ECCV 2024 论文列表

European Conference on Computer Vision

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2,386篇论文

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    2008.4%
  • Poster
    2,18691.6%

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Brain-ID: Learning Contrast-agnostic Anatomical Representations for Brain Imaging

Peirong Liu, Oula Puonti, Xiaoling Hu, Daniel C. Alexander, Juan E. Iglesias

展开摘要

"Recent learning-based approaches have made astonishing advances in calibrated medical imaging like computerized tomography (CT). Yet, they struggle to generalize in uncalibrated modalities – notably magnetic resonance (MR) imaging, where performance is highly sensitive to the differences in MR contrast, resolution, and orientation. This prevents broad applicability to diverse real-world clinical protocols. We introduce Brain-ID, an anatomical representation learning model for brain imaging. With the proposed “mild-to-severe” intra-subject generation, Brain-ID is robust to the subject-specific brain anatomy regardless of the appearance of acquired images. Trained entirely on synthetic inputs, Brain-ID readily adapts to various downstream tasks through one layer. We present new metrics to validate the intra/inter-subject robustness of Brain-ID features, and evaluate their performance on four downstream applications, covering contrast-independent (anatomy reconstruction, brain segmentation), and contrast-dependent (super-resolution, bias field estimation) tasks (showcase). Extensive experiments on six public datasets demonstrate that Brain-ID achieves state-of-the-art performance in all tasks on different MR contrasts and CT, and more importantly, preserves its performance on low-resolution and small datasets. Code is available at https://github.com/peirong26/Brain-ID."

Poster
Brain Netflix: Scaling Data to Reconstruct Videos from Brain Signals

Camilo L Fosco*, Benjamin Lahner, Bowen Pan, Alex Andonian, Emilie L Josephs, Alex Lascelles, Aude Oliva

展开摘要

"The field of brain-to-stimuli reconstruction has seen significant progress in the last few years, but techniques continue to be subject-specific and are usually tested on a single dataset. In this work, we present a novel technique to reconstruct videos from functional Magnetic Resonance Imaging (fMRI) signals designed for performance across datasets and across human participants. Our pipeline accurately generates 2 and 3-second video clips from brain activity coming from distinct participants and different datasets by leveraging multi-dataset and multi-subject training. This helps us regress key latent and conditioning vectors for pretrained text-to-video and video-to-video models to reconstruct accurate videos that match the original stimuli observed by the participant. Key to our pipeline is the introduction of a 3-stage approach that first aligns fMRI signals to semantic embeddings, then regresses important vectors, and finally generates videos with those estimations. Our method demonstrates state-of-the-art reconstruction capabilities verified by qualitative and quantitative analyses, including crowd-sourced human evaluation. We showcase performance improvements across two datasets, as well as in multi-subject setups. Our ablation studies shed light on how different alignment strategies and data scaling decisions impact reconstruction performance, and we hint at a future for zero-shot reconstruction by analyzing how performance evolves as more subject data is leveraged."

Poster
Bottom-Up Domain Prompt Tuning for Generalized Face Anti-Spoofing

Siqi Liu, Qirui Wang, Pong C. Yuen

展开摘要

"Face anti-spoofing (FAS) which plays an important role in securing face recognition systems has been attracting increasing attention. Recently, vision-language model CLIP has been proven to be effective for FAS, where outstanding performance can be achieved by simply transferring the class label into textual prompt. In this work, we aim to improve the generalization ability of CLIP-based FAS from a prompt learning perspective. Specifically, a Bottom-Up Domain Prompt Tuning method (BUDoPT) that covers the different levels of domain variance, including the domain of recording settings and domain of attack types is proposed. To handle domain discrepancies of recording settings, we design a context-aware adversarial domain-generalized prompt learning strategy that can learn domain-invariant prompt. For spoofing domain with different attack types, we construct a fine-grained textual prompt that guides CLIP to look through the subtle details of different attack instruments. Extensive experiments are conducted on five FAS datasets with variations of camera types, resolutions, image qualities, lighting conditions, and recording environments. The effectiveness of our proposed method is evaluated with different amounts of source domains from multiple angles, where we boost the generalizability compared with the state of the arts with multiple or limited numbers of training datasets."

Poster
Boosting the Power of Small Multimodal Reasoning Models to Match Larger Models with Self-Consistency Training

Cheng Tan, Jingxuan Wei, Zhangyang Gao, Linzhuang Sun, Siyuan Li, Ruifeng Guo, Bihui Yu, Stan Z. Li

展开摘要

"Multimodal reasoning is a challenging task that requires models to reason across multiple modalities to answer questions. Existing approaches have made progress by incorporating language and visual modalities into a two-stage reasoning framework, separating rationale generation from answer inference. However, these approaches often fall short due to the inadequate quality of the generated rationales. In this work, we delve into the importance of rationales in model reasoning. We observe that when rationales are completely accurate, the model’s accuracy significantly improves, highlighting the need for high-quality rationale generation. Motivated by this, we propose MC-CoT, a self-consistency training strategy that generates multiple rationales and answers, subsequently selecting the most accurate through a voting process. This approach not only enhances the quality of generated rationales but also leads to more accurate and robust answers. Through extensive experiments, we demonstrate that our approach significantly improves model performance across various benchmarks. Remarkably, we show that even smaller base models, when equipped with our proposed approach, can achieve results comparable to those of larger models, illustrating the potential of our approach in harnessing the power of rationales for improved multimodal reasoning. The code is available at github.com/chengtan9907/mc-cot."

Poster
Boosting Transferability in Vision-Language Attacks via Diversification along the Intersection Region of Adversarial Trajectory

Sensen Gao, Xiaojun Jia, Xuhong Ren, Ivor Tsang, Qing Guo

展开摘要

"Vision-language pre-training (VLP) models exhibit remarkable capabilities in comprehending both images and text, yet they remain susceptible to multimodal adversarial examples (AEs). Strengthening attacks and uncovering vulnerabilities, especially common issues in VLP models (e.g., high transferable AEs), can advance reliable and practical VLP models. A recent work (i.e., Set-level guidance attack) indicates that augmenting image-text pairs to increase AE diversity along the optimization path enhances the transferability of adversarial examples significantly. However, this approach predominantly emphasizes diversity around the online adversarial examples (i.e., AEs in the optimization period), leading to the risk of overfitting the victim model and affecting the transferability. In this study, we posit that the diversity of adversarial examples towards the clean input and online AEs are both pivotal for enhancing transferability across VLP models. Consequently, we propose using diversification along the intersection region of adversarial trajectory to expand the diversity of AEs. To fully leverage the interaction between modalities, we introduce text-guided adversarial example selection during optimization. Furthermore, to further mitigate the potential overfitting, we direct the adversarial text deviating from the last intersection region along the optimization path, rather than adversarial images as in existing methods. Extensive experiments affirm the effectiveness of our method in improving transferability across various VLP models and downstream vision-and-language tasks. Code is available at https://github.com/SensenGao/VLPTransferAttack."

Poster
Boosting Gaze Object Prediction via Pixel-level Supervision from Vision Foundation Model

Yang Jin, Lei Zhang, Shi Yan, Bin Fan, Binglu Wang

展开摘要

"Gaze object prediction (GOP) aims to predict the category and location of the object that a human is looking at. Previous methods utilized box-level supervision to identify the object that a person is looking at, but struggled with semantic ambiguity, , a single box may contain several items since objects are close together. The Vision foundation model (VFM) has improved in object segmentation using box prompts, which can reduce confusion by more precisely locating objects, offering advantages for fine-grained prediction of gaze objects. This paper presents a more challenging gaze object segmentation (GOS) task, which involves inferring the pixel-level mask corresponding to the object captured by human gaze behavior. In particular, we propose that the pixel-level supervision provided by VFM can be integrated into gaze object prediction to mitigate semantic ambiguity. This leads to our gaze object detection and segmentation framework that enables accurate pixel-level predictions. Different from previous methods that require additional head input or ignore head features, we propose to automatically obtain head features from scene features to ensure the model’s inference efficiency and flexibility in the real world. Moreover, rather than directly fuse features to predict gaze heatmap as in existing methods, which may overlook spatial location and subtle details of the object, we develop a space-to-object gaze regression method to facilitate human-object gaze interaction. Specifically, it first constructs an initial human-object spatial connection, then refines this connection by interacting with semantically clear features in the segmentation branch, ultimately predicting a gaze heatmap for precise localization. Extensive experiments on GOO-Synth and GOO-Real datasets demonstrate the effectiveness of our method. The code will be available at https://github. com/jinyang06/SamGOP."

Poster
Boosting 3D Single Object Tracking with 2D Matching Distillation and 3D Pre-training

Qiangqiang Wu, Yan Xia, Jia Wan, Antoni Chan

展开摘要

"3D single object tracking (SOT) is an essential task in autonomous driving and robotics. However, learning robust 3D SOT trackers remains challenging due to the limited category-specific point cloud data and the inherent sparsity and incompleteness of LiDAR scans. To tackle these issues, we propose a unified 3D SOT framework that leverages 3D generative pre-training and learns robust 3D matching abilities from 2D pre-trained foundation trackers. Our framework features a consistent target-matching architecture with the widely used 2D trackers, facilitating the transfer of 2D matching knowledge. Specifically, we first propose a lightweight Target-Aware Projection (TAP) module, allowing the pre-trained 2D tracker to work well on the projected point clouds without further fine-tuning. We then propose a novel IoU-guided matching-distillation framework that utilizes the powerful 2D pre-trained trackers to guide 3D matching learning in the 3D tracker, i.e., the 3D template-to-search matching should be consistent with its corresponding 2D template-to-search matching obtained from 2D pre-trained trackers. Our designs are applied to two mainstream 3D SOT frameworks: memory-less Siamese and contextual memory-based approaches, which are respectively named SiamDisst and MemDisst. Extensive experiments show that SiamDisst and MemDisst achieve state-of-the-art performance on KITTI, Waymo Open Dataset and nuScenes benchmarks, while running at above real-time speed of 25 and 90 FPS on a RTX3090 GPU."

Poster
Boost Your NeRF: A Model-Agnostic Mixture of Experts Framework for High Quality and Efficient Rendering

Francesco Di Sario*, Riccardo Renzulli, Marco Grangetto, Enzo Tartaglione

展开摘要

"Since the introduction of NeRFs, considerable attention has been focused on improving their training and inference times, leading to the development of Fast-NeRFs models. Despite demonstrating impressive rendering speed and quality, the rapid convergence of such models poses challenges for further improving reconstruction quality. Common strategies to improve rendering quality involves augmenting model parameters or increasing the number of sampled points. However, these computationally intensive approaches encounter limitations in achieving significant quality enhancements. This study introduces a model-agnostic framework inspired by Sparsely-Gated Mixture of Experts to enhance rendering quality without escalating computational complexity. Our approach enables specialization in rendering different scene components by employing a mixture of experts with varying resolutions. We present a novel gate formulation designed to maximize expert capabilities and propose a resolution-based routing technique to effectively induce sparsity and decompose scenes. Our work significantly improves reconstruction quality while maintaining competitive performance."

Poster
Bones Can't Be Triangles: Accurate and Efficient Vertebrae Keypoint Estimation through Collaborative Error Revision

Jinhee Kim, Taesung Kim, Jaegul Choo

展开摘要

"Recent advances in interactive keypoint estimation methods have enhanced accuracy while minimizing user intervention. However, these methods require user input for error correction, which can be costly in vertebrae keypoint estimation where inaccurate keypoints are densely clustered or overlap. We introduce a novel approach, KeyBot, specifically designed to identify and correct significant and typical errors in existing models, akin to user revision. By characterizing typical error types and using simulated errors for training, KeyBot effectively corrects these errors and significantly reduces user workload. Comprehensive quantitative and qualitative evaluations on three public datasets confirm that KeyBot significantly outperforms existing methods, achieving state-of-the-art performance in interactive vertebrae keypoint estimation. The source code and demo video are available on our project page."

Poster
Blind image deblurring with noise-robust kernel estimation

Chanseok Lee*, Jeongsol Kim, Seungmin Lee, Jaehwang Jung, Yunje Cho, Taejoong Kim, Taeyong jo, Myungjun lee, Mooseok Jang*

展开摘要

"Blind deblurring is an ill-posed inverse problem involving the retrieval of a clear image and blur kernel from a single blurry image. The challenge arises considerably when strong noise, where its level remains unknown, is introduced. Existing blind deblurring methods are highly susceptible to noise due to overfitting and disturbances in the solution space. Here, we propose a blind deblurring method based on a noise-robust kernel estimation function and deep image prior (DIP). Specifically, the proposed kernel estimation function effectively estimates the blur kernel even for strongly noisy blurry images given a clear image and optimal condition. Therefore, DIP is adopted for the generation of a clear image to leverage its natural image prior. Additionally, the multiple kernel estimation scheme is designed to address a wide range of unknown noise levels. Extensive experimental studies, including simulated images and real-world examples, demonstrate the superior deblurring performance of the proposed method. The official code is uploaded in https://github.com/csleemooo/BD_noise_robust_kernel_estimation."

Poster
Blind Image Deconvolution by Generative-based Kernel Prior and Initializer via Latent Encoding

Jiangtao Zhang, Zongsheng Yue, Hui Wang, Qian Zhao, Deyu Meng

展开摘要

"Blind image deconvolution (BID) is a classic yet challenging problem in the field of image processing. Recent advances in deep image prior (DIP) have motivated a series of DIP-based approaches, demonstrating remarkable success in BID. However, due to the high non-convexity of the inherent optimization process, these methods are notorious for their sensitivity to the initialized kernel. To alleviate this issue and further improve their performance, we propose a new framework for BID that better considers the prior modeling and the initialization for blur kernels, leveraging a deep generative model. The proposed approach pre-trains a generative adversarial network-based kernel generator that aptly characterizes the kernel priors and a kernel initializer that facilitates a well-informed initialization for the blur kernel through latent space encoding. With the pre-trained kernel generator and initializer, one can obtain a high-quality initialization of the blur kernel, and enable optimization within a compact latent kernel manifold. Such a framework results in an evident performance improvement over existing DIP-based BID methods. Extensive experiments on different datasets demonstrate the effectiveness of the proposed method."

Poster
BlenderAlchemy: Editing 3D Graphics with Vision-Language Models

Ian Huang, Guandao Yang, Leonidas Guibas

展开摘要

"Graphics design is important for various applications, including movie production and game design. To create a high-quality scene, designers usually need to spend hours in software like Blender, in which they might need to interleave and repeat operations, such as connecting material nodes, hundreds of times. Moreover, slightly different design goals may require completely different sequences, making automation difficult. In this paper, we propose a system that leverages Vision-Language Models (VLMs), like GPT-4V, to intelligently search the design action space to arrive at an answer that can satisfy a user’s intent. Specifically, we design a vision-based edit generator and state evaluator to work together to find the correct sequence of actions to achieve the goal. Inspired by the role of visual imagination in the human design process, we supplement the visual reasoning capabilities of VLMs with “imagined” reference images from image-generation models, providing visual grounding of abstract language descriptions. In this paper, we provide empirical evidence suggesting our system can produce simple but tedious Blender editing sequences for tasks such as editing procedural materials and geometry from text and/or reference images, as well as adjusting lighting configurations for product renderings in complex scenes. 1 1 For project website and code, please go to: BlenderAlchemyWeb/ https://ianhuang0630.github.io/"

Poster
BlazeBVD: Make Scale-Time Equalization Great Again for Blind Video Deflickering

Xinmin Qiu, Congying Han, Zicheng Zhang, Bonan Li, Tiande Guo, Pingyu Wang, Xuecheng Nie

展开摘要

"Developing blind video deflickering (BVD) algorithms to enhance video temporal consistency, is gaining importance amid the flourish of image processing and video generation. However, the intricate nature of video data complicates the training of deep learning methods, leading to high resource consumption and instability, notably under severe lighting flicker. This underscores the critical need for a compact representation beyond pixel values to advance BVD research and applications. Inspired by the classic scale-time equalization (STE), our work introduces the histogram-assisted solution, called BlazeBVD, for high-fidelity and rapid BVD. Compared with STE, which directly corrects pixel values by temporally smoothing color histograms, BlazeBVD leverages smoothed illumination histograms within STE filtering to ease the challenge of learning temporal data using neural networks. In technique, BlazeBVD begins by condensing pixel values into illumination histograms that precisely capture flickering and local exposure variations. These histograms are then smoothed to produce singular frames set, filtered illumination maps, and exposure maps. Resorting to these deflickering priors, BlazeBVD utilizes a 2D network to restore faithful and consistent texture impacted by lighting changes or localized exposure issues. BlazeBVD also incorporates a lightweight 3D network to amend slight temporal inconsistencies, avoiding the resource consumption issue. Comprehensive experiments on synthetic, real-world and generated videos, showcase the superior qualitative and quantitative results of BlazeBVD, achieving inference speeds up to 10× faster than state-of-the-arts."

Poster
Binomial Self-compensation for Motion Error in Dynamic 3D Scanning

Geyou Zhang, Ce Zhu, Kai Liu

展开摘要

"Phase shifting profilometry (PSP) is favored in high-precision 3D scanning due to its high accuracy, robustness, and pixel-wise property. However, a fundamental assumption of PSP that the object should remain static is violated in dynamic measurement, making PSP susceptible to object moving, resulting in ripple-like errors in the point clouds. We propose a pixel-wise and frame-wise loopable binomial self-compensation (BSC) algorithm to effectively and flexibly eliminate motion error in the four-step PSP. Our mathematical model demonstrates that by summing successive motion-affected phase frames weighted by binomial coefficients, motion error exponentially diminishes as the binomial order increases, accomplishing automatic error compensation through the motion-affected phase sequence, without the assistance of any intermediate variable. Extensive experiments show that our BSC outperforms the existing methods in reducing motion error, while achieving a depth map frame rate equal to the camera’s acquisition rate (90 fps), enabling high-accuracy 3D reconstruction with a quasi-single-shot frame rate. The code is available at https://github.com/GeyouZhang/BSC."

Poster
Bidirectional Uncertainty-Based Active Learning for Open-Set Annotation

Chen-Chen Zong, Ye-Wen Wang, Kun-Peng Ning, Hai-Bo Ye, Sheng-Jun Huang

展开摘要

"Active learning (AL) in open set scenarios presents a novel challenge of identifying the most valuable examples in an unlabeled data pool that comprises data from both known and unknown classes. Traditional methods prioritize selecting informative examples with low confidence, with the risk of mistakenly selecting unknown-class examples with similarly low confidence. Recent methods favor the most probable known-class examples, with the risk of picking simple already mastered examples. In this paper, we attempt to query examples that are both likely from known classes and highly informative, and propose a Bidirectional Uncertainty-based Active Learning (BUAL) framework. Specifically, we achieve this by first pushing the unknown class examples toward regions with high-confidence predictions, i.e., the proposed Random Label Negative Learning method. Then, we propose a Bidirectional Uncertainty sampling strategy by jointly estimating uncertainty posed by both positive and negative learning to perform consistent and stable sampling. BUAL successfully extends existing uncertainty-based AL methods to complex open-set scenarios. Extensive experiments on multiple datasets with varying openness demonstrate that BUAL achieves state-of-the-art performance. The code is available at this link."

Poster
Bidirectional Stereo Image Compression with Cross-Dimensional Entropy Model

Zhening Liu, Xinjie Zhang, Jiawei Shao, Zehong Lin, Jun Zhang

展开摘要

"With the rapid advancement of stereo vision technologies, stereo image compression has emerged as a crucial field that continues to draw significant attention. Previous approaches have primarily employed a unidirectional paradigm, where the compression of one view is dependent on the other, resulting in imbalanced compression. To address this issue, we introduce a symmetric bidirectional stereo image compression architecture, named BiSIC. Specifically, we propose a 3D convolution based codec backbone to capture local features and incorporate bidirectional attention blocks to exploit global features. Moreover, we design a novel cross-dimensional entropy model that integrates various conditioning factors, including the spatial context, channel context, and stereo dependency, to effectively estimate the distribution of latent representations for entropy coding. Extensive experiments demonstrate that our proposed BiSIC outperforms conventional image/video compression standards, as well as state-of-the-art learning-based methods, in terms of both PSNR and MS-SSIM."

Poster
Bidirectional Progressive Transformer for Interaction Intention Anticipation

Zichen Zhang, Hongchen Luo, Wei Zhai, Yu Kang, Yang Cao

展开摘要

"Interaction intention anticipation aims to jointly predict future hand trajectories and interaction hotspots. Existing research often treated trajectory forecasting and interaction hotspots prediction as separate tasks or solely considered the impact of trajectories on interaction hotspots, which led to the accumulation of prediction errors over time. However, a deeper inherent connection exists between hand trajectories and interaction hotspots, which allows for continuous mutual correction between them. Building upon this relationship, a novel Bidirectional prOgressive T ransformer (BOT ), which introduces a Bidirectional Progressive mechanism into the anticipation of interaction intention is established. Initially, BOT maximizes the utilization of spatial information from the last observation frame through the Spatial-Temporal Reconstruction Module, mitigating conflicts arising from changes of view in first-person videos. Subsequently, based on two independent prediction branches, a Bidirectional Progressive Enhancement Module is introduced to mutually improve the prediction of hand trajectories and interaction hotspots over time to minimize error accumulation. Finally, acknowledging the intrinsic randomness in human natural behavior, we employ a Trajectory Stochastic Unit and a C-VAE to introduce appropriate uncertainty to trajectories and interaction hotspots, respectively. Our method achieves state-of-the-art results on three benchmark datasets Epic-Kitchens-100 , EGO4D, and EGTEA Gaze+, demonstrating superior in complex scenarios. 0 *Corresponding Author."

Poster
Bi-TTA: Bidirectional Test-Time Adapter for Remote Physiological Measurement

Haodong LI, Hao Lu, Yingcong Chen

展开摘要

"Remote photoplethysmography (rPPG) is gaining prominence for its non-invasive approach to monitoring physiological signals using only cameras. Despite its promise, the adaptability of rPPG models to new, unseen domains is hindered due to the environmental sensitivity of physiological signals. To address this issue, we pioneer the Test-Time Adaptation (TTA) in rPPG, enabling the adaptation of pre-trained models to the target domain during inference, sidestepping the need for annotations or source data due to privacy considerations. Particularly, utilizing only the user’s face video stream as the accessible target domain data, the rPPG model is adjusted by tuning on each single instance it encounters. However, 1) TTA algorithms are designed predominantly for classification tasks, ill-suited in regression tasks such as rPPG due to inadequate supervision. 2) Tuning pre-trained models in a single-instance manner introduces variability and instability, posing challenges to effectively filtering domain-relevant from domain-irrelevant features while simultaneously preserving the learned information. To overcome these challenges, we present Bi-TTA, a novel expert knowledge-based Bidirectional Test-Time Adapter framework. Specifically, leveraging two expert-knowledge priors for providing self-supervision, our Bi-TTA primarily comprises two modules: a prospective adaptation (PA) module using sharpness-aware minimization to eliminate domain-irrelevant noise, enhancing the stability and efficacy during the adaptation process, and a retrospective stabilization (RS) module to dynamically reinforce crucial learned model parameters, averting performance degradation caused by overfitting or catastrophic forgetting. To this end, we established a large-scale benchmark for rPPG tasks under TTA protocol, promoting advancements in both the rPPG and TTA fields. The experimental results demonstrate the significant superiority of our approach over the state-of-the-art (SoTA)."

Poster
BeyondScene: Higher-Resolution Human-Centric Scene Generation With Pretrained Diffusion

Gwanghyun Kim, Hayeon Kim, Hoigi Seo, Dong Un Kang, Se Young Chun

展开摘要

"Generating higher-resolution human-centric scenes with details and controls remains a challenge for existing text-to-image diffusion models. This challenge stems from limited training image size, text encoder capacity (limited tokens), and the inherent difficulty of generating complex scenes involving multiple humans. While current methods attempted to address training size limit only, they often yielded human-centric scenes with severe artifacts. We propose BeyondScene, a novel framework that overcomes prior limitations, generating exquisite higher-resolution (over 8K) human-centric scenes with exceptional text-image correspondence and naturalness using existing pretrained diffusion models. BeyondScene employs a staged and hierarchical approach to initially generate a detailed base image focusing on crucial elements in instance creation for multiple humans and detailed descriptions beyond token limit of diffusion model, and then to seamlessly convert the base image to a higher-resolution output, exceeding training image size and incorporating details aware of text and instances via our novel instance-aware hierarchical enlargement process that consists of our proposed high-frequency injected forward diffusion and adaptive joint diffusion. BeyondScene surpasses existing methods in terms of correspondence with detailed text descriptions and naturalness, paving the way for advanced applications in higher-resolution human-centric scene creation beyond the capacity of pretrained diffusion models without costly retraining. Project page: https://janeyeon.github.io/beyond-scene."

Poster
Beyond the Data Imbalance: Employing the Heterogeneous Datasets for Vehicle Maneuver Prediction

Hyeongseok Jeon, Sanmin Kim, Abi Rahman Syamil, Junsoo Kim, Dongsuk Kum

展开摘要

"Predicting the maneuvers of surrounding vehicles is imperative for the safe navigation of autonomous vehicles. However, naturalistic driving datasets tend to be highly imbalanced, with a bias towards the ”going straight” maneuver. Consequently, learning and accurately predicting turning maneuvers pose significant challenges. In this study, we propose a novel two-stage maneuver learning method that can overcome such strong biases by leveraging two heterogeneous datasets in a complementary manner. In the first training phase, we utilize an intersection-centric dataset characterized by balanced distribution of maneuver classes to learn the representations of each maneuver. Subsequently, in the second training phase, we incorporate an ego-centric driving dataset to account for various geometrical road shapes, by transferring the knowledge of geometric diversity to the maneuver prediction model. To facilitate this, we constructed an in-house intersection-centric trajectory dataset with a well-balanced maneuver distribution. By harnessing the power of heterogeneous datasets, our framework significantly improves maneuver prediction performance, particularly for minority maneuver classes such as turning maneuvers. The dataset is available at https: //github.com/KAIST-VDCLab/VDC-Trajectory-Dataset."

Poster