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This paper researches the unexplored task-point cloud salient object detection (SOD). Differing from SOD for images, we find the attention shift of point clouds may provoke saliency conflict, i.e., an object paradoxically belongs to salient and non-salient categories. To eschew this issue, we present a novel view-dependent perspective of salient objects, reasonably reflecting the most eye-catching objects in point cloud scenarios. Following this formulation, we introduce PCSOD, the first dataset proposed for point cloud SOD consisting of 2,872 in-/out-door 3D views. The samples in our dataset are labeled with hierarchical annotations, e.g., super-/sub-class, bounding box, and segmentation map, which endows the brilliant generalizability and broad applicability of our dataset verifying various conjectures. To evidence the feasibility of our solution, we further contribute a baseline model and benchmark five representative models for a comprehensive comparison. The proposed model can effectively analyze irregular and unordered points for detecting salient objects. Thanks to incorporating the task-tailored designs, our method shows visible superiority over other baselines, producing more satisfactory results. Extensive experiments and discussions reveal the promising potential of this research field, paving the way for further study.

Given a partial differential equation (PDE), goal-oriented error estimation allows us to understand how errors in a diagnostic quantity of interest (QoI), or goal, occur and accumulate in a numerical approximation, for example using the finite element method. By decomposing the error estimates into contributions from individual elements, it is possible to formulate adaptation methods, which modify the mesh with the objective of minimising the resulting QoI error. However, the standard error estimate formulation involves the true adjoint solution, which is unknown in practice. As such, it is common practice to approximate it with an 'enriched' approximation (e.g. in a higher order space or on a refined mesh). Doing so generally results in a significant increase in computational cost, which can be a bottleneck compromising the competitiveness of (goal-oriented) adaptive simulations. The central idea of this paper is to develop a "data-driven" goal-oriented mesh adaptation approach through the selective replacement of the expensive error estimation step with an appropriately configured and trained neural network. In doing so, the error estimator may be obtained without even constructing the enriched spaces. An element-by-element construction is employed here, whereby local values of various parameters related to the mesh geometry and underlying problem physics are taken as inputs, and the corresponding contribution to the error estimator is taken as output. We demonstrate that this approach is able to obtain the same accuracy with a reduced computational cost, for adaptive mesh test cases related to flow around tidal turbines, which interact via their downstream wakes, and where the overall power output of the farm is taken as the QoI. Moreover, we demonstrate that the element-by-element approach implies reasonably low training costs.

Instance segmentation on point clouds is crucially important for 3D scene understanding. Distance clustering is commonly used in state-of-the-art methods (SOTAs), which is typically effective but does not perform well in segmenting adjacent objects with the same semantic label (especially when they share neighboring points). Due to the uneven distribution of offset points, these existing methods can hardly cluster all instance points. To this end, we design a novel divide and conquer strategy and propose an end-to-end network named PBNet that binarizes each point and clusters them separately to segment instances. PBNet divides offset instance points into two categories: high and low density points (HPs vs.LPs), which are then conquered separately. Adjacent objects can be clearly separated by removing LPs, and then be completed and refined by assigning LPs via a neighbor voting method. To further reduce clustering errors, we develop an iterative merging algorithm based on mean size to aggregate fragment instances. Experiments on ScanNetV2 and S3DIS datasets indicate the superiority of our model. In particular, PBNet achieves so far the best AP50 and AP25 on the ScanNetV2 official benchmark challenge (Validation Set) while demonstrating high efficiency.

In this paper, we tackle the task of estimating the 3D orientation of previously-unseen objects from monocular images. This task contrasts with the one considered by most existing deep learning methods which typically assume that the testing objects have been observed during training. To handle the unseen objects, we follow a retrieval-based strategy and prevent the network from learning object-specific features by computing multi-scale local similarities between the query image and synthetically-generated reference images. We then introduce an adaptive fusion module that robustly aggregates the local similarities into a global similarity score of pairwise images. Furthermore, we speed up the retrieval process by developing a fast retrieval strategy. Our experiments on the LineMOD, LineMOD-Occluded, and T-LESS datasets show that our method yields a significantly better generalization to unseen objects than previous works. Our code and pre-trained models are available at //sailor-z.github.io/projects/Unseen_Object_Pose.html.

Causal effect estimation from observational data is a challenging problem, especially with high dimensional data and in the presence of unobserved variables. The available data-driven methods for tackling the problem either provide an estimation of the bounds of a causal effect (i.e. nonunique estimation) or have low efficiency. The major hurdle for achieving high efficiency while trying to obtain unique and unbiased causal effect estimation is how to find a proper adjustment set for confounding control in a fast way, given the huge covariate space and considering unobserved variables. In this paper, we approach the problem as a local search task for finding valid adjustment sets in data. We establish the theorems to support the local search for adjustment sets, and we show that unique and unbiased estimation can be achieved from observational data even when there exist unobserved variables. We then propose a data-driven algorithm that is fast and consistent under mild assumptions. We also make use of a frequent pattern mining method to further speed up the search of minimal adjustment sets for causal effect estimation. Experiments conducted on extensive synthetic and real-world datasets demonstrate that the proposed algorithm outperforms the state-of-the-art criteria/estimators in both accuracy and time-efficiency.

While the voxel-based methods have achieved promising results for multi-person 3D pose estimation from multi-cameras, they suffer from heavy computation burdens, especially for large scenes. We present Faster VoxelPose to address the challenge by re-projecting the feature volume to the three two-dimensional coordinate planes and estimating X, Y, Z coordinates from them separately. To that end, we first localize each person by a 3D bounding box by estimating a 2D box and its height based on the volume features projected to the xy-plane and z-axis, respectively. Then for each person, we estimate partial joint coordinates from the three coordinate planes separately which are then fused to obtain the final 3D pose. The method is free from costly 3D-CNNs and improves the speed of VoxelPose by ten times and meanwhile achieves competitive accuracy as the state-of-the-art methods, proving its potential in real-time applications.

Detection Transformers represent end-to-end object detection approaches based on a Transformer encoder-decoder architecture, exploiting the attention mechanism for global relation modeling. Although Detection Transformers deliver results on par with or even superior to their highly optimized CNN-based counterparts operating on 2D natural images, their success is closely coupled to access to a vast amount of training data. This, however, restricts the feasibility of employing Detection Transformers in the medical domain, as access to annotated data is typically limited. To tackle this issue and facilitate the advent of medical Detection Transformers, we propose a novel Detection Transformer for 3D anatomical structure detection, dubbed Focused Decoder. Focused Decoder leverages information from an anatomical region atlas to simultaneously deploy query anchors and restrict the cross-attention's field of view to regions of interest, which allows for a precise focus on relevant anatomical structures. We evaluate our proposed approach on two publicly available CT datasets and demonstrate that Focused Decoder not only provides strong detection results and thus alleviates the need for a vast amount of annotated data but also exhibits exceptional and highly intuitive explainability of results via attention weights. Code for Focused Decoder is available in our medical Vision Transformer library github.com/bwittmann/transoar.

Predicting the object's 6D pose from a single RGB image is a fundamental computer vision task. Generally, the distance between transformed object vertices is employed as an objective function for pose estimation methods. However, projective geometry in the camera space is not considered in those methods and causes performance degradation. In this regard, we propose a new pose estimation system based on a projective grid instead of object vertices. Our pose estimation method, dynamic projective spatial transformer network (DProST), localizes the region of interest grid on the rays in camera space and transforms the grid to object space by estimated pose. The transformed grid is used as both a sampling grid and a new criterion of the estimated pose. Additionally, because DProST does not require object vertices, our method can be used in a mesh-less setting by replacing the mesh with a reconstructed feature. Experimental results show that mesh-less DProST outperforms the state-of-the-art mesh-based methods on the LINEMOD and LINEMOD-OCCLUSION dataset, and shows competitive performance on the YCBV dataset with mesh data. The source code is available at //github.com/parkjaewoo0611/DProST

Human pose estimation aims to locate the human body parts and build human body representation (e.g., body skeleton) from input data such as images and videos. It has drawn increasing attention during the past decade and has been utilized in a wide range of applications including human-computer interaction, motion analysis, augmented reality, and virtual reality. Although the recently developed deep learning-based solutions have achieved high performance in human pose estimation, there still remain challenges due to insufficient training data, depth ambiguities, and occlusions. The goal of this survey paper is to provide a comprehensive review of recent deep learning-based solutions for both 2D and 3D pose estimation via a systematic analysis and comparison of these solutions based on their input data and inference procedures. More than 240 research papers since 2014 are covered in this survey. Furthermore, 2D and 3D human pose estimation datasets and evaluation metrics are included. Quantitative performance comparisons of the reviewed methods on popular datasets are summarized and discussed. Finally, the challenges involved, applications, and future research directions are concluded. We also provide a regularly updated project page on: \url{//github.com/zczcwh/DL-HPE}

This work addresses a novel and challenging problem of estimating the full 3D hand shape and pose from a single RGB image. Most current methods in 3D hand analysis from monocular RGB images only focus on estimating the 3D locations of hand keypoints, which cannot fully express the 3D shape of hand. In contrast, we propose a Graph Convolutional Neural Network (Graph CNN) based method to reconstruct a full 3D mesh of hand surface that contains richer information of both 3D hand shape and pose. To train networks with full supervision, we create a large-scale synthetic dataset containing both ground truth 3D meshes and 3D poses. When fine-tuning the networks on real-world datasets without 3D ground truth, we propose a weakly-supervised approach by leveraging the depth map as a weak supervision in training. Through extensive evaluations on our proposed new datasets and two public datasets, we show that our proposed method can produce accurate and reasonable 3D hand mesh, and can achieve superior 3D hand pose estimation accuracy when compared with state-of-the-art methods.