CVPR 2025 论文列表

Modern autonomous driving perception systems utilize complementary multi-modal sensors, such as LiDAR and cameras. Although sensor fusion architectures enhance performance in challenging environments, they still suffer significant performance drops under severe sensor failures, such as LiDAR beam reduction, LiDAR drop, limited field of view, camera drop, and occlusion. This limitation stems from inter-modality dependencies in current sensor fusion frameworks. In this study, we introduce an efficient and robust LiDAR-camera 3D object detector, referred to as MoME, which can achieve robust performance through a mixture of experts approach. Our MoME fully decouples modality dependencies using three parallel expert decoders, which use camera features, LiDAR features, or a combination of both to decode object queries, respectively. We propose Multi-Expert Decoding (MED) framework, where each query is decoded selectively using one of three expert decoders. MoME utilizes an Adaptive Query Router (AQR) to select the most appropriate expert decoder for each query based on the quality of camera and LiDAR features. This ensures that each query is processed by the best-suited expert, resulting in robust performance across diverse sensor failure scenarios. We evaluated the performance of MoME on the nuScenes-R benchmark. Our MoME achieved state-of-the-art performance in extreme weather and sensor failure conditions, significantly outperforming the existing models across various sensor failure scenarios.

While vision-language models like CLIP have shown remarkable success in open-vocabulary tasks, their application is currently confined to image-level tasks, and they still struggle with dense predictions. Recent works often attribute such deficiency in dense predictions to the self-attention layers in the final block, and have achieved commendable results by modifying the original query-key attention to self-correlation attention, (e.g., query-query and key-key attention). However, these methods overlook the cross-correlation attention (query-key) properties, which capture the rich spatial correspondence. In this paper, we reveal that the cross-correlation of self-attention in non-final layers of CLIP also exhibits localization properties. Therefore, we propose the Residual Cross-correlation Self-attention (RCS) module, which leverages the cross-correlation self-attention from intermediate layers to remold the attention in the final block. The RCS module effectively reorganizes spatial information, unleashing the localization potential within CLIP for dense vision-language inference. Furthermore, to enhance the focus on regions of the same categories and local consistency, we propose the Semantic Feedback Refinement (SFR) module, which utilizes semantic segmentation maps to further adjust the attention scores. By integrating these two strategies, our method, termed ResCLIP, can be easily incorporated into existing approaches as a plug-and-play module, significantly boosting their performance in dense vision-language inference. Extensive experiments across multiple standard benchmarks demonstrate that our method surpasses state-of-the-art training-free methods, validating the effectiveness of the proposed approach. Code is available at https://github.com/yvhangyang/ResCLIP.

Recent progress in interactive point prompt based Image Segmentation allows to significantly reduce the manual effort to obtain high quality semantic labels. State-of-the-art unsupervised methods use self-supervised pre-trained models to obtain pseudo-labels which are used in training a prompt-based segmentation model. In this paper, we propose a novel unsupervised and training-free approach based solely on the self-attention of Stable Diffusion. We interpret the self-attention tensor as a Markov transition operator, which enables us to iteratively construct a Markov chain. Pixel-wise counting of the required number of iterations along the Markov chain to reach a relative probability threshold yields a Markov-iteration-map, which we simply call a Markov-map. Compared to the raw attention maps, we show that our proposed Markov-map has less noise, sharper semantic boundaries and more uniform values within semantically similar regions. We integrate the Markov-map in a simple yet effective truncated nearest neighbor framework to obtain interactive point prompt based segmentation. Despite being training-free, we experimentally show that our approach yields excellent results in terms of Number of Clicks (NoC), even outperforming state-of-the-art training based unsupervised methods in most of the datasets. Code is available at https://github.com/mkarmann/m2n2.

Video Frame Interpolation aims to recover realistic missing frames between observed frames, generating a high-frame-rate video from a low-frame-rate video. However, without additional guidance, large motion between frames makes this problem ill-posed. Event-based Video Frame Interpolation (EVFI) addresses this challenge by using sparse, high-temporal-resolution event measurements as motion guidance. This guidance allows EVFI methods to significantly outperform frame-only methods. However, to date, EVFI methods have relied upon a limited set of paired event-frame training data, severely limiting their performance and generalization capabilities. In this work, we overcome the limited data challenge by adapting pre-trained video diffusion models trained on internet-scale datasets to EVFI. We experimentally validate our approach on real-world EVFI datasets, including a new one we introduce. Our method outperforms existing methods and generalizes across cameras far better than existing approaches.

Contrastive Language-Image Pre-training (CLIP) models as a milestone of modern multimodal intelligence, its generalization mechanism grasped massive research interests in the community. While existing studies limited in the scope of pre-training knowledge, hardly underpinned its generalization to countless open-world concepts absent from the pre-training regime. This paper dives into such Out-of-Pre-training (OOP) generalization problem from a holistic perspective. We propose LAION-Beyond benchmark to isolate the evaluation of OOP concepts from pre-training knowledge, with regards to OpenCLIP and its reproducible variants derived from LAION datasets. Empirical analysis evidences that despite image features of OOP concepts born with significant category margins, their zero-shot transfer significantly fails due to the poor image-text alignment. To this, we elaborate the "name-tuning" methodology with its theoretical merits in terms of OOP generalization, then propose few-shot name learning (FSNL) and zero-shot name learning (ZSNL) algorithms to achieve OOP generalization in a data-efficient manner. Their superiority have been further verified in our comprehensive experiments.

We describe a system to remove real-world reflections from images for consumer photography. Our system operates on linear (RAW) photos, and accepts an optional contextual photo looking in the opposite direction (e.g., the "selfie" camera on a mobile device). This optional photo disambiguates what should be considered the reflection. The system is trained solely on synthetic mixtures of real RAW photos, which we combine using a reflection simulation that is photometrically and geometrically accurate. Our system comprises a base model that accepts the captured photo and optional context photo as input, and runs at 256p, followed by an up-sampling model that transforms 256p images to full resolution. The system produces preview images at 1K in 4.5-6.5s on a MacBook or iPhone 14 Pro. We show SOTA results on RAW photos that were captured in the field to embody typical consumer photos, and show that training on RAW simulation data improves performance more than the architectural variations among prior works.

Physiological activities can be manifested by the sensitive changes in facial imaging. While they are barely observable to our eyes, computer vision manners can, and the derived remote photoplethysmography (rPPG) has shown considerable promise. However, existing studies mainly rely on spatial skin recognition and temporal rhythmic interactions, so they focus on identifying explicit features under ideal light conditions, but perform poorly in-the-wild with intricate obstacles and extreme illumination exposure. In this paper, we propose an end-to-end video transformer model for rPPG. It strives to eliminate complex and unknown external time-varying interferences, whether they are sufficient to occupy subtle biosignal amplitudes or exist as periodic perturbations that hinder network training. In the specific implementation, we utilize global interference sharing, subject background reference, and self-supervised disentanglement to eliminate interference, and further guide learning based on spatiotemporal filtering, reconstruction guidance, and frequency domain and biological prior constraints to achieve effective rPPG. To the best of our knowledge, this is the first robust rPPG model for real outdoor scenarios based on natural face videos, and is lightweight to deploy. Extensive experiments show the competitiveness and performance of our model in rPPG prediction across datasets and scenes.

Visual localization aims to determine the camera pose of a query image relative to a database of posed images. In recent years, deep neural networks that directly regress camera poses have gained popularity due to their fast inference capabilities. However, existing methods struggle to either generalize well to new scenes or provide accurate camera pose estimates. To address these issues, we present Reloc3r, a simple yet effective visual localization framework. It consists of an elegantly designed relative pose regression network, and a minimalist motion averaging module for absolute pose estimation. Trained on approximately eight million posed image pairs, Reloc3r achieves surprisingly good performance and generalization ability. We conduct extensive experiments on six public datasets, consistently demonstrating the effectiveness and efficiency of the proposed method. It provides high-quality camera pose estimates in real time and generalizes to novel scenes. Code: https://github.com/ffrivera0/reloc3r.

Monocular depth estimation (MDE) models have undergone significant advancements over recent years. Many MDE models aim to predict affine-invariant relative depth from monocular images, while recent developments in large-scale training and vision foundation models enable reasonable estimation of metric (absolute) depth. However, effectively leveraging these predictions for geometric vision tasks, in particular relative pose estimation, remains relatively under explored. While depths provide rich constraints for cross-view image alignment, the intrinsic noise and ambiguity from the monocular depth priors present practical challenges to improving upon classic keypoint-based solutions. In this paper, we develop three solvers for relative pose estimation that explicitly account for independent affine (scale and shift) ambiguities, covering both calibrated and uncalibrated conditions. We further propose a hybrid estimation pipeline that combines our proposed solvers with classic point-based solvers and epipolar constraints. We find that the affine correction modeling is beneficial to not only the relative depth priors but also, surprisingly, the "metric" ones. Results across multiple datasets demonstrate large improvements of our approach over classic keypoint-based baselines and PnP-based solutions, under both calibrated and uncalibrated setups. We also show that our method improves consistently with different feature matchers and MDE models, and can further benefit from very recent advances on both modules.

Neural radiance fields are an emerging 3D scene representation and recently even been extended to learn features for scene understanding by distilling open-vocabulary features from vision-language models. However, current method primarily focus on object-centric representations, supporting object segmentation or detection, while understanding semantic relationships between objects remains largely unexplored. To address this gap, we propose RelationField, the first method to extract inter-object relationships directly from neural radiance fields. RelationField represents relationships between objects as pairs of rays within a neural radiance field, effectively extending its formulation to include implicit relationship queries. To teach RelationField complex, open-vocabulary relationships, relationship knowledge is distilled from multi-modal LLMs. To evaluate RelationField, we solve open-vocabulary 3D scene graph generation tasks and relationship-guided instance segmentation, achieving state-of-the-art performance in both tasks. See the project website at relationfield.github.io.

3D instance segmentation aims to predict a set of object instances in a scene, representing them as binary foreground masks with corresponding semantic labels. Currently, transformer-based methods are gaining increasing attention due to their elegant pipelines and superior predictions. However, these methods primarily focus on modeling the external relationships between scene features and query features through mask attention. They lack effective modeling of the internal relationships among scene features as well as between query features.In light of these disadvantages, we propose Relation3D: Enhancing Relation Modeling for Point Cloud Instance Segmentation. Specifically, we introduce an adaptive superpoint aggregation module and a contrastive learning-guided superpoint refinement module to better represent superpoint features (scene features) and leverage contrastive learning to guide the updates of these features.Furthermore, our relation-aware self-attention mechanism enhances the capabilities of modeling relationships between queries by incorporating positional and geometric relationships into the self-attention mechanism.Extensive experiments on the ScanNetV2, ScanNet++, ScanNet200 and S3DIS datasets demonstrate the superior performance of Relation3D.

Despite advances in Large Language Models (LLMs) and Multimodal LLMs (MLLMs) for visual document understanding (VDU), visual information extraction (VIE) from relation-rich documents remains challenging due to the layout diversity and limited training data. While existing synthetic document generators attempt to address data scarcity, they either rely on manually designed layouts and templates, or adopt rule-based approaches that limit layout diversity. Besides, current layout generation methods focus solely on topological patterns without considering textual content, making them impractical for generating documents with complex associations between the contents and layouts. In this paper, we propose a Relation-rIch visual Document GEnerator (RIDGE) that addresses these limitations through a two-stage approach: (1) Content Generation, which leverages LLMs to generate document content using a carefully designed Hierarchical Structure Text format which captures entity categories and relationships, and (2) Content-driven Layout Generation, which learns to create diverse, plausible document layouts solely from easily available Optical Character Recognition (OCR) results, requiring no human labeling or annotations efforts. Experimental results have demonstrated that our method significantly enhances the performance of document understanding models on various VIE benchmarks.

Generative Adversarial Networks (GANs) have emerged as powerful tools for high-quality image generation and real image editing by manipulating their latent spaces. Recent advancements in GANs include 3D-aware models such as EG3D, which feature efficient triplane-based architectures capable of reconstructing 3D geometry from single images. However, limited attention has been given to providing an integrated framework for 3D-aware, high-quality, reference-based image editing. This study addresses this gap by exploring and demonstrating the effectiveness of the triplane space for advanced reference-based edits. Our novel approach integrates encoding, automatic localization, spatial disentanglement of triplane features, and fusion learning to achieve the desired edits. We demonstrate how our approach excels across diverse domains, including human faces, 360-degree heads, animal faces, partially stylized edits like cartoon faces, full-body clothing edits, and edits on class-agnostic samples. Our method shows state-of-the-art performance over relevant latent direction, text, and image-guided 2D and 3D-aware diffusion and GAN methods, both qualitatively and quantitatively.

Estimating the 6D pose of unseen objects from monocular RGB images remains a challenging problem, especially due to the lack of prior object-specific knowledge. To tackle this issue, we propose RefPose, an innovative approach to object pose estimation that leverages a reference image and geometric correspondence as guidance. RefPose first predicts an initial pose by using object templates to render the reference image and establish the geometric correspondence needed for the refinement stage. During the refinement stage, RefPose estimates the geometric correspondence of the query based on the generated references and iteratively refines the pose through a render-and-compare approach. To enhance this estimation, we introduce a correlation volume-guided attention mechanism that effectively captures correlations between the query and reference images. Unlike traditional methods that depend on pre-defined object models, RefPose dynamically adapts to new object shapes by leveraging a reference image and geometric correspondence. This results in robust performance across previously unseen objects. Extensive evaluation on the BOP benchmark datasets shows that RefPose achieves state-of-the-art results while maintaining a competitive runtime.

In this paper, we introduce Ref-GS, a novel approach for directional light factorization in 2D Gaussian splatting, which enables photorealistic view-dependent appearance rendering and precise geometry recovery. Ref-GS builds upon the deferred rendering of Gaussian splatting and applies directional encoding to the deferred-rendered surface, effectively reducing the ambiguity between orientation and viewing angle. Next, we introduce a spherical mip-grid to capture varying levels of surface roughness, enabling roughness-aware Gaussian shading. Additionally, we propose a simple yet efficient geometry-lighting factorization that connects geometry and lighting via the vector outer product, significantly reducing renderer overhead when integrating volumetric attributes. Our method achieves superior photorealistic rendering for a range of open-world scenes while also accurately recovering geometry.

Class incremental learning (CIL) aims to enable models to continuously learn new classes without catastrophically forgetting old ones. A promising direction is to learn and use prototypes of classes during incremental updates. Despite simplicity and intuition, we find that such methods suffer from inadequate representation capability and unsatisfied feature overlap. These two factors cause class-wise confusion and limited performance. In this paper, we develop a Confusion-REduced AuTo-Encoder classifier (CREATE) for CIL. Specifically, our method employs a lightweight auto-encoder module to learn compact manifold for each class in the latent subspace, constraining samples to be well reconstructed only on the semantically correct auto-encoder. Thus, the representation stability and capability of class distributions are enhanced, alleviating the potential class-wise confusion problem. To further distinguish the overlapped features, we propose a confusion-aware latent space separation loss that ensures samples are closely distributed in their corresponding low-dimensional manifold while keeping away from the distributions of drifted features from other classes. Our method demonstrates stronger representational capacity and discrimination ability by learning disentangled manifolds and reduces class confusion. Extensive experiments on multiple datasets and settings show that CREATE outperforms other state-of-the-art methods up to 5.41%.

Creative remains an inherently abstract concept for both humans and diffusion models. While text-to-image (T2I) diffusion models can easily generate out-of-distribution concepts like "a blue banana", they struggle with generating combinatorial objects such as "a creative mixture that resembles a lettuce and a mantis", due to difficulties in understanding the semantic depth of "creative". Current methods rely heavily on synthesizing reference prompts or images to achieve a creative effect, typically requiring retraining for each unique creative output-a process that is computationally intensive and limits practical applications. To address this, we introduce CreTok, which brings meta-creativity to diffusion models by redefining "creative" as a new token, <CreTok>, thus enhancing models' semantic understanding for combinatorial creativity. CreTok achieves such redefinition by iteratively sampling diverse text pairs from our proposed CangJie dataset to form adaptive prompts and restrictive prompts, and then optimizing the similarity between their respective text embeddings. Extensive experiments demonstrate that <CreTok> enables the universal and direct generation of combinatorial creativity across diverse concepts without additional training, achieving state-of-the-art performance with improved text-image alignment and higher human preference ratings. Code will be made available at https://github.com/fu-feng/CreTok.

Category-agnostic pose estimation aims to locate keypoints on query images according to a few annotated support images for arbitrary novel classes. Existing methods generally extract support features via heatmap pooling, and obtain interacted features from support and query via cross-attention. Hence, these works neglect to mine fine-grained and structure-aware (FGSA) features from both support and query images, which are crucial for pixel-level keypoint localization. To this end, we propose a novel yet concise framework, which recurrently mines FGSA features from both support and query images. Specifically, we design a FGSA mining module based on deformable attention mechanism. On the one hand, we mine fine-grained features by applying deformable attention head over multi-scale feature maps. On the other hand, we mine structure-aware features by offsetting the reference points of keypoints to their linked keypoints. By means of above module, we recurrently mine FGSA features from support and query images, and thus obtain better support features and query estimations. In addition, we propose to use mixup keypoints to pad various classes to a unified keypoint number, which could provide richer supervision than the zero padding used in existing works. We conduct extensive experiments and in-depth studies on large-scale MP-100 dataset, and outperform SOTA method dramatically (+3.2% PCK\@0.05).

Cross-modal retrieval is gaining increasing efficacy and interest from the research community, thanks to large-scale training, novel architectural and learning designs, and its application in LLMs and multimodal LLMs. In this paper, we move a step forward and design an approach that allows for multimodal queries - composed of both an image and a text - and can search within collections of multimodal documents, where images and text are interleaved. Our model, ReT, employs multi-level representations extracted from different layers of both visual and textual backbones, both at the query and document side. To allow for multi-level and cross-modal understanding and feature extraction, ReT employs a novel Transformer-based recurrent cell that integrates both textual and visual features at different layers, and leverages sigmoidal gates inspired by the classical design of LSTMs. Extensive experiments on M2KR and M-BEIR benchmarks show that ReT achieves state-of-the-art performance across diverse settings. Our source code and trained models are publicly available at: https://github.com/aimagelab/ReT.