In multimodal perception systems, achieving precise extrinsic calibration between LiDAR and camera is of critical importance. Previous calibration methods often required specific targets or manual adjustments, making them both labor-intensive and costly. Online calibration methods based on features have been proposed, but these methods encounter challenges such as imprecise feature extraction, unreliable cross-modality associations, and high scene-specific requirements. To address this, we introduce an edge-based approach for automatic online calibration of LiDAR and cameras in real-world scenarios. The edge features, which are prevalent in various environments, are aligned in both images and point clouds to determine the extrinsic parameters. Specifically, stable and robust image edge features are extracted using a SAM-based method and the edge features extracted from the point cloud are weighted through a multi-frame weighting strategy for feature filtering. Finally, accurate extrinsic parameters are optimized based on edge correspondence constraints. We conducted evaluations on both the KITTI dataset and our dataset. The results show a state-of-the-art rotation accuracy of 0.086{\deg} and a translation accuracy of 0.977 cm, outperforming existing edge-based calibration methods in both precision and robustness.
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Recent temporal LiDAR-based 3D object detectors achieve promising performance based on the two-stage proposal-based approach. They generate 3D box candidates from the first-stage dense detector, followed by different temporal aggregation methods. However, these approaches require per-frame objects or whole point clouds, posing challenges related to memory bank utilization. Moreover, point clouds and trajectory features are combined solely based on concatenation, which may neglect effective interactions between them. In this paper, we propose a point-trajectory transformer with long short-term memory for efficient temporal 3D object detection. To this end, we only utilize point clouds of current-frame objects and their historical trajectories as input to minimize the memory bank storage requirement. Furthermore, we introduce modules to encode trajectory features, focusing on long short-term and future-aware perspectives, and then effectively aggregate them with point cloud features. We conduct extensive experiments on the large-scale Waymo dataset to demonstrate that our approach performs well against state-of-the-art methods. Code and models will be made publicly available at //github.com/kuanchihhuang/PTT.
Subcortical segmentation remains challenging despite its important applications in quantitative structural analysis of brain MRI scans. The most accurate method, manual segmentation, is highly labor intensive, so automated tools like FreeSurfer have been adopted to handle this task. However, these traditional pipelines are slow and inefficient for processing large datasets. In this study, we propose TABSurfer, a novel 3D patch-based CNN-Transformer hybrid deep learning model designed for superior subcortical segmentation compared to existing state-of-the-art tools. To evaluate, we first demonstrate TABSurfer's consistent performance across various T1w MRI datasets with significantly shorter processing times compared to FreeSurfer. Then, we validate against manual segmentations, where TABSurfer outperforms FreeSurfer based on the manual ground truth. In each test, we also establish TABSurfer's advantage over a leading deep learning benchmark, FastSurferVINN. Together, these studies highlight TABSurfer's utility as a powerful tool for fully automated subcortical segmentation with high fidelity.
Recently, end-to-end neural diarization (EEND) is introduced and achieves promising results in speaker-overlapped scenarios. In EEND, speaker diarization is formulated as a multi-label prediction problem, where speaker activities are estimated independently and their dependency are not well considered. To overcome these disadvantages, we employ the power set encoding to reformulate speaker diarization as a single-label classification problem and propose the overlap-aware EEND (EEND-OLA) model, in which speaker overlaps and dependency can be modeled explicitly. Inspired by the success of two-stage hybrid systems, we further propose a novel Two-stage OverLap-aware Diarization framework (TOLD) by involving a speaker overlap-aware post-processing (SOAP) model to iteratively refine the diarization results of EEND-OLA. Experimental results show that, compared with the original EEND, the proposed EEND-OLA achieves a 14.39% relative improvement in terms of diarization error rates (DER), and utilizing SOAP provides another 19.33% relative improvement. As a result, our method TOLD achieves a DER of 10.14% on the CALLHOME dataset, which is a new state-of-the-art result on this benchmark to the best of our knowledge.
Diffusion models have gained significant attention in the realm of image generation due to their exceptional performance. Their success has been recently expanded to text generation via generating all tokens within a sequence concurrently. However, natural language exhibits a far more pronounced sequential dependency in comparison to images, and the majority of existing language models are trained with a left-to-right auto-regressive approach. To account for the inherent sequential characteristic of natural language, we introduce Auto-Regressive Diffusion (AR-Diffusion). AR-Diffusion ensures that the generation of tokens on the right depends on the generated ones on the left, a mechanism achieved through employing a dynamic number of denoising steps that vary based on token position. This results in tokens on the left undergoing fewer denoising steps than those on the right, thereby enabling them to generate earlier and subsequently influence the generation of tokens on the right. In a series of experiments on various text generation tasks, including text summarization, machine translation, and common sense generation, AR-Diffusion clearly demonstrated its superiority over existing diffusion language models and that it can be $100\times\sim600\times$ faster when achieving comparable results. Our code is available at //github.com/microsoft/ProphetNet/tree/master/AR-diffusion.
We present DrivingGaussian, an efficient and effective framework for surrounding dynamic autonomous driving scenes. For complex scenes with moving objects, we first sequentially and progressively model the static background of the entire scene with incremental static 3D Gaussians. We then leverage a composite dynamic Gaussian graph to handle multiple moving objects, individually reconstructing each object and restoring their accurate positions and occlusion relationships within the scene. We further use a LiDAR prior for Gaussian Splatting to reconstruct scenes with greater details and maintain panoramic consistency. DrivingGaussian outperforms existing methods in driving scene reconstruction and enables photorealistic surround-view synthesis with high-fidelity and multi-camera consistency. The source code and trained models will be released.
Domain adaptation of 3D portraits has gained more and more attention. However, the transfer mechanism of existing methods is mainly based on vision or language, which ignores the potential of vision-language combined guidance. In this paper, we propose an Image-Text multi-modal framework, namely Image and Text portrait (ITportrait), for 3D portrait domain adaptation. ITportrait relies on a two-stage alternating training strategy. In the first stage, we employ a 3D Artistic Paired Transfer (APT) method for image-guided style transfer. APT constructs paired photo-realistic portraits to obtain accurate artistic poses, which helps ITportrait to achieve high-quality 3D style transfer. In the second stage, we propose a 3D Image-Text Embedding (ITE) approach in the CLIP space. ITE uses a threshold function to self-adaptively control the optimization direction of images or texts in the CLIP space. Comprehensive experiments prove that our ITportrait achieves state-of-the-art (SOTA) results and benefits downstream tasks. All source codes and pre-trained models will be released to the public.
Click-through rate (CTR) prediction is a vital task in industry advertising systems. Most existing methods focus on the structure design of neural network for better accuracy and suffer from the data sparsity problem. Especially in industry advertising systems, the widely applied negative sample downsampling technique due to resource limitation worsens the problem, resulting in a decline in performance. In this paper, we propose \textbf{A}uxiliary Match \textbf{T}asks for enhancing \textbf{C}lick-\textbf{T}hrough \textbf{R}ate performance (AT4CTR) to alleviate the data sparsity problem. Specifically, we design two match tasks inspired by collaborative filtering to enhance the relevance between user and item. As the "click" action is a strong signal which indicates user's preference towards item directly, we make the first match task aim at pulling closer the representation between user and item regarding the positive samples. Since the user's past click behaviors can also be treated as the user him/herself, we apply the next item prediction as the second match task. For both the match tasks, we choose the InfoNCE in contrastive learning as their loss function. The two match tasks can provide meaningful training signals to speed up the model's convergence and alleviate the data sparsity. We conduct extensive experiments on a public dataset and a large-scale industry advertising dataset. The results demonstrate the effectiveness of the proposed auxiliary match tasks. AT4CTR has been deployed in the real industry advertising system and gains remarkable revenue.
Traffic forecasting is an important factor for the success of intelligent transportation systems. Deep learning models including convolution neural networks and recurrent neural networks have been applied in traffic forecasting problems to model the spatial and temporal dependencies. In recent years, to model the graph structures in the transportation systems as well as the contextual information, graph neural networks (GNNs) are introduced as new tools and have achieved the state-of-the-art performance in a series of traffic forecasting problems. In this survey, we review the rapidly growing body of recent research using different GNNs, e.g., graph convolutional and graph attention networks, in various traffic forecasting problems, e.g., road traffic flow and speed forecasting, passenger flow forecasting in urban rail transit systems, demand forecasting in ride-hailing platforms, etc. We also present a collection of open data and source resources for each problem, as well as future research directions. To the best of our knowledge, this paper is the first comprehensive survey that explores the application of graph neural networks for traffic forecasting problems. We have also created a public Github repository to update the latest papers, open data and source resources.
Distant supervision can effectively label data for relation extraction, but suffers from the noise labeling problem. Recent works mainly perform soft bag-level noise reduction strategies to find the relatively better samples in a sentence bag, which is suboptimal compared with making a hard decision of false positive samples in sentence level. In this paper, we introduce an adversarial learning framework, which we named DSGAN, to learn a sentence-level true-positive generator. Inspired by Generative Adversarial Networks, we regard the positive samples generated by the generator as the negative samples to train the discriminator. The optimal generator is obtained until the discrimination ability of the discriminator has the greatest decline. We adopt the generator to filter distant supervision training dataset and redistribute the false positive instances into the negative set, in which way to provide a cleaned dataset for relation classification. The experimental results show that the proposed strategy significantly improves the performance of distant supervision relation extraction comparing to state-of-the-art systems.
Salient object detection is a fundamental problem and has been received a great deal of attentions in computer vision. Recently deep learning model became a powerful tool for image feature extraction. In this paper, we propose a multi-scale deep neural network (MSDNN) for salient object detection. The proposed model first extracts global high-level features and context information over the whole source image with recurrent convolutional neural network (RCNN). Then several stacked deconvolutional layers are adopted to get the multi-scale feature representation and obtain a series of saliency maps. Finally, we investigate a fusion convolution module (FCM) to build a final pixel level saliency map. The proposed model is extensively evaluated on four salient object detection benchmark datasets. Results show that our deep model significantly outperforms other 12 state-of-the-art approaches.
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