ACM MM 2024 论文列表

ACM International Conference on Multimedia

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  • Poster
    97484.8%

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Emphasizing Semantic Consistency of Salient Posture for Speech-Driven Gesture Generation

Fengqi Liu, Hexiang Wang, Jingyu Gong, Ran Yi, Qianyu Zhou, Xuequan Lu, Jiangbo Lu, Lizhuang Ma

展开摘要

Speech-driven gesture generation aims at synthesizing a gesture sequence synchronized with the input speech signal. Previous methods leverage neural networks to directly map a compact audio representation to the gesture sequence, ignoring the semantic association of different modalities and failing to deal with salient gestures. In this paper, we propose a novel speech-driven gesture generation method by emphasizing the semantic consistency of salient posture. Specifically, we first learn a joint manifold space for the individual representation of audio and body pose to exploit the inherent semantic association between two modalities, and propose to enforce semantic consistency via a consistency loss. Furthermore, we emphasize the semantic consistency of salient postures by introducing a weakly-supervised detector to identify salient postures, and reweighting the consistency loss to focus more on learning the correspondence between salient postures and the high-level semantics of speech content. In addition, we propose to extract audio features dedicated to facial expression and body gesture separately, and design separate branches for face and body gesture synthesis. Extensive experimental results demonstrate the superiority of our method over the state-of-the-art approaches.

Poster
Counterfactually Augmented Event Matching for De-biased Temporal Sentence Grounding

Xun Jiang, Zhuoyuan Wei, Shenshen Li, Xing Xu, Jingkuan Song, Heng Tao Shen

展开摘要

Temporal Sentence Grounding (TSG), which aims to localize events in untrimmed videos with a given language query, has been widely studied in the last decades. However, recently researchers have demonstrated that previous approaches are severely limited in out-of-distribution generalization, thus proposing the De-biased TSG challenge which requires models to overcome weakness towards outlier test samples. In this paper, we design a novel framework, termed Counterfactually-Augmented Event Matching (CAEM), which incorporates counterfactual data augmentation to learn event-query joint representations to resist the training bias. Specifically, it consists of three components: (1) A Temporal Counterfactual Augmentation module that generates counterfactual video-text pairs by temporally delaying events in the untrimmed video, enhancing the model's capacity for counterfactual thinking. (2) An Event-Query Matching model that is used to learn joint representations and predict corresponding matching scores for each event candidate. (3) A Counterfact-Adaptive Framework (CAF) that incorporates the counterfactual consistency rules on the matching process of the same event-query pairs, furtherly mitigating the bias learned from training sets. We conduct thorough experiments on two widely used DTSG datasets, i.e., Charades-CD and ActivityNet-CD, to evaluate our proposed CAEM method. Extensive experimental results show our proposed CAEM method outperforms recent state-of-the-art methods on all datasets. Our implementation code is available at https://github.com/CFM-MSG/CAEM_Code.

Poster
VeCAF: Vision-language Collaborative Active Finetuning with Training Objective Awareness

Rongyu Zhang, Zefan Cai, Huanrui Yang, Zidong Liu, Denis A Gudovskiy, Tomoyuki Okuno, Yohei Nakata, Kurt Keutzer, Baobao Chang, Yuan Du, Li Du, Shanghang Zhang

展开摘要

Finetuning a pretrained vision model (PVM) is a common technique for learning downstream vision tasks. The conventional finetuning process with the randomly sampled data points results in diminished training efficiency. To address this drawback, we propose a novel approach, Vision- languag e C ollaborative A ctive F inetuning (VeCAF). VeCAF optimizes a parametric data selection model by incorporating the training objective of the model being tuned. Effectively, this guides the PVM towards the performance goal with improved data and computational efficiency.With the ever-growing feasibility of acquiring labels and natural language annotations of image data through web-scale crawling, we exploit the inherent semantic richness of the text embedding space and utilize text embeddings of image annotations to augment PVM image features for better data selection and finetuning. Furthermore, the flexibility of text-domain augmentation gives VeCAF the unique ability to handle out-of-distribution scenarios without external augmented data. Extensive experiments show the leading performance and high efficiency of VeCAF that is superior to baselines in both in-distribution and out-of-distribution image classification tasks. On ImageNet, VeCAF needs up to 3.3× less training batches to reach the target performance compared to full fine-tuning and achieves an accuracy improvement of 2.8% over active SOTA fine-tuning methods with the same number of batches. Our code is now available at https://github.com/RoyZry98/VeCAF-Pytorch.

Poster
Non-uniform Timestep Sampling: Towards Faster Diffusion Model Training

Tianyi Zheng, Cong Geng, Peng-Tao Jiang, Ben Wan, Hao Zhang, Jinwei Chen, Jia Wang, Bo Li

展开摘要

Diffusion models have garnered significant success in generative tasks, emerging as the predominant model in this domain. Despite their success, the substantial computational resources required for training diffusion models restrict their practical applications. In this paper, we resort to the optimal transport theory to accelerate the training of diffusion models, providing an in-depth analysis of the forward diffusion process. It shows that the upper bound on the Wasserstein distance of the distribution between any two timesteps in the diffusion process is an exponential decrease of the initial distance by a factor of times. This finding suggests that the state distribution of the diffusion model has a non-uniform rate of change at different points in time, thus highlighting the different importance of the diffusion timestep. To this end, we propose a novel non-uniform timestep sampling method based on the Bernoulli distribution, which favors more frequent sampling in significant timestep intervals. The key idea is to make the model focus on timesteps with larger differences, thus accelerating the training of the diffusion model. Experiments on benchmark datasets reveal that the proposed method significantly reduces the computational overhead while improving the quality of the generated images.

Poster
HiVG: Hierarchical Multimodal Fine-grained Modulation for Visual Grounding

Linhui Xiao, Xiaoshan Yang, Fang Peng, Yaowei Wang, Changsheng Xu

展开摘要

Visual grounding, which aims to ground a visual region via natural language, is a task that heavily relies on cross-modal alignment. Existing works utilized uni-modal pre-trained models to transfer visual or linguistic knowledge separately while ignoring the multimodal corresponding information. Motivated by recent advancements in contrastive language-image pre-training and low-rank adaptation (LoRA) methods, we aim to solve the grounding task based on multimodal pre-training. However, there exists significant task gaps between pre-training and grounding. Therefore, to address these gaps, we propose a concise and efficient hierarchical multimodal fine-grained modulation framework, namely HiVG. Specifically, HiVG consists of a multi-layer adaptive cross-modal bridge and a hierarchical multimodal low-rank adaptation (HiLoRA) paradigm. The cross-modal bridge can address the inconsistency between visual features and those required for grounding, and establish a connection between multi-level visual and text features. HiLoRA prevents the accumulation of perceptual errors by adapting the cross-modal features from shallow to deep layers in a hierarchical manner. Experimental results on five datasets demonstrate the effectiveness of our approach and showcase the significant grounding capabilities as well as promising energy efficiency advantages. The project page: https://github.com/linhuixiao/HiVG.

Poster
GAN-based Symmetric Embedding Costs Adjustment for Enhancing Image Steganographic Security

Ye Miaoxin, Zhou Saixing, Weiqi Luo, Shunquan Tan, Jiwu Huang

展开摘要

Designing embedding costs is pivotal in modern image steganography. Many studies have shown adjusting symmetric embedding costs to asymmetric ones can enhance steganographic security. However, most existing methods heavily depend on manually defined parameters or rules, limiting security performance improvements. To overcome this limitation, we introduce an advanced GAN-based framework that transitions symmetric costs to asymmetric ones without the need for the manual intervention seen in existing approaches, such as the detailed specification of cost modulation directions and magnitudes. In our framework, we firstly achieve symmetric costs for a cover image, which is randomly split into two sub-images, with part of the secret information embedded into one. Subsequently, we design a GAN model to adjust the embedding costs of the second sub-image to asymmetric, facilitating the secure embedding of the remaining secret information. To support our phased embedding approach, our GAN's discriminator incorporates two steganalyers with different tasks: distinguishing the generator's final output, i.e., the stego image, from both the input cover image and the partially embedded stego image, providing diverse guidance to the generator. In addition, we introduce a simple yet effective update strategy to ensure a stable training process. Comprehensive experiments demonstrate that our method significantly enhances security over existing symmetric steganography techniques, achieving state-of-the-art levels compared to other methods focused on embedding costs adjustments. Additionally, detailed ablation studies validate our approach's effectiveness.

Poster
Detached and Interactive Multimodal Learning

Yunfeng FAN, Wenchao Xu, Haozhao Wang, Junhong Liu, Song Guo

展开摘要

Recently, Multimodal Learning (MML) has gained significant interest as it compensates for single-modality limitations through comprehensive complementary information within multimodal data. However, traditional MML methods generally use the joint learning framework with a uniform learning objective that can lead to the modality competition issue, where feedback predominantly comes from certain modalities, limiting the full potential of others. In response to this challenge, this paper introduces DI-MML, a novel detached MML framework designed to learn complementary information across modalities under the premise of avoiding modality competition. Specifically, DI-MML addresses competition by separately training each modality encoder with isolated learning objectives. It further encourages cross-modal interaction via a shared classifier that defines a common feature space and employing a dimension-decoupled unidirectional contrastive (DUC) loss to facilitate modality-level knowledge transfer. Additionally, to account for varying reliability in sample pairs, we devise a certainty-aware logit weighting strategy to effectively leverage complementary information at the instance level during inference. Extensive experiments conducted on audio-visual, flow-image, and front-rear view datasets show the superior performance of our proposed method. The code is released at https://github.com/fanyunfeng-bit/DI-MML.

Poster
Mitigating World Biases: A Multimodal Multi-View Debiasing Framework for Fake News Video Detection

Zhi Zeng, Minnan Luo, Xiangzheng Kong, Huan Liu, Hao Guo, Hao Yang, Zihan Ma, Xiang Zhao

展开摘要

Short videos turn into an important channel for public sharing, as well as they've become a fertile ground for fake news. Fake news video detection is to judge the veracity of news based on its different modal information, such as video, audio, text, image and social context information. Current detection models tend to learn the multimodal dataset biases within spurious correlations between news modalities and veracity labels as shortcuts, rather than learning how to integrate the multimodal information behind them to reason, resulting in seriously degrading their detection and generalization capabilities. To address this issues, we propose a Multimodal Multi-View Debiasing (MMVD) framework, which makes the first attempt to mitigate various multimodal biases for fake news video detection. Inspired by people's misleading situations by multimodal short videos, we summarize three cognitive biases: static, dynamic and social biases. MMVD put forward a multi-view causal reasoning strategy to learn unbiased dependencies within the cognitive biases, thus enhancing the unbiased prediction of multimodal videos. The extensive experimental results show that the MMVD could improve the detection performance of multimodal fake news video. Studies also confirm that our MMVD can mitigate multiple biases on complex real-world scenarios and improve generalization ability of fake news video detection.

Poster
Optical Flow-Guided 6DoF Object Pose Tracking with an Event Camera

Zibin Liu, Banglei Guan, Yang Shang, Shunkun Liang, Zhenbao Yu, Qifeng Yu

展开摘要

Object pose tracking is one of the pivotal technologies in multimedia, attracting ever-growing attention in recent years. Existing methods employing traditional cameras encounter numerous challenges such as motion blur, sensor noise, partial occlusion, and changing lighting conditions. The emerging bio-inspired sensors, particularly event cameras, possess advantages such as high dynamic range and low latency, which hold the potential to address the aforementioned challenges. In this work, we present an optical flow-guided 6DoF object pose tracking method with an event camera. A 2D-3D hybrid feature extraction strategy is firstly utilized to detect corners and edges from events and object models, which characterizes object motion precisely. Then, we search for the optical flow of corners by maximizing the event-associated probability within a spatio-temporal window, and establish the correlation between corners and edges guided by optical flow. Furthermore, by minimizing the distances between corners and edges, the 6DoF object pose is iteratively optimized to achieve continuous pose tracking. Experimental results of both simulated and real events demonstrate that our methods outperform event-based state-of-the-art methods in terms of both accuracy and robustness.

Poster
Scalable Multi-view Unsupervised Feature Selection with Structure Learning and Fusion

Chenglong Zhang, Xinyan Liang, Peng Zhou, Zhaolong Ling, Yingwei Zhang, Xingyu Wu, Weiguo Sheng, Bingbing Jiang

展开摘要

To tackle the high-dimensional data with multiple representations, multi-view unsupervised feature selection has emerged as a significant learning paradigm. However, previous methods suffer from the following dilemmas: (i) They focus on selecting the features that preserve the similarity structure of data, whereas neglecting the discriminative information in the cluster structure; (ii) The orthogonal constraint is often imposed on the pseudo cluster labels, breaking the locality in the cluster label space; (iii) Learning the similarity or cluster structure from all samples is time-consuming. To this end, a Scalable Multi-view Unsupervised Feature Selection with structure learning and fusion (SMUFS) is proposed to jointly exploit the cluster structure and the similarity relations of data. Specifically, SMUFS introduces the sample-view weights to adaptively fuse the membership matrices that indicate cluster structures and serve as the pseudo cluster labels, such that a unified membership matrix across views can be effectively obtained to guide feature selection. Meanwhile, SMUFS performs graph learning from the membership matrix, preserving the locality of cluster labels and improving their discriminative capability. Further, an acceleration strategy has been developed to make SMUFS scalable for large-scale data. An iterative optimization is designed to solve the formulated objective function, and extensive experiments demonstrate the superiority of SMUFS.

Poster
GOAL: Grounded text-to-image Synthesis with Joint Layout Alignment Tuning

Yaqi Li, Han Fang, Zerun Feng, Kaijing Ma, Chao Ban, Xianghao Zang, Lanxiang Zhou, Zhongjiang He, Jingyan Chen, Jiani Hu, Hao Sun, Huayu Zhang

展开摘要

Recent text-to-image (T2I) synthesis models have demonstrated intriguing abilities to produce high-quality images based on text prompts. However, current models still face Text-Image Misalignment problem (e.g., attribute errors and relation mistakes) for compositional generation. Existing models attempted to condition T2I models on grounding inputs to improve controllability while ignoring the explicit supervision from the layout conditions. To tackle this issue, we propose Grounded jOint lAyout aLignment (GOAL), an effective framework for T2I synthesis. Two novel modules, discriminative semantic alignment (DSAlign) and masked attention alignment (MAAlign), are proposed and incorporated in this framework to improve the text-image alignment. DSAlign leverages discriminative tasks at the region-wise level to ensure low-level semantic alignment. MAAlign provides high-level attention alignment by guiding the model to focus on the target object. We also build a dataset GOAL2K for model fine-tuning, which composes 2000 semantically accurate image-text pairs and their layout annotations. Comprehensive evaluations on T2I-Compbench, NSR-1K, and Drawbench demonstrate the superior generation performance of our method. Especially, there are improvements of 19%, 13%, and 12% in color, shape, and texture metrics for T2I-Compbench. Additionally, Q-Align metrics demonstrate that our method can generate images of higher quality.

Poster
Uncovering Capabilities of Model Pruning in Graph Contrastive Learning

Xueyuan Chen, Shangzhe Li, Junran Wu

展开摘要

Graph contrastive learning has achieved great success in pre-training graph neural networks without ground-truth labels. Leading graph contrastive learning follows the classical scheme of contrastive learning, forcing model to identify the essential information from augmented views. However, general augmented views are produced via random corruption or learning, which inevitably leads to semantics alteration. Although domain knowledge guided augmentations alleviate this issue, the generated views are domain specific and undermine the generalization. In this work, motivated by the firm representation ability of sparse model from pruning, we reformulate the problem of graph contrastive learning via contrasting different model versions rather than augmented views. We first theoretically reveal the superiority of model pruning in contrast to data augmentations. In practice, we take original graph as input and dynamically generate a perturbed graph encoder to contrast with the original encoder by pruning its transformation weights. Furthermore, considering the integrity of node embedding in our method, we are capable of developing a local contrastive loss to tackle the hard negative samples that disturb the model training. We extensively validate our method on various benchmarks regarding graph classification via unsupervised and transfer learning. Compared to the state-of-the-art (SOTA) works, better performance can always be obtained by the proposed method.

Poster
Introducing Common Null Space of Gradients for Gradient Projection Methods in Continual Learning

Chengyi Yang, Mingda Dong, Xiaoyue Zhang, Jiayin Qi, Aimin Zhou

展开摘要

Continual learning aims to learn new knowledge from a sequence of tasks without forgetting. Recent studies have found that projecting gradients onto the orthogonal direction of task-specific features is effective. However, these methods mainly focus on mitigating catastrophic forgetting by adopting old features to construct projection spaces, neglecting the potential to enhance plasticity and the valuable information contained in previous gradients. To enhance plasticity and effectively utilize the gradients from old tasks, we propose Gradient Projection in Common Null Space (GPCNS), which projects current gradients into the common null space of final gradients under all preceding tasks. Moreover, to integrate both feature and gradient information, we propose a collaborative framework that allows GPCNS to be utilized in conjunction with existing gradient projection methods as a plug-and-play extension that provides gradient information and better plasticity. Experimental evaluations conducted on three benchmarks demonstrate that GPCNS exhibits superior plasticity compared to conventional gradient projection methods. More importantly, GPCNS can effectively improve the backward transfer and average accuracy for existing gradient projection methods when applied as a plugin, which outperforms all the gradient projection methods without increasing learnable parameters and customized objective functions. The code is available at https://github.com/Hifipsysta/GPCNS.

Poster
Fractional Correspondence Framework in Detection Transformer

Masoumeh Zareapoor, Pourya Shamsolmoali, Huiyu Zhou, Yue Lu, Salvador Garcia

展开摘要

The Detection Transformer (DETR), by incorporating the Hungarian algorithm, has significantly simplified the matching process in object detection tasks. This algorithm facilitates optimal one-to-one matching of predicted bounding boxes to ground-truth annotations during training. While effective, this strict matching process does not inherently account for the varying densities and distributions of objects, leading to suboptimal correspondences such as failing to handle multiple detections of the same object or missing small objects. To address this, we propose the Regularized Transport Plan (RTP). RTP introduces a flexible matching strategy that captures the cost of aligning predictions with ground truths to find the most accurate correspondences between these sets. By utilizing the differentiable Sinkhorn algorithm, RTP allows for soft, fractional matching rather than strict one-to-one assignments. This approach enhances the model's capability to manage varying object densities and distributions effectively. Our extensive evaluations on the MS-COCO and VOC benchmarks demonstrate the effectiveness of our approach. RTP-DETR, surpassing the performance of the Deform-DETR and the recently introduced DINO-DETR, achieving absolute gains in mAP of +3.8% and +1.7%, respectively.

Poster
Probabilistic Vision-Language Representation for Weakly Supervised Temporal Action Localization

Geuntaek Lim, Hyunwoo Kim, Joonsoo Kim, Yukyung Choi

展开摘要

Weakly supervised temporal action localization (WTAL) aims to detect action instances in untrimmed videos using only video-level annotations. Since many existing works optimize WTAL models based on action classification labels, they encounter the task discrepancy problem (i.e., localization-by-classification). To tackle this issue, recent studies have attempted to utilize action category names as auxiliary semantic knowledge through vision-language pre-training (VLP). However, there are still areas where existing research falls short. Previous approaches primarily focused on leveraging textual information from language models but overlooked the alignment of dynamic human action and VLP knowledge in a joint space. Furthermore, the deterministic representation employed in previous studies struggles to capture fine-grained human motions. To address these problems, we propose a novel framework that aligns human action knowledge and VLP knowledge in a probabilistic embedding space. Moreover, we propose intra- and inter-distribution contrastive learning to enhance the probabilistic embedding space based on statistical similarities. Extensive experiments and ablation studies reveal that our method significantly outperforms all previous state-of-the-art methods. Code is available at https://github.com/sejong-rcv/PVLR.

Poster
Hearing the Moment with MetaEcho! From Physical to Virtual in Synchronized Sound Recording

Zheng Wei, Yuzheng Chen, Wai Tong, Xuan Zong, Huamin Qu, Xian Xu, Lik-Hang Lee

展开摘要

In film education, high expenses and limited space significantly challenge teaching synchronized sound recording (SSR). Traditional methods, which emphasize theory with limited practical experience, often fail to bridge the gap between theoretical understanding and practical application. As such, we introduce MetaEcho, an educational virtual reality leveraging the presence theory for teaching SSR. MetaEcho provides realistic simulations of various recording equipment and facilitates communication between learners and instructors, offering an immersive learning experience that closely mirrors actual practices. An evaluation with 24 students demonstrated that MetaEcho surpasses the traditional method in presence, collaboration, usability, realism, comprehensibility, and creativity. Three experts also commented on the benefits of MetaEcho and the opportunities for promoting SSR education in the metaverse era.

Poster
GraphLearner: Graph Node Clustering with Fully Learnable Augmentation

Xihong Yang, Erxue Min, KE LIANG, Yue Liu, Siwei Wang, sihang zhou, Huijun Wu, Xinwang Liu, En Zhu

展开摘要

Contrastive deep graph clustering (CDGC) leverages the power of contrastive learning to group nodes into different clusters. The quality of contrastive samples is crucial for achieving better performance, making augmentation techniques a key factor in the process. However, the augmentation samples in existing methods are always predefined by human experiences, and agnostic from the downstream task clustering, thus leading to high human resource costs and poor performance. To overcome these limitations, we propose a Graph Node Clustering with Fully Learnable Augmentation, termed GraphLearner. It introduces learnable augmentors to generate high-quality and task-specific augmented samples for CDGC. GraphLearner incorporates two learnable augmentors specifically designed for capturing attribute and structural information. Moreover, we introduce two refinement matrices, including the high-confidence pseudo-label matrix and the cross-view sample similarity matrix, to enhance the reliability of the learned affinity matrix. During the training procedure, we notice the distinct optimization goals for training learnable augmentors and contrastive learning networks. In other words, we should both guarantee the consistency of the embeddings as well as the diversity of the augmented samples. To address this challenge, we propose an adversarial learning mechanism within our method. Besides, we leverage a two-stage training strategy to refine the high-confidence matrices. Extensive experimental results on six benchmark datasets validate the effectiveness of GraphLearner.The code and appendix of GraphLearner are available at https://github.com/xihongyang1999/GraphLearner on Github.

Poster
Language-Driven Interactive Shadow Detection

Hongqiu Wang, Wei Wang, Haipeng Zhou, Huihui Xu, Shaozhi Wu, Lei Zhu

展开摘要

Traditional shadow detectors often identify all shadow regions of static images or video sequences. This work presents the Referring Video Shadow Detection (RVSD), which is an innovative task that rejuvenates the classic paradigm by facilitating the segmentation of particular shadows in videos based on descriptive natural language prompts. This novel RVSD not only achieves segmentation of arbitrary shadow areas of interest based on descriptions (flexibility) but also allows users to interact with visual content more directly and naturally by using natural language prompts (interactivity), paving the way for abundant applications ranging from advanced video editing to virtual reality experiences. To pioneer the RVSD research, we curated a well-annotated RVSD dataset, which encompasses 86 videos and a rich set of 15,011 paired textual descriptions with corresponding shadows. To the best of our knowledge, this dataset is the first one for addressing RVSD. Based on this dataset, we propose a Referring Shadow-Track Memory Network (RSM-Net) for addressing the RVSD task. In our RSM-Net, we devise a Twin-Track Synergistic Memory (TSM) to store intra-clip memory features and hierarchical inter-clip memory features, and then pass these memory features into a memory read module to refine features of the current video frame for referring shadow detection. We also develop a Mixed-Prior Shadow Attention (MSA) to utilize physical priors to obtain a coarse shadow map for learning more visual features by weighting it with the input video frame. Experimental results show that our RSM-Net achieves state-of-the-art performance for RVSD with a notable Overall IOU increase of 4.4\%. Our code and dataset are available at https://github.com/whq-xxh/RVSD.

Poster
GSLAMOT: A Tracklet and Query Graph-based Simultaneous Locating, Mapping, and Multiple Object Tracking System

Shuo Wang, Yongcai Wang, Zhimin Xu, Yongyu Guo, Wanting Li, Zhe Huang, Xuewei Bai, Deying Li

展开摘要

For interacting with mobile objects in unfamiliar environments, simultaneously locating, mapping, and tracking the 3D poses of multiple objects are crucially required. This paper proposes a Tracklet Graph and Query Graph-based framework, i.e., GSLAMOT, to address this challenge. GSLAMOT utilizes camera and LiDAR multimodal information as inputs and divides the representation of the dynamic scene into a semantic map for representing the static environment, a trajectory of the ego-agent, and an online maintained Tracklet Graph (TG) for tracking and predicting the 3D poses of the detected mobile objects. A Query Graph (QG) is constructed in each frame by object detection to query and update TG. For accurate object association, a Multi-criteria Star Graph Association (MSGA) method is proposed to find matched objects between the detections in QG and the predicted tracklets in TG. Then, an Object-centric Graph Optimization (OGO) method is proposed to simultaneously optimize the TG, the semantic map, and the agent trajectory. It triangulates the detected objects into the map to enrich the map's semantic information. We address the efficiency issues to handle the three tightly coupled tasks in parallel. Experiments are conducted on KITTI, Waymo, and an emulated Traffic Congestion dataset that highlights challenging scenarios. Experiments show that GSLAMOT enables accurate crowded object tracking while conducting SLAM accurately in challenging scenarios, demonstrating more excellent performances than the state-of-the-art methods. The code and dataset are at https://gslamot.github.io.

Poster