

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This paper introduces an approach for jointly addressing semantic segmentation (SS) and instance segmentation (IS) of 3D point clouds. Two novel modules are designed to model the interplay between SS and IS. Specifically, we develop an Instance Separation Module that supplements the position-invariance semantic feature with the instance-specific centroid position to help separate different instances. To fuse the semantic information within a single instance, an attention-based Semantic Fusion Module is proposed to encode attention maps in the instance embedding space, which are applied to fuse semantic information in the semantic feature space. The proposed method is thoroughly evaluated on the S3DIS dataset. Compared with the excellent method ASIS, our approach achieves significant improvements across all evaluation metrics in both IS and SS.

MixedFusion: 6D Object Pose Estimation from Decoupled RGB-Depth Features

Hangtao Feng, Lu Zhang, Xu Yang, Zhiyong Liu

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Auto-TLDR; MixedFusion: Combining Color and Point Clouds for 6D Pose Estimation

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Estimating the 6D pose of objects is an important process for intelligent systems to achieve interaction with the real-world. As the RGB-D sensors become more accessible, the fusion-based methods have prevailed, since the point clouds provide complementary geometric information with RGB values. However, Due to the difference in feature space between color image and depth image, the network structures that directly perform point-to-point matching fusion do not effectively fuse the features of the two. In this paper, we propose a simple but effective approach, named MixedFusion. Different from the prior works, we argue that the spatial correspondence of color and point clouds could be decoupled and reconnected, thus enabling a more flexible fusion scheme. By performing the proposed method, more informative points can be mixed and fused with rich color features. Extensive experiments are conducted on the challenging LineMod and YCB-Video datasets, show that our method significantly boosts the performance without introducing extra overheads. Furthermore, when the minimum tolerance of metric narrows, the proposed approach performs better for the high-precision demands.

Two-Level Attention-Based Fusion Learning for RGB-D Face Recognition

Hardik Uppal, Alireza Sepas-Moghaddam, Michael Greenspan, Ali Etemad

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Auto-TLDR; Fused RGB-D Facial Recognition using Attention-Aware Feature Fusion

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With recent advances in RGB-D sensing technologies as well as improvements in machine learning and fusion techniques, RGB-D facial recognition has become an active area of research. A novel attention aware method is proposed to fuse two image modalities, RGB and depth, for enhanced RGB-D facial recognition. The proposed method first extracts features from both modalities using a convolutional feature extractor. These features are then fused using a two layer attention mechanism. The first layer focuses on the fused feature maps generated by the feature extractor, exploiting the relationship between feature maps using LSTM recurrent learning. The second layer focuses on the spatial features of those maps using convolution. The training database is preprocessed and augmented through a set of geometric transformations, and the learning process is further aided using transfer learning from a pure 2D RGB image training process. Comparative evaluations demonstrate that the proposed method outperforms other state-of-the-art approaches, including both traditional and deep neural network-based methods, on the challenging CurtinFaces and IIIT-D RGB-D benchmark databases, achieving classification accuracies over 98.2% and 99.3% respectively. The proposed attention mechanism is also compared with other attention mechanisms, demonstrating more accurate results.

Vehicle Classification from Profile Measures

Marco Patanè, Andrea Fusiello

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Auto-TLDR; SliceNets: Convolutional Neural Networks for 3D Object Classification of Planar Slices

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This paper proposes two novel convolutional neural networks for 3D object classification, tailored to process point clouds that are composed of planar slices (profiles). In particular, the application that we are targeting is the classification of vehicles by scanning them along planes perpendicular to the driving direction, within the context of Electronic Toll Collection. Depending on sensors configurations, the distance between slices can be measured or not, thus resulting in two types of point clouds, namely metric and non-metric. In the latter case, two coordinates are indeed metric but the third one is merely a temporal index. Our networks, named SliceNets, extract metric information from the spatial coordinates and neighborhood information from the third one (either metric or temporal), thus being able to handle both types of point clouds. Experiments on two datasets collected in the field show the effectiveness of our networks in comparison with state-of-the-art ones.

Towards Efficient 3D Point Cloud Scene Completion Via Novel Depth View Synthesis

Haiyan Wang, Liang Yang, Xuejian Rong, Ying-Li Tian

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Auto-TLDR; 3D Point Cloud Completion with Depth View Synthesis and Depth View synthesis

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3D point cloud completion has been a long-standing challenge at scale, and corresponding per-point supervised training strategies suffered from the cumbersome annotations. 2D supervision has recently emerged as a promising alternative for 3D tasks, but specific approaches for 3D point cloud completion still remain to be explored. To overcome these limitations, we propose an end-to-end method that directly lifts a single depth map to a completed point cloud. With one depth map as input, a multi-way novel depth view synthesis network (NDVNet) is designed to infer coarsely completed depth maps under various viewpoints. Meanwhile, a geometric depth perspective rendering module is introduced to utilize the raw input depth map to generate a re-projected depth map for each view. Therefore, the two parallelly generated depth maps for each view are further concatenated and refined by a depth completion network (DCNet). The final completed point cloud is fused from all refined depth views. Experimental results demonstrate the effectiveness of our proposed approach composed of aforementioned components, to produce high-quality state-of-the-art results on the popular SUNCG benchmark.

Human Segmentation with Dynamic LiDAR Data

Tao Zhong, Wonjik Kim, Masayuki Tanaka, Masatoshi Okutomi

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Auto-TLDR; Spatiotemporal Neural Network for Human Segmentation with Dynamic Point Clouds

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Consecutive LiDAR scans and depth images compose dynamic 3D sequences, which contain more abundant spatiotemporal information than a single frame. Similar to the development history of image and video perception, dynamic 3D sequence perception starts to come into sight after inspiring research on static 3D data perception. This work proposes a spatiotemporal neural network for human segmentation with the dynamic LiDAR point clouds. It takes a sequence of depth images as input. It has a two-branch structure, i.e., the spatial segmentation branch and the temporal velocity estimation branch. The velocity estimation branch is designed to capture motion cues from the input sequence and then propagates them to the other branch. So that the segmentation branch segments humans according to both spatial and temporal features. These two branches are jointly learned on a generated dynamic point cloud data set for human recognition. Our works fill in the blank of dynamic point cloud perception with the spherical representation of point cloud and achieves high accuracy. The experiments indicate that the introduction of temporal feature benefits the segmentation of dynamic point cloud perception.

Attentive Hybrid Feature Based a Two-Step Fusion for Facial Expression Recognition

Jun Weng, Yang Yang, Zichang Tan, Zhen Lei

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Auto-TLDR; Attentive Hybrid Architecture for Facial Expression Recognition

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Facial expression recognition is inherently a challenging task, especially for the in-the-wild images with various occlusions and large pose variations, which may lead to the loss of some crucial information. To address it, in this paper, we propose an attentive hybrid architecture (AHA) which learns global, local and integrated features based on different face regions. Compared with one type of feature, our extracted features own complementary information and can reduce the loss of crucial information. Specifically, AHA contains three branches, where all sub-networks in those branches employ the attention mechanism to further localize the interested pixels/regions. Moreover, we propose a two-step fusion strategy based on LSTM to deeply explore the hidden correlations among different face regions. Extensive experiments on four popular expression databases (i.e., CK+, FER-2013, SFEW 2.0, RAF-DB) show the effectiveness of the proposed method.

S-VoteNet: Deep Hough Voting with Spherical Proposal for 3D Object Detection

Yanxian Chen, Huimin Ma, Xi Li, Xiong Luo

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Auto-TLDR; S-VoteNet: 3D Object Detection with Spherical Bounded Box Prediction

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Current 3D object detection methods adopt an analogous box prediction structure with the 2D methods, which predict center and size of the object simultaneously in a box regression procedure, leading to the poor performance of 3D detector to a great extent. In this work, we propose S-VoteNet, which converts the prediction of 3D bounding box into two parts: center prediction and size prediction. By introducing a novel spherical proposal, S-VoteNet uses vote groups to predict the center and radius of object rather than all parameters of 3D bounding box. The prediction of radius is used to constrain the object size, and the radius-based spherical center loss is applied to measure the geometric distance between the proposal and ground-truth. To make better use of the geometric information provided by point cloud, S-VoteNet gathers seed points whose corresponding votes are within the vote groups for seed group generation. Seed groups are then consumed for box size regression and orientation estimation. By decoupling the localization and size estimation, our method effectively reduces the regression pressure of the 3D detector. Experimental results on SUN RGB-D 3D detection benchmark demonstrate that our S-VoteNet achieves state-of-the-art performance by using only point cloud as input.

PSDNet: A Balanced Architecture of Accuracy and Parameters for Semantic Segmentation

Yue Liu, Zhichao Lian

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Auto-TLDR; Pyramid Pooling Module with SE1Cblock and D2SUpsample Network (PSDNet)

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Abstract—In this paper, we present our Pyramid Pooling Module （PPM） with SE1Cblock and D2SUpsample Network (PSDNet), a novel architecture for accurate semantic segmentation. Started from the known work called Pyramid Scene Parsing Network (PSPNet), PSDNet takes advantage of pyramid pooling structure with channel attention module and feature transform module in Pyramid Pooling Module (PPM). The enhanced PPM with these two components can strengthen context information flowing in the network instead of damaging it. The channel attention module we mentioned is an improved “Squeeze and Excitation with 1D Convolution” (SE1C) block which can explicitly model interrelationship between channels with fewer number of parameters. We propose a feature transform module named “Depth to Space Upsampling” (D2SUpsample) in the PPM which keeps integrity of features by transforming features while interpolating features, at the same time reducing parameters. In addition, we introduce a joint strategy in SE1Cblock which combines two variants of global pooling without increasing parameters. Compared with PSPNet, our work achieves higher accuracy on public datasets with 73.97% mIoU and 82.89% mAcc accuracy on Cityscapes Dataset based on ResNet50 backbone.

Object Detection Model Based on Scene-Level Region Proposal Self-Attention

Yu Quan, Zhixin Li, Canlong Zhang, Huifang Ma

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Auto-TLDR; Exploiting Semantic Informations for Object Detection

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The improvement of object detection performance is mostly focused on the extraction of local information near the region of interest in the image, which results in detection performance in this area being unable to achieve the desired effect. First, a depth-wise separable convolution network(D_SCNet-127 R-CNN) is built on the backbone network. Considering the importance of scene and semantic informations for visual recognition, the feature map is sent into the branch of the semantic segmentation module, region proposal network module, and the region proposal self-attention module to build the network of scene-level and region proposal self-attention module. Second, a deep reinforcement learning was utilized to achieve accurate positioning of border regression, and the calculation speed of the whole model was improved through implementing a light-weight head network. This model can effectively solve the limitation of feature extraction in traditional object detection and obtain more comprehensive detailed features. The experimental verification on MSCOCO17, VOC12, and Cityscapes datasets shows that the proposed method has good validity and scalability.

Boundary-Aware Graph Convolution for Semantic Segmentation

Hanzhe Hu, Jinshi Cui, Jinshi Hongbin Zha

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Auto-TLDR; Boundary-Aware Graph Convolution for Semantic Segmentation

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Recent works have made great progress in semantic segmentation by exploiting contextual information in a local or global manner with dilated convolutions, pyramid pooling or self-attention mechanism. However, few works have focused on harvesting boundary information to improve the segmentation performance. In order to enhance the feature similarity within the object and keep discrimination from other objects, we propose a boundary-aware graph convolution (BGC) module to propagate features within the object. The graph reasoning is performed among pixels of the same object apart from the boundary pixels. Based on the proposed BGC module, we further introduce the Boundary-aware Graph Convolution Network(BGCNet), which consists of two main components including a basic segmentation network and the BGC module, forming a coarse-to-fine paradigm. Specifically, the BGC module takes the coarse segmentation feature map as node features and boundary prediction to guide graph construction. After graph convolution, the reasoned feature and the input feature are fused together to get the refined feature, producing the refined segmentation result. We conduct extensive experiments on three popular semantic segmentation benchmarks including Cityscapes, PASCAL VOC 2012 and COCO Stuff, and achieve state-of-the-art performance on all three benchmarks.

Enhanced Vote Network for 3D Object Detection in Point Clouds

Min Zhong, Gang Zeng

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Auto-TLDR; A Vote Feature Enhancement Network for 3D Bounding Box Prediction

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In this work, we aim to estimate 3D bounding boxes by voting to object centers and then groups and aggregates the votes to generate 3D box proposals and semantic classes of objects. However, due to the sparse and unstructured nature of the point clouds, we face some challenges when directly predicting bounding box from the vote feature: the sparse vote feature may lack some necessary semantic and context information. To address the challenges, we propose a vote feature enhancement network that aims to encode semantic-aware information and aggravate global context for the vote feature. Specifically, we learn the point-wise semantic information and supplement it to the vote feature, and we also encode the pairwise relations to collect the global context. Experiments on two large datasets of real 3D scans, ScanNet and SUN RGB-D, demonstrate that our method can achieve excellent 3D detection results.

Enhanced Feature Pyramid Network for Semantic Segmentation

Mucong Ye, Ouyang Jinpeng, Ge Chen, Jing Zhang, Xiaogang Yu

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Auto-TLDR; EFPN: Enhanced Feature Pyramid Network for Semantic Segmentation

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Multi-scale feature fusion has been an effective way for improving the performance of semantic segmentation. However, current methods generally fail to consider the semantic gaps between the shallow (low-level) and deep (high-level) features and thus the fusion methods may not be optimal. In this paper, to address the issues of the semantic gap between the feature from different layers, we propose a unified framework based on the U-shape encoder-decoder architecture, named Enhanced Feature Pyramid Network (EFPN). Specifically, the semantic enhancement module (SEM), boundary extraction module (BEM), and context aggregation model (CAM) are incorporated into the decoder network to improve the robustness of the multi-level features aggregation. In addition, a global fusion model (GFM) in encoder branch is proposed to capture more semantic information in the deep layers and effectively transmit the high-level semantic features to each layer. Extensive experiments are conducted and the results show that the proposed framework achieves the state-of-the-art results on three public datasets, namely PASCAL VOC 2012, Cityscapes, and PASCAL Context. Furthermore, we also demonstrate that the proposed method is effective for other visual tasks that require frequent fusing features and upsampling.

Global-Local Attention Network for Semantic Segmentation in Aerial Images

Minglong Li, Lianlei Shan, Weiqiang Wang

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Auto-TLDR; GLANet: Global-Local Attention Network for Semantic Segmentation

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Errors in semantic segmentation task could be classified into two types: large area misclassification and local inaccurate boundaries. Previously attention based methods capture rich global contextual information, this is beneficial to diminish the first type of error, but local imprecision still exists. In this paper we propose Global-Local Attention Network (GLANet) with a simultaneous consideration of global context and local details. Specifically, our GLANet is composed of two branches namely global attention branch and local attention branch, and three different modules are embedded in the two branches for the purpose of modeling semantic interdependencies in spatial, channel and boundary dimensions respectively. We sum the outputs of the two branches to further improve feature representation, leading to more precise segmentation results. The proposed method achieves very competitive segmentation accuracy on two public aerial image datasets, bringing significant improvements over baseline.

PointDrop: Improving Object Detection from Sparse Point Clouds Via Adversarial Data Augmentation

Wenxin Ma, Jian Chen, Qing Du, Wei Jia

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Auto-TLDR; PointDrop: Improving Robust 3D Object Detection to Sparse Point Clouds

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Current 3D object detection methods achieve accurate and efficient results on the standard point cloud dataset. However, in real-world applications, due to the expensive cost of obtaining the annotated 3D object detection data, we expect to directly apply the model trained on the standard dataset to real-world scenarios. This strategy may fail because the point cloud samples obtained in the real-world scenarios may be much sparser due to various reasons (occlusion, low reflectivity of objects and fewer laser beams) and existing methods do not consider the limitations of their models on sparse point clouds. To improve the robustness of an object detector to sparser point clouds, we propose PointDrop, which learns to drop the features of some key points in the point clouds to generate challenging sparse samples for data augmentation. Moreover, PointDrop is able to adjust the difficulty of the generated samples based on the capacity of the detector and thus progressively improve the performance of the detector. We create two sparse point clouds datasets from the KITTI dataset to evaluate our method, and the experimental results show that PointDrop significantly improves the robustness of the detector to sparse point clouds.

6D Pose Estimation with Correlation Fusion

Yi Cheng, Hongyuan Zhu, Ying Sun, Cihan Acar, Wei Jing, Yan Wu, Liyuan Li, Cheston Tan, Joo-Hwee Lim

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Auto-TLDR; Intra- and Inter-modality Fusion for 6D Object Pose Estimation with Attention Mechanism

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6D object pose estimation is widely applied in robotic tasks such as grasping and manipulation. Prior methods using RGB-only images are vulnerable to heavy occlusion and poor illumination, so it is important to complement them with depth information. However, existing methods using RGB-D data cannot adequately exploit consistent and complementary information between RGB and depth modalities. In this paper, we present a novel method to effectively consider the correlation within and across both modalities with attention mechanism to learn discriminative and compact multi-modal features. Then, effective fusion strategies for intra- and inter-correlation modules are explored to ensure efficient information flow between RGB and depth. To our best knowledge, this is the first work to explore effective intra- and inter-modality fusion in 6D pose estimation. The experimental results show that our method can achieve the state-of-the-art performance on LineMOD and YCBVideo dataset. We also demonstrate that the proposed method can benefit a real-world robot grasping task by providing accurate object pose estimation.

Rethinking ReID：Multi-Feature Fusion Person Re-Identification Based on Orientation Constraints

Mingjing Ai, Guozhi Shan, Bo Liu, Tianyang Liu

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Auto-TLDR; Person Re-identification with Orientation Constrained Network

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Person re-identification (ReID) aims to identify the specific pedestrian in a series of images or videos. Recently, ReID is receiving more and more attention in the fields of computer vision research and application like intelligent security. One major issue downgrading the ReID model performance lies in that various subjects in the same body orientations look too similar to distinguish by the model, while the same subject viewed in different orientations looks rather different. However, most of the current studies do not particularly differentiate pedestrians in orientation when designing the network, so we rethink this problem particularly from the perspective of person orientation and propose a new network structure by including two branches: one handling samples with the same body orientations and the other handling samples with different body orientations. Correspondingly, we also propose an orientation classifier that can accurately distinguish the orientation of each person. At the same time, the three-part loss functions are introduced for orientation constraint and combined to optimize the network simultaneously. Also, we use global and local features int the training stage in order to make use of multi-level information. Therefore, our network can derive its efficacy from orientation constraints and multiple features. Experiments show that our method not only has competitive performance on multiple datasets, but also can let retrieval results aligned with the orientation of the query sample rank higher, which may have great potential in the practical applications.

Aggregating Object Features Based on Attention Weights for Fine-Grained Image Retrieval

Hongli Lin, Yongqi Song, Zixuan Zeng, Weisheng Wang

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Auto-TLDR; DSAW: Unsupervised Dual-selection for Fine-Grained Image Retrieval

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Object localization and local feature representation are key issues in fine-grained image retrieval. However, the existing unsupervised methods still need to be improved in these two aspects. For conquering these issues in a unified framework, a novel unsupervised scheme, named DSAW for short, is presented in this paper. Firstly, we proposed a dual-selection (DS) method, which achieves more accurate object localization by using adaptive threshold method to perform feature selection on local and global activation map in turn. Secondly, a novel and faster self-attention weights (AW) method is developed to weight local features by measuring their importance in the global context. Finally, we also evaluated the performance of the proposed method on five fine-grained image datasets and the results showed that our DSAW outperformed the existing best method.

CSpA-DN: Channel and Spatial Attention Dense Network for Fusing PET and MRI Images

Bicao Li, Zhoufeng Liu, Shan Gao, Jenq-Neng Hwang, Jun Sun, Zongmin Wang

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Auto-TLDR; CSpA-DN: Unsupervised Fusion of PET and MR Images with Channel and Spatial Attention

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In this paper, we propose a novel unsupervised fusion framework based on a dense network with channel and spatial attention (CSpA-DN) for PET and MR images. In our approach, an encoder composed of the densely connected neural network is constructed to extract features from source images, and a decoder network is leveraged to yield the fused image from these features. Simultaneously, a self-attention mechanism is introduced in the encoder and decoder to further integrate local features along with their global dependencies adaptively. The extracted feature of each spatial position is synthesized by a weighted summation of those features at the same row and column with this position via a spatial attention module. Meanwhile, the interdependent relationship of all feature maps is integrated by a channel attention module. The summation of the outputs of these two attention modules is fed into the decoder and the fused image is generated. Experimental results illustrate the superiorities of our proposed CSpA-DN model compared with state-of-the-art methods in PET and MR images fusion according to both visual perception and objective assessment.

3D Semantic Labeling of Photogrammetry Meshes Based on Active Learning

Mengqi Rong, Shuhan Shen, Zhanyi Hu

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Auto-TLDR; 3D Semantic Expression of Urban Scenes Based on Active Learning

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As different urban scenes are similar but still not completely consistent, coupled with the complexity of labeling directly in 3D, high-level understanding of 3D scenes has always been a tricky problem. In this paper, we propose a procedural approach for 3D semantic expression of urban scenes based on active learning. We first start with a small labeled image set to fine-tune a semantic segmentation network and then project its probability map onto a 3D mesh model for fusion, finally outputs a 3D semantic mesh model in which each facet has a semantic label and a heat model showing each facet’s confidence. Our key observation is that our algorithm is iterative, in each iteration, we use the output semantic model as a supervision to select several valuable images for annotation to co-participate in the fine-tuning for overall improvement. In this way, we reduce the workload of labeling but not the quality of 3D semantic model. Using urban areas from two different cities, we show the potential of our method and demonstrate its effectiveness.

Edge-Aware Graph Attention Network for Ratio of Edge-User Estimation in Mobile Networks

Jiehui Deng, Sheng Wan, Xiang Wang, Enmei Tu, Xiaolin Huang, Jie Yang, Chen Gong

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Auto-TLDR; EAGAT: Edge-Aware Graph Attention Network for Automatic REU Estimation in Mobile Networks

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Estimating the Ratio of Edge-Users (REU) is an important issue in mobile networks, as it helps the subsequent adjustment of loads in different cells. However, existing approaches usually determine the REU manually, which are experience-dependent and labor-intensive, and thus the estimated REU might be imprecise. Considering the inherited graph structure of mobile networks, in this paper, we utilize a graph-based deep learning method for automatic REU estimation, where the practical cells are deemed as nodes and the load switchings among them constitute edges. Concretely, Graph Attention Network (GAT) is employed as the backbone of our method due to its impressive generalizability in dealing with networked data. Nevertheless, conventional GAT cannot make full use of the information in mobile networks, since it only incorporates node features to infer the pairwise importance and conduct graph convolutions, while the edge features that are actually critical in our problem are disregarded. To accommodate this issue, we propose an Edge-Aware Graph Attention Network (EAGAT), which is able to fuse the node features and edge features for REU estimation. Extensive experimental results on two real-world mobile network datasets demonstrate the superiority of our EAGAT approach to several state-of-the-art methods.

Attention-Driven Body Pose Encoding for Human Activity Recognition

Bappaditya Debnath, Swagat Kumar, Marry O'Brien, Ardhendu Behera

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Auto-TLDR; Attention-based Body Pose Encoding for Human Activity Recognition

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This article proposes a novel attention-based body pose encoding for human activity recognition. Most of the existing human activity recognition approaches based on 3D pose data often enrich the input data using additional handcrafted representations such as velocity, super normal vectors, pairwise relations, and so on. The enriched data complements the 3D body joint position data and improves the model performance. In this paper, we propose a novel approach that learns enhanced feature representations from a given sequence of 3D body joints. To achieve this, the approach exploits two body pose streams: 1) a spatial stream which encodes the spatial relationship between various body joints at each time point to learn spatial structure involving the spatial distribution of different body joints 2) a temporal stream that learns the temporal variation of individual body joints over the entire sequence duration to present a temporally enhanced representation. Afterwards, these two pose streams are fused with a multi-head attention mechanism. We also capture the contextual information from the RGB video stream using a deep Convolutional Neural Network (CNN) model combined with a multi-head attention and a bidirectional Long Short-Term Memory (LSTM) network. Finally, the RGB video stream is combined with the fused body pose stream to give a novel end-to-end deep model for effective human activity recognition. The proposed model is evaluated on three datasets including the challenging NTU-RGBD dataset and achieves state-of-the-art results.

A Multi-Head Self-Relation Network for Scene Text Recognition

Zhou Junwei, Hongchao Gao, Jiao Dai, Dongqin Liu, Jizhong Han

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Auto-TLDR; Multi-head Self-relation Network for Scene Text Recognition

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The text embedded in scene images can be seen everywhere in our lives. However, recognizing text from natural scene images is still a challenge because of its diverse shapes and distorted patterns. Recently, advanced recognition networks generally treat scene text recognition as a sequence prediction task. Although achieving excellent performance, these recognition networks consider the feature map cells as independent individuals and update cells state without utilizing the information of their neighboring cells. And the local receptive field of traditional convolutional neural network (CNN) makes a single cell that cannot cover the whole text region in an image. Due to these issues, the existing recognition networks cannot extract the global context in a visual scene. To deal with the above problems, we propose a Multi-head Self-relation Network(MSRN) for scene text recognition in this paper. The MSRN consists of several multi-head self-relation layers, which is designed for extracting the global context of a visual scene, so that transforms a cell into a new cell that fuses the information of the related cells. Furthermore, experiments over several public datasets demonstrate that our proposed recognition network achieves superior performance on several benchmark datasets including IC03, IC13, IC15, SVT-Perspective.

TAAN: Task-Aware Attention Network for Few-Shot Classification

Zhe Wang, Li Liu, Fanzhang Li

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Auto-TLDR; TAAN: Task-Aware Attention Network for Few-Shot Classification

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Few-shot classification aims to recognize unlabeled samples from unseen classes given only a few labeled samples.Current approaches of few-shot learning usually employ a metriclearning framework to learn a feature similarity comparison between a query (test) example and the few support (training) examples. However, these approaches all extract features from samples independently without looking at the entire task as a whole, and so fail to provide an enough discrimination to features. Moreover, the existing approaches lack the ability to select the most relevant features for the task at hand. In this work, we propose a novel algorithm called Task-Aware Attention Network (TAAN) to address the above problems in few-shot classification. By inserting a Task-Relevant Channel Attention Module into metric-based few-shot learners, TAAN generates channel attentions for each sample by aggregating the context of the entire support set and identifies the most relevant features for similarity comparison. The experiment demonstrates that TAAN is competitive in overall performance comparing to the recent state-of-the-art systems and improves the performance considerably over baseline systems on both mini-ImageNet and tiered-ImageNet benchmarks.

Multi-Scale Residual Pyramid Attention Network for Monocular Depth Estimation

Jing Liu, Xiaona Zhang, Zhaoxin Li, Tianlu Mao

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Auto-TLDR; Multi-scale Residual Pyramid Attention Network for Monocular Depth Estimation

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Monocular depth estimation is a challenging problem in computer vision and is crucial for understanding 3D scene geometry. Recently, deep convolutional neural networks (DCNNs) based methods have improved the estimation accuracy significantly. However, existing methods fail to consider complex textures and geometries in scenes, thereby resulting in loss of local details, distorted object boundaries, and blurry reconstruction. In this paper, we proposed an end-to-end Multi-scale Residual Pyramid Attention Network (MRPAN) to mitigate these problems.First,we propose a Multi-scale Attention Context Aggregation (MACA) module, which consists of Spatial Attention Module (SAM) and Global Attention Module (GAM). By considering the position and scale correlation of pixels from spatial and global perspectives, the proposed module can adaptively learn the similarity between pixels so as to obtain more global context information of the image and recover the complex structure in the scene. Then we proposed an improved Residual Refinement Module (RRM) to further refine the scene structure, giving rise to deeper semantic information and retain more local details. Experimental results show that our method achieves more promisin performance in object boundaries and local details compared with other state-of-the-art methods.

Joint Supervised and Self-Supervised Learning for 3D Real World Challenges

Antonio Alliegro, Davide Boscaini, Tatiana Tommasi

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Auto-TLDR; Self-supervision for 3D Shape Classification and Segmentation in Point Clouds

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Point cloud processing and 3D shape understanding are very challenging tasks for which deep learning techniques have demonstrated great potentials. Still further progresses are essential to allow artificial intelligent agents to interact with the real world. In many practical conditions the amount of annotated data may be limited and integrating new sources of knowledge becomes crucial to support autonomous learning. Here we consider several scenarios involving synthetic and real world point clouds where supervised learning fails due to data scarcity and large domain gaps. We propose to enrich standard feature representations by leveraging self-supervision through a multi-task model that can solve a 3D puzzle while learning the main task of shape classification or part segmentation. An extensive analysis investigating few-shot, transfer learning and cross-domain settings shows the effectiveness of our approach with state-of-the-art results for 3D shape classification and part segmentation.

Global Context-Based Network with Transformer for Image2latex

Nuo Pang, Chun Yang, Xiaobin Zhu, Jixuan Li, Xu-Cheng Yin

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Auto-TLDR; Image2latex with Global Context block and Transformer

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Image2latex usually means converts mathematical formulas in images into latex markup. It is a very challenging job due to the complex two-dimensional structure, variant scales of input, and very long representation sequence. Many researchers use encoder-decoder based model to solve this task and achieved good results. However, these methods don't make full use of the structure and position information of the formula. %In this paper, we improve the encoder by employing Global Context block and Transformer. To solve this problem, we propose a global context-based network with transformer that can (1) learn a more powerful and robust intermediate representation via aggregating global features and (2) encode position information explicitly and (3) learn latent dependencies between symbols by using self-attention mechanism. The experimental results on the dataset IM2LATEX-100K demonstrate the effectiveness of our method.

Efficient-Receptive Field Block with Group Spatial Attention Mechanism for Object Detection

Jiacheng Zhang, Zhicheng Zhao, Fei Su

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Auto-TLDR; E-RFB: Efficient-Receptive Field Block for Deep Neural Network for Object Detection

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Object detection has been paid rising attention in computer vision field. Convolutional Neural Networks (CNNs) extract high-level semantic features of images, which directly determine the performance of object detection. As a common solution, embedding integration modules into CNNs can enrich extracted features and thereby improve the performance. However, the instability and inconsistency of internal multiple branches exist in these modules. To address this problem, we propose a novel multibranch module called Efficient-Receptive Field Block (E-RFB), in which multiple levels of features are combined for network optimization. Specifically, by downsampling and increasing depth, the E-RFB provides sufficient RF. Second, in order to eliminate the inconsistency across different branches, a novel spatial attention mechanism, namely, Group Spatial Attention Module (GSAM) is proposed. The GSAM gradually narrows a feature map by channel grouping; thus it encodes the information between spatial and channel dimensions into the final attention heat map. Third, the proposed module can be easily joined in various CNNs to enhance feature representation as a plug-and-play component. With SSD-style detectors, our method halves the parameters of the original detection head and achieves high accuracy on the PASCAL VOC and MS COCO datasets. Moreover, the proposed method achieves superior performance compared with state-of-the-art methods based on similar framework.

Incorporating Depth Information into Few-Shot Semantic Segmentation

Yifei Zhang, Desire Sidibe, Olivier Morel, Fabrice Meriaudeau

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Auto-TLDR; RDNet: A Deep Neural Network for Few-shot Segmentation Using Depth Information

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Few-shot segmentation presents a significant challenge for semantic scene understanding under limited supervision. Namely, this task targets at generalizing the segmentation ability of the model to new categories given a few samples. In order to obtain complete scene information, we extend the RGB-centric methods to take advantage of complementary depth information. In this paper, we propose a two-stream deep neural network based on metric learning. Our method, known as RDNet, learns class-specific prototype representations within RGB and depth embedding spaces, respectively. The learned prototypes provide effective semantic guidance on the corresponding RGB and depth query image, leading to more accurate performance. Moreover, we build a novel outdoor scene dataset, known as Cityscapes-3i, using labeled RGB images and depth images from the Cityscapes dataset. We also perform ablation studies to explore the effective use of depth information in few-shot segmentation tasks. Experiments on Cityscapes-3i show that our method achieves promising results with visual and complementary geometric cues from only a few labeled examples.

Cross-View Relation Networks for Mammogram Mass Detection

Ma Jiechao, Xiang Li, Hongwei Li, Ruixuan Wang, Bjoern Menze, Wei-Shi Zheng

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Auto-TLDR; Multi-view Modeling for Mass Detection in Mammogram

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In medical image analysis, multi-view modeling is crucial for pathology detection when the target lesion is presented in different views, e.g. mass lesions in breast. Currently mammogram is the most effective imaging modality for mass lesion detection of breast cancer at the early stage. The pathological information from the two paired views (i.e., medio-lateral oblique and cranio-caudal) are highly relational and complementary, which is crucial for diagnosis in clinical practice. Existing mass detection methods do not consider learning synergistic features from the two relational views. For the first time, we propose a novel mass detection framework to capture the latent relation information from the two paired views of a same mass in mammogram. We evaluate our model on a public mammogram dataset and a large-scale private dataset, demonstrating that the proposed method outperforms existing feature fusion approaches and state-of-the-art mass detection methods. We further analyze the performance gains from the relation modeling. Our quantitative and qualitative results suggest that jointly learning cross-view features boosts the detection performance of existing models, which is a promising avenue for mass detection task in mammogram.

Object Detection Using Dual Graph Network

Shengjia Chen, Zhixin Li, Feicheng Huang, Canlong Zhang, Huifang Ma

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Auto-TLDR; A Graph Convolutional Network for Object Detection with Key Relation Information

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Most object detection methods focus only on the local information near the region proposal and ignore the object's global semantic relation and local spatial relation information, resulting in limited performance. To capture and explore these important relations, we propose a detection method based on a graph convolutional network (GCN). Two independent relation graph networks are used to obtain the global semantic information of the object in labels and the local spatial information in images. Semantic relation networks can implicitly acquire global knowledge, and by constructing a directed graph on the dataset, each node is represented by the word embedding of labels and then sent to the GCN to obtain high-level semantic representation. The spatial relation network encodes the relation by the positional relation module and the visual connection module, and enriches the object features through local key information from objects. The feature representation is further improved by aggregating the outputs of the two networks. Instead of directly disseminating visual features in the network, the dual-graph network explores more advanced feature information, giving the detector the ability to obtain key relations in labels and region proposals. Experiments on the PASCAL VOC and MS COCO datasets demonstrate that key relation information significantly improve the performance of detection with better ability to detect small objects and reasonable boduning box. The results on COCO dataset demonstrate our method obtains around 32.3% improvement on AP in terms of small objects.

Dual-Attention Guided Dropblock Module for Weakly Supervised Object Localization

Junhui Yin, Siqing Zhang, Dongliang Chang, Zhanyu Ma, Jun Guo

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Auto-TLDR; Dual-Attention Guided Dropblock for Weakly Supervised Object Localization

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Attention mechanisms is frequently used to learn the discriminative features for better feature representations. In this paper, we extend the attention mechanism to the task of weakly supervised object localization (WSOL) and propose the dual-attention guided dropblock module (DGDM), which aims at learning the informative and complementary visual patterns for WSOL. This module contains two key components, the channel attention guided dropout (CAGD) and the spatial attention guided dropblock (SAGD). To model channel interdependencies, the CAGD ranks the channel attentions and treats the top-k attentions with the largest magnitudes as the important ones. It also keeps some low-valued elements to increase their value if they become important during training. The SAGD can efficiently remove the most discriminative information by erasing the contiguous regions of feature maps rather than individual pixels. This guides the model to capture the less discriminative parts for classification. Furthermore, it can also distinguish the foreground objects from the background regions to alleviate the attention misdirection. Experimental results demonstrate that the proposed method achieves new state-of-the-art localization performance.

Cross-Media Hash Retrieval Using Multi-head Attention Network

Zhixin Li, Feng Ling, Chuansheng Xu, Canlong Zhang, Huifang Ma

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Auto-TLDR; Unsupervised Cross-Media Hash Retrieval Using Multi-Head Attention Network

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The cross-media hash retrieval method is to encode multimedia data into a common binary hash space, which can effectively measure the correlation between samples from different modalities. In order to further improve the retrieval accuracy, this paper proposes an unsupervised cross-media hash retrieval method based on multi-head attention network. First of all, we use a multi-head attention network to make better matching images and texts, which contains rich semantic information. At the same time, an auxiliary similarity matrix is constructed to integrate the original neighborhood information from different modalities. Therefore, this method can capture the potential correlations between different modalities and within the same modality, so as to make up for the differences between different modalities and within the same modality. Secondly, the method is unsupervised and does not require additional semantic labels, so it has the potential to achieve large-scale cross-media retrieval. In addition, batch normalization and replacement hash code generation functions are adopted to optimize the model, and two loss functions are designed, which make the performance of this method exceed many supervised deep cross-media hash methods. Experiments on three datasets show that the average performance of this method is about 5 to 6 percentage points higher than the state-of-the-art unsupervised method, which proves the effectiveness and superiority of this method.

Face Anti-Spoofing Using Spatial Pyramid Pooling

Lei Shi, Zhuo Zhou, Zhenhua Guo

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Auto-TLDR; Spatial Pyramid Pooling for Face Anti-Spoofing

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Face recognition system is vulnerable to many kinds of presentation attacks, so how to effectively detect whether the image is from the real face is particularly important. At present, many deep learning-based anti-spoofing methods have been proposed. But these approaches have some limitations, for example, global average pooling (GAP) easily loses local information of faces, single-scale features easily ignore information differences in different scales, while a complex network is prune to be overfitting. In this paper, we propose a face anti-spoofing approach using spatial pyramid pooling (SPP). Firstly, we use ResNet-18 with a small amount of parameter as the basic model to avoid overfitting. Further, we use spatial pyramid pooling module in the single model to enhance local features while fusing multi-scale information. The effectiveness of the proposed method is evaluated on three databases, CASIA-FASD, Replay-Attack and CASIA-SURF. The experimental results show that the proposed approach can achieve state-of-the-art performance.

Enhancing Deep Semantic Segmentation of RGB-D Data with Entangled Forests

Matteo Terreran, Elia Bonetto, Stefano Ghidoni

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Auto-TLDR; FuseNet: A Lighter Deep Learning Model for Semantic Segmentation

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Semantic segmentation is a problem which is getting more and more attention in the computer vision community. Nowadays, deep learning methods represent the state of the art to solve this problem, and the trend is to use deeper networks to get higher performance. The drawback with such models is a higher computational cost, which makes it difficult to integrate them on mobile robot platforms. In this work we want to explore how to obtain lighter deep learning models without compromising performance. To do so we will consider the features used in the Entangled Random Forest algorithm and we will study the best strategies to integrate these within FuseNet deep network. Such new features allow us to shrink the network size without loosing performance, obtaining hence a lighter model which achieves state-of-the-art performance on the semantic segmentation task and represents an interesting alternative for mobile robotics applications, where computational power and energy are limited.

Learning Interpretable Representation for 3D Point Clouds

Feng-Guang Su, Ci-Siang Lin, Yu-Chiang Frank Wang

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Auto-TLDR; Disentangling Body-type and Pose Information from 3D Point Clouds Using Adversarial Learning

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Point clouds have emerged as a popular representation of 3D visual data. With a set of unordered 3D points, one typically needs to transform them into latent representation before further classification and segmentation tasks. However, one cannot easily interpret such encoded latent representation. To address this issue, we propose a unique deep learning framework for disentangling body-type and pose information from 3D point clouds. Extending from autoenoder, we advance adversarial learning a selected feature type, while classification and data recovery can be additionally observed. Our experiments confirm that our model can be successfully applied to perform a wide range of 3D applications like shape synthesis, action translation, shape/action interpolation, and synchronization.

Yolo+FPN: 2D and 3D Fused Object Detection with an RGB-D Camera

Ya Wang

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Auto-TLDR; Yolo+FPN: Combining 2D and 3D Object Detection for Real-Time Object Detection

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In this paper we propose a new deep neural network system, called Yolo+FPN, which fuses both 2D and 3D object detection algorithms to achieve better real-time object detection results and faster inference speed, to be used on real robots. Finding an optimized fusion strategy to efficiently combine 3D object detection with 2D detection information is useful and challenging for both indoor and outdoor robots. In order to satisfy real-time requirements, a trade-off between accuracy and efficiency is needed. We not only have improved training and test accuracies and lower mean losses on the KITTI object detection benchmark, but also achieve better average precision on 3D detection of all classes in three levels of difficulty. Also, we implemented Yolo+FPN system using an RGB-D camera, and compared the speed of 2D and 3D object detection using different GPUs. For the real implementation of both indoor and outdoor scenes, we focus on person detection, which is the most challenging and important among the three classes.

UHRSNet: A Semantic Segmentation Network Specifically for Ultra-High-Resolution Images

Lianlei Shan, Weiqiang Wang

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Auto-TLDR; Ultra-High-Resolution Segmentation with Local and Global Feature Fusion

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Abstract—Semantic segmentation is a basic task in computer vision, but only limited attention has been devoted to the ultra-high-resolution (UHR) image segmentation. Since UHR images occupy too much memory, they cannot be directly put into GPU for training. Previous methods are cropping images to small patches or downsampling the whole images. Cropping and downsampling cause the loss of contexts and details, which is essential for segmentation accuracy. To solve this problem, we improve and simplify the local and global feature fusion method in previous works. Local features are extracted from patches and global features are from downsampled images. Meanwhile, we propose one new fusion called local feature fusion for the first time, which can make patches get information from surrounding patches. We call the network with these two fusions ultra-high-resolution segmentation network (UHRSNet). These two fusions can effectively and efficiently solve the problem caused by cropping and downsampling. Experiments show a remarkable improvement on Deepglobe dataset.

Ghost Target Detection in 3D Radar Data Using Point Cloud Based Deep Neural Network

Mahdi Chamseddine, Jason Rambach, Oliver Wasenmüler, Didier Stricker

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Auto-TLDR; Point Based Deep Learning for Ghost Target Detection in 3D Radar Point Clouds

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Ghost targets are targets that appear at wrong locations in radar data and are caused by the presence of multiple indirect reflections between the target and the sensor. In this work, we introduce the first point based deep learning approach for ghost target detection in 3D radar point clouds. This is done by extending the PointNet network architecture by modifying its input to include radar point features beyond location and introducing skip connetions. We compare different input modalities and analyze the effects of the changes we introduced. We also propose an approach for automatic labeling of ghost targets 3D radar data using lidar as reference. The algorithm is trained and tested on real data in various driving scenarios and the tests show promising results in classifying real and ghost radar targets.