CVPR 2024 论文列表

Matching 2D keypoints in an image to a sparse 3D point cloud of the scene without requiring visual descriptors has garnered increased interest due to its low memory requirements inherent privacy preservation and reduced need for expensive 3D model maintenance compared to visual descriptor-based methods. However existing algorithms often compromise on performance resulting in a significant deterioration compared to their descriptor-based counterparts. In this paper we introduce DGC-GNN a novel algorithm that employs a global-to-local Graph Neural Network (GNN) that progressively exploits geometric and color cues to rep- resent keypoints thereby improving matching accuracy. Our procedure encodes both Euclidean and angular relations at a coarse level forming the geometric embedding to guide the point matching. We evaluate DGC-GNN on both indoor and outdoor datasets demonstrating that it not only doubles the accuracy of the state-of-the-art visual descriptor-free algorithm but also substantially narrows the performance gap between descriptor-based and descriptor free methods.

The YOLO series has become the most popular framework for real-time object detection due to its reasonable trade-off between speed and accuracy. However we observe that the speed and accuracy of YOLOs are negatively affected by the NMS. Recently end-to-end Transformer-based detectors (DETRs) have provided an alternative to eliminating NMS. Nevertheless the high computational cost limits their practicality and hinders them from fully exploiting the advantage of excluding NMS. In this paper we propose the Real-Time DEtection TRansformer (RT-DETR) the first real-time end-to-end object detector to our best knowledge that addresses the above dilemma. We build RT-DETR in two steps drawing on the advanced DETR: first we focus on maintaining accuracy while improving speed followed by maintaining speed while improving accuracy. Specifically we design an efficient hybrid encoder to expeditiously process multi-scale features by decoupling intra-scale interaction and cross-scale fusion to improve speed. Then we propose the uncertainty-minimal query selection to provide high-quality initial queries to the decoder thereby improving accuracy. In addition RT-DETR supports flexible speed tuning by adjusting the number of decoder layers to adapt to various scenarios without retraining. Our RT-DETR-R50 / R101 achieves 53.1% / 54.3% AP on COCO and 108 / 74 FPS on T4 GPU outperforming previously advanced YOLOs in both speed and accuracy. We also develop scaled RT-DETRs that outperform the lighter YOLO detectors (S and M models). Furthermore RT-DETR-R50 outperforms DINO-R50 by 2.2% AP in accuracy and about 21 times in FPS. After pre-training with Objects365 RT-DETR-R50 / R101 achieves 55.3% / 56.2% AP. The project page: https://zhao-yian.github.io/RTDETR.

The diffusion-based text-to-image model harbors immense potential in transferring reference style. However current encoder-based approaches significantly impair the text controllability of text-to-image models while transferring styles. In this paper we introduce DEADiff to address this issue using the following two strategies: 1) a mechanism to decouple the style and semantics of reference images. The decoupled feature representations are first extracted by Q-Formers which are instructed by different text descriptions. Then they are injected into mutually exclusive subsets of cross-attention layers for better disentanglement. 2) A non-reconstructive learning method. The Q-Formers are trained using paired images rather than the identical target in which the reference image and the ground-truth image are with the same style or semantics. We show that DEADiff attains the best visual stylization results and optimal balance between the text controllability inherent in the text-to-image model and style similarity to the reference image as demonstrated both quantitatively and qualitatively. Our project page is https://tianhao-qi.github.io/DEADiff/.

Low-shot counters estimate the number of objects corresponding to a selected category based on only few or no exemplars annotated in the image. The current state-of-the-art estimates the total counts as the sum over the object location density map but do not provide object locations and sizes which are crucial for many applications. This is addressed by detection-based counters which however fall behind in the total count accuracy. Furthermore both approaches tend to overestimate the counts in the presence of other object classes due to many false positives. We propose DAVE a low-shot counter based on a detect-and-verify paradigm that avoids the aforementioned issues by first generating a high-recall detection set and then verifying the detections to identify and remove the outliers.This jointly increases the recall and precision leading to accurate counts. DAVE outperforms the top density-based counters by ?20% in the total count MAE it outperforms the most recent detection-based counter by ?20% in detection quality and sets a new state-of-the-art in zero-shot as well as text-prompt-based counting.

Simulation is an invaluable tool for radio-frequency system designers that enables rapid prototyping of various algorithms for imaging target detection classification and tracking. However simulating realistic radar scans is a challenging task that requires an accurate model of the scene radio frequency material properties and a corresponding radar synthesis function. Rather than specifying these models explicitly we propose DART - Doppler Aided Radar Tomography a Neural Radiance Field-inspired method which uses radar-specific physics to create a reflectance and transmittance-based rendering pipeline for range-Doppler images. We then evaluate DART by constructing a custom data collection platform and collecting a novel radar dataset together with accurate position and instantaneous velocity measurements from lidar-based localization. In comparison to state-of-the-art baselines DART synthesizes superior radar range-Doppler images from novel views across all datasets and additionally can be used to generate high quality tomographic images.

Patch-based adversarial attacks were proven to compromise the robustness and reliability of computer vision systems. However their conspicuous and easily detectable nature challenge their practicality in real-world setting. To address this recent work has proposed using Generative Adversarial Networks (GANs) to generate naturalistic patches that may not attract human attention. However such approaches suffer from a limited latent space making it challenging to produce a patch that is efficient stealthy and robust to multiple real-world transformations. This paper introduces a novel approach that produces a Dynamic Adversarial Patch (DAP) designed to overcome these limitations. DAP maintains a naturalistic appearance while optimizing attack efficiency and robustness to real-world transformations. The approach involves redefining the optimization problem and introducing a novel objective function that incorporates a similarity metric to guide the patch's creation. Unlike GAN-based techniques the DAP directly modifies pixel values within the patch providing increased flexibility and adaptability to multiple transformations. Furthermore most clothing-based physical attacks assume static objects and ignore the possible transformations caused by non-rigid deformation due to changes in a person's pose. To address this limitation a `Creases Transformation' (CT) block is introduced enhancing the patch's resilience to a variety of real-world distortions. Experimental results demonstrate that the proposed approach outperforms state-of-the-art attacks achieving a success rate of up to 82.28% in the digital world when targeting the YOLOv7 detector and 65% in the physical world when targeting YOLOv3tiny detector deployed in edge-based smart cameras.

Existing methods for asymmetric image retrieval employ a rigid pairwise similarity constraint between the query network and the larger gallery network. However these one-to-one constraint approaches often fail to maintain retrieval order consistency especially when the query network has limited representational capacity. To overcome this problem we introduce the Decoupled Differential Distillation (D3still) framework. This framework shifts from absolute one-to-one supervision to optimizing the relational differences in pairwise similarities produced by the query and gallery networks thereby preserving a consistent retrieval order across both networks. Our method involves computing a pairwise similarity differential matrix within the gallery domain which is then decomposed into three components: feature representation knowledge inconsistent pairwise similarity differential knowledge and consistent pairwise similarity differential knowledge. This strategic decomposition aligns the retrieval ranking of the query network with the gallery network effectively. Extensive experiments on various benchmark datasets reveal that D3still surpasses state-of-the-art methods in asymmetric image retrieval. Code is available at https://github.com/SCY-X/D3still.

Domain adaptation for object detection typically entails transferring knowledge from one visible domain to another visible domain. However there are limited studies on adapting from the visible to the thermal domain because the domain gap between the visible and thermal domains is much larger than expected and traditional domain adaptation can not successfully facilitate learning in this situation. To overcome this challenge we propose a Distinctive Dual-Domain Teacher (D3T) framework that employs distinct training paradigms for each domain. Specifically we segregate the source and target training sets for building dual-teachers and successively deploy exponential moving average to the student model to individual teachers of each domain. The framework further incorporates a zigzag learning method between dual teachers facilitating a gradual transition from the visible to thermal domains during training. We validate the superiority of our method through newly designed experimental protocols with well-known thermal datasets i.e. FLIR and KAIST. Source code is available at https://github.com/EdwardDo69/D3T.

Binaural audio is obtained by simulating the biological structure of human ears which plays an important role in artificial immersive spaces. A promising approach is to utilize mono audio and corresponding vision to synthesize binaural audio thereby avoiding expensive binaural audio recording. However most existing methods directly use the entire scene as a guide ignoring the correspondence between sounds and sounding objects. In this paper we advocate generating binaural audio using fine-grained raw waveform and object-level visual information as guidance. Specifically we propose a Cyclic Locating-and-UPmixing (CLUP) framework that jointly learns visual sounding object localization and binaural audio generation. Visual sounding object localization establishes the correspondence between specific visual objects and sound modalities which provides object-aware guidance to improve binaural generation performance. Meanwhile the spatial information contained in the generated binaural audio can further improve the performance of sounding object localization. In this case visual sounding object localization and binaural audio generation can achieve cyclic learning and benefit from each other. Experimental results demonstrate that on the FAIR-Play benchmark dataset our method is significantly ahead of the existing baselines in multiple evaluation metrics (STFT\downarrow: 0.787 vs. 0.851 ENV\downarrow: 0.128 vs. 0.134 WAV\downarrow: 5.244 vs. 5.684 SNR\uparrow: 7.546 vs. 7.044).

In the realm of medical 3D data such as CT and MRI images prevalent anisotropic resolution is characterized by high intra-slice but diminished inter-slice resolution. The lowered resolution between adjacent slices poses challenges hindering optimal viewing experiences and impeding the development of robust downstream analysis algorithms. Various volumetric super-resolution algorithms aim to surmount these challenges enhancing inter-slice resolution and overall 3D medical imaging quality. However existing approaches confront inherent challenges: 1) often tailored to specific upsampling factors lacking flexibility for diverse clinical scenarios; 2) newly generated slices frequently suffer from over-smoothing degrading fine details and leading to inter-slice inconsistency. In response this study presents CycleINR a novel enhanced Implicit Neural Representation model for 3D medical data volumetric super-resolution. Leveraging the continuity of the learned implicit function the CycleINR model can achieve results with arbitrary up-sampling rates eliminating the need for separate training. Additionally we enhance the grid sampling in CycleINR with a local attention mechanism and mitigate over-smoothing by integrating cycle-consistent loss. We introduce a new metric Slice-wise Noise Level Inconsistency (SNLI) to quantitatively assess inter-slice noise level inconsistency. The effectiveness of our approach is demonstrated through image quality evaluations on an in-house dataset and a downstream task analysis on the Medical Segmentation Decathlon liver tumor dataset.

We introduce CyberDemo a novel approach to robotic imitation learning that leverages simulated human demonstrations for real-world tasks. By incorporating extensive data augmentation in a simulated environment CyberDemo outperforms traditional in-domain real-world demonstrations when transferred to the real world handling diverse physical and visual conditions. Regardless of its affordability and convenience in data collection CyberDemo outperforms baseline methods in terms of success rates across various tasks and exhibits generalizability with previously unseen objects. For example it can rotate novel tetra-valve and penta-valve despite human demonstrations only involving tri-valves. Our research demonstrates the significant potential of simulated human demonstrations for real world dexterous manipulation tasks. More details can be found at https://cyber-demo.github.io/

In this paper we target the adaptive source driven 3D scene editing task by proposing a CustomNeRF model that unifies a text description or a reference image as the editing prompt. However obtaining desired editing results conformed with the editing prompt is nontrivial since there exist two significant challenges including accurate editing of only foreground regions and multi-view consistency given a single-view reference image. To tackle the first challenge we propose a Local-Global Iterative Editing (LGIE) training scheme that alternates between foreground region editing and full-image editing aimed at foreground-only manipulation while preserving the background. For the second challenge we also design a class-guided regularization that exploits class priors within the generation model to alleviate the inconsistency problem among different views in image-driven editing. Extensive experiments show that our CustomNeRF produces precise editing results under various real scenes for both text- and image-driven settings. The code is available at: https://github. com/hrz2000/CustomNeRF.

Customizing pre-trained text-to-image generation model has attracted massive research interest recently due to its huge potential in real-world applications. Although existing methods are able to generate creative content for a novel concept contained in single user-input image their capability are still far from perfection. Specifically most existing methods require fine-tuning the generative model on testing images. Some existing methods do not require fine-tuning while their performance are unsatisfactory. Furthermore the interaction between users and models are still limited to directive and descriptive prompts such as instructions and captions. In this work we build a customization assistant based on pre-trained large language model and diffusion model which can not only perform customized generation in a tuning-free manner but also enable more user-friendly interactions: users can chat with the assistant and input either ambiguous text or clear instruction. Specifically we propose a new framework consists of a new model design and a novel training strategy. The resulting assistant can perform customized generation in 2-5 seconds without any test time fine-tuning. Extensive experiments are conducted competitive results have been obtained across different domains illustrating the effectiveness of the proposed method.

Listening head generation aims to synthesize a non-verbal responsive listener head by modeling the correlation between the speaker and the listener in dynamic conversion. The applications of listener agent generation in virtual interaction have promoted many works achieving diverse and fine-grained motion generation. However they can only manipulate motions through simple emotional labels but cannot freely control the listener's motions. Since listener agents should have human-like attributes (e.g. identity personality) which can be freely customized by users this limits their realism. In this paper we propose a user-friendly framework called CustomListener to realize the free-form text prior guided listener generation. To achieve speaker-listener coordination we design a Static to Dynamic Portrait module (SDP) which interacts with speaker information to transform static text into dynamic portrait token with completion rhythm and amplitude information. To achieve coherence between segments we design a Past Guided Generation module (PGG) to maintain the consistency of customized listener attributes through the motion prior and utilize a diffusion-based structure conditioned on the portrait token and the motion prior to realize the controllable generation. To train and evaluate our model we have constructed two text-annotated listening head datasets based on ViCo and RealTalk which provide text-video paired labels. Extensive experiments have verified the effectiveness of our model.

Modern depth sensors such as LiDAR operate by sweeping laser-beams across the scene resulting in a point cloud with notable 1D curve-like structures. In this work we introduce a new point cloud processing scheme and backbone called CurveCloudNet which takes advantage of the curve-like structure inherent to these sensors. While existing backbones discard the rich 1D traversal patterns and rely on generic 3D operations CurveCloudNet parameterizes the point cloud as a collection of polylines (dubbed a "curve cloud") establishing a local surface-aware ordering on the points. By reasoning along curves CurveCloudNet captures lightweight curve-aware priors to efficiently and accurately reason in several diverse 3D environments. We evaluate CurveCloudNet on multiple synthetic and real datasets that exhibit distinct 3D size and structure. We demonstrate that CurveCloudNet outperforms both point-based and sparse-voxel backbones in various segmentation settings notably scaling to large scenes better than point-based alternatives while exhibiting improved single-object performance over sparse-voxel alternatives. In all CurveCloudNet is an efficient and accurate backbone that can handle a larger variety of 3D environments than past works.

Referring image segmentation (RIS) aims to precisely segment referents in images through corresponding natural language expressions yet relying on cost-intensive mask annotations. Weakly supervised RIS thus learns from image-text pairs to pixel-level semantics which is challenging for segmenting fine-grained masks. A natural approach to enhancing segmentation precision is to empower weakly supervised RIS with the image segmentation foundation model SAM. Nevertheless we observe that simply integrating SAM yields limited benefits and can even lead to performance regression due to the inevitable noise issues and challenges in excessive focus on object parts. In this paper we present an innovative framework Point PrompTing (PPT) incorporated with the proposed multi-source curriculum learning strategy to address these challenges. Specifically the core of PPT is a point generator that not only harnesses CLIP's text-image alignment capability and SAM's powerful mask generation ability but also generates negative point prompts to address the noisy and excessive focus issues inherently and effectively. In addition we introduce a curriculum learning strategy with object-centric images to help PPT gradually learn from simpler yet precise semantic alignment to more complex RIS. Experiments demonstrate that our PPT significantly and consistently outperforms prior weakly supervised techniques on mIoU by 11.34% 14.14% and 6.97% across RefCOCO RefCOCO+ and G-Ref respectively.

In this paper we introduce VoteCut an innovative method for unsupervised object discovery that leverages feature representations from multiple self-supervised models. VoteCut employs normalized-cut based graph partitioning clustering and a pixel voting approach. Additionally We present CuVLER (Cut-Vote-and-LEaRn) a zero-shot model trained using pseudo-labels generated by VoteCut and a novel soft target loss to refine segmentation accuracy. Through rigorous evaluations across multiple datasets and several unsupervised setups our methods demonstrate significant improvements in comparison to previous state-of-the-art models. Our ablation studies further highlight the contributions of each component revealing the robustness and efficacy of our approach. Collectively VoteCut and CuVLER pave the way for future advancements in image segmentation.

Crowd counting is a fundamental problem in crowd analysis which is typically accomplished by estimating a crowd density map and summing over the density values. However this approach suffers from background noise accumulation and loss of density due to the use of broad Gaussian kernels to create the ground truth density maps. This issue can be overcome by narrowing the Gaussian kernel. However existing approaches perform poorly when trained with ground truth density maps with broad kernels. To deal with this limitation we propose using conditional diffusion models to predict density maps as diffusion models show high fidelity to training data during generation. With that we present CrowdDiff that generates the crowd density map as a reverse diffusion process. Furthermore as the intermediate time steps of the diffusion process are noisy we incorporate a regression branch for direct crowd estimation only during training to improve the feature learning. In addition owing to the stochastic nature of the diffusion model we introduce producing multiple density maps to improve the counting performance contrary to the existing crowd counting pipelines. We conduct extensive experiments on publicly available datasets to validate the effectiveness of our method. CrowdDiff outperforms existing \sota crowd counting methods on several public crowd analysis benchmarks with significant improvements. CrowdDiff project is available at: https://dylran.github.io/crowddiff.github.io.

Learning joint and coordinated features across modalities is essential for many audio-visual tasks. Existing pre-training methods primarily focus on global information neglecting fine-grained features and positions leading to suboptimal performance in dense prediction tasks. To address this issue we take a further step towards region-aware audio-visual pre-training and propose CrossMAE which excels in Cross-modality interaction and region alignment. Specifically we devise two masked autoencoding (MAE) pretext tasks at both pixel and embedding levels namely Cross-Conditioned Reconstruction and Cross-Embedding Reconstruction. Taking the visual modality as an example (the same goes for audio) in Cross-Conditioned Reconstruction the visual modality reconstructs the input image pixels conditioned on audio Attentive Tokens. As for the more challenging Cross-Embedding Reconstruction unmasked visual tokens reconstruct complete audio features under the guidance of learnable queries implying positional information which effectively enhances the interaction between modalities and exploits fine-grained semantics. Experimental results demonstrate that CrossMAE achieves state-of-the-art performance not only in classification and retrieval but also in dense prediction tasks. Furthermore we dive into the mechanism of modal interaction and region alignment of CrossMAE highlighting the effectiveness of the proposed components.