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Object SLAM is considered increasingly significant for robot high-level perception and decision-making. Existing studies fall short in terms of data association, object representation, and semantic mapping and frequently rely on additional assumptions, limiting their performance. In this paper, we present a comprehensive object SLAM framework that focuses on object-based perception and object-oriented robot tasks. First, we propose an ensemble data association approach for associating objects in complicated conditions by incorporating parametric and nonparametric statistic testing. In addition, we suggest an outlier-robust centroid and scale estimation algorithm for modeling objects based on the iForest and line alignment. Then a lightweight and object-oriented map is represented by estimated general object models. Taking into consideration the semantic invariance of objects, we convert the object map to a topological map to provide semantic descriptors to enable multi-map matching. Finally, we suggest an object-driven active exploration strategy to achieve autonomous mapping in the grasping scenario. A range of public datasets and real-world results in mapping, augmented reality, scene matching, relocalization, and robotic manipulation have been used to evaluate the proposed object SLAM framework for its efficient performance.

Transformer-based methods have demonstrated superior performance for monocular 3D object detection recently, which predicts 3D attributes from a single 2D image. Most existing transformer-based methods leverage visual and depth representations to explore valuable query points on objects, and the quality of the learned queries has a great impact on detection accuracy. Unfortunately, existing unsupervised attention mechanisms in transformer are prone to generate low-quality query features due to inaccurate receptive fields, especially on hard objects. To tackle this problem, this paper proposes a novel ``Supervised Scale-constrained Deformable Attention'' (SSDA) for monocular 3D object detection. Specifically, SSDA presets several masks with different scales and utilizes depth and visual features to predict the local feature for each query. Imposing the scale constraint, SSDA could well predict the accurate receptive field of a query to support robust query feature generation. What is more, SSDA is assigned with a Weighted Scale Matching (WSM) loss to supervise scale prediction, which presents more confident results as compared to the unsupervised attention mechanisms. Extensive experiments on ``KITTI'' demonstrate that SSDA significantly improves the detection accuracy especially on moderate and hard objects, yielding SOTA performance as compared to the existing approaches. Code will be publicly available at //github.com/mikasa3lili/SSD-MonoDETR.

The quality of training datasets for deep neural networks is a key factor contributing to the accuracy of resulting models. This effect is amplified in difficult tasks such as object detection. Dealing with errors in datasets is often limited to accepting that some fraction of examples is incorrect, estimating their confidence and assigning appropriate weights or ignoring uncertain ones during training. In this work, we propose a different approach. We introduce the Confident Learning for Object Detection (CLOD) algorithm for assessing the quality of each label in object detection datasets, identifying missing, spurious, mislabeled and mislocated bounding boxes and suggesting corrections. By focusing on finding incorrect examples in the training datasets, we can eliminate them at the root. Suspicious bounding boxes can be reviewed in order to improve the quality of the dataset, leading to better models without further complicating their already complex architectures. The proposed method is able to point out 99% of artificially disturbed bounding boxes with a false positive rate below 0.3. We see this method as a promising path to correcting popular object detection datasets.

Knowledge distillation is the technique of compressing a larger neural network, known as the teacher, into a smaller neural network, known as the student, while still trying to maintain the performance of the larger neural network as much as possible. Existing methods of knowledge distillation are mostly applicable for classification tasks. Many of them also require access to the data used to train the teacher model. To address the problem of knowledge distillation for regression tasks under the absence of original training data, previous work has proposed a data-free knowledge distillation method where synthetic data are generated using a generator model trained adversarially against the student model. These synthetic data and their labels predicted by the teacher model are then used to train the student model. In this study, we investigate the behavior of various synthetic data generation methods and propose a new synthetic data generation strategy that directly optimizes for a large but bounded difference between the student and teacher model. Our results on benchmark and case study experiments demonstrate that the proposed strategy allows the student model to learn better and emulate the performance of the teacher model more closely.

Knowledge Distillation (KD) is a widely-used technology to inherit information from cumbersome teacher models to compact student models, consequently realizing model compression and acceleration. Compared with image classification, object detection is a more complex task, and designing specific KD methods for object detection is non-trivial. In this work, we elaborately study the behaviour difference between the teacher and student detection models, and obtain two intriguing observations: First, the teacher and student rank their detected candidate boxes quite differently, which results in their precision discrepancy. Second, there is a considerable gap between the feature response differences and prediction differences between teacher and student, indicating that equally imitating all the feature maps of the teacher is the sub-optimal choice for improving the student's accuracy. Based on the two observations, we propose Rank Mimicking (RM) and Prediction-guided Feature Imitation (PFI) for distilling one-stage detectors, respectively. RM takes the rank of candidate boxes from teachers as a new form of knowledge to distill, which consistently outperforms the traditional soft label distillation. PFI attempts to correlate feature differences with prediction differences, making feature imitation directly help to improve the student's accuracy. On MS COCO and PASCAL VOC benchmarks, extensive experiments are conducted on various detectors with different backbones to validate the effectiveness of our method. Specifically, RetinaNet with ResNet50 achieves 40.4% mAP in MS COCO, which is 3.5% higher than its baseline, and also outperforms previous KD methods.

Autonomous driving is regarded as one of the most promising remedies to shield human beings from severe crashes. To this end, 3D object detection serves as the core basis of such perception system especially for the sake of path planning, motion prediction, collision avoidance, etc. Generally, stereo or monocular images with corresponding 3D point clouds are already standard layout for 3D object detection, out of which point clouds are increasingly prevalent with accurate depth information being provided. Despite existing efforts, 3D object detection on point clouds is still in its infancy due to high sparseness and irregularity of point clouds by nature, misalignment view between camera view and LiDAR bird's eye of view for modality synergies, occlusions and scale variations at long distances, etc. Recently, profound progress has been made in 3D object detection, with a large body of literature being investigated to address this vision task. As such, we present a comprehensive review of the latest progress in this field covering all the main topics including sensors, fundamentals, and the recent state-of-the-art detection methods with their pros and cons. Furthermore, we introduce metrics and provide quantitative comparisons on popular public datasets. The avenues for future work are going to be judiciously identified after an in-deep analysis of the surveyed works. Finally, we conclude this paper.

Conventional unsupervised multi-source domain adaptation (UMDA) methods assume all source domains can be accessed directly. This neglects the privacy-preserving policy, that is, all the data and computations must be kept decentralized. There exists three problems in this scenario: (1) Minimizing the domain distance requires the pairwise calculation of the data from source and target domains, which is not accessible. (2) The communication cost and privacy security limit the application of UMDA methods (e.g., the domain adversarial training). (3) Since users have no authority to check the data quality, the irrelevant or malicious source domains are more likely to appear, which causes negative transfer. In this study, we propose a privacy-preserving UMDA paradigm named Knowledge Distillation based Decentralized Domain Adaptation (KD3A), which performs domain adaptation through the knowledge distillation on models from different source domains. KD3A solves the above problems with three components: (1) A multi-source knowledge distillation method named Knowledge Vote to learn high-quality domain consensus knowledge. (2) A dynamic weighting strategy named Consensus Focus to identify both the malicious and irrelevant domains. (3) A decentralized optimization strategy for domain distance named BatchNorm MMD. The extensive experiments on DomainNet demonstrate that KD3A is robust to the negative transfer and brings a 100x reduction of communication cost compared with other decentralized UMDA methods. Moreover, our KD3A significantly outperforms state-of-the-art UMDA approaches.

Object detection with transformers (DETR) reaches competitive performance with Faster R-CNN via a transformer encoder-decoder architecture. Inspired by the great success of pre-training transformers in natural language processing, we propose a pretext task named random query patch detection to unsupervisedly pre-train DETR (UP-DETR) for object detection. Specifically, we randomly crop patches from the given image and then feed them as queries to the decoder. The model is pre-trained to detect these query patches from the original image. During the pre-training, we address two critical issues: multi-task learning and multi-query localization. (1) To trade-off multi-task learning of classification and localization in the pretext task, we freeze the CNN backbone and propose a patch feature reconstruction branch which is jointly optimized with patch detection. (2) To perform multi-query localization, we introduce UP-DETR from single-query patch and extend it to multi-query patches with object query shuffle and attention mask. In our experiments, UP-DETR significantly boosts the performance of DETR with faster convergence and higher precision on PASCAL VOC and COCO datasets. The code will be available soon.

Benefit from the quick development of deep learning techniques, salient object detection has achieved remarkable progresses recently. However, there still exists following two major challenges that hinder its application in embedded devices, low resolution output and heavy model weight. To this end, this paper presents an accurate yet compact deep network for efficient salient object detection. More specifically, given a coarse saliency prediction in the deepest layer, we first employ residual learning to learn side-output residual features for saliency refinement, which can be achieved with very limited convolutional parameters while keep accuracy. Secondly, we further propose reverse attention to guide such side-output residual learning in a top-down manner. By erasing the current predicted salient regions from side-output features, the network can eventually explore the missing object parts and details which results in high resolution and accuracy. Experiments on six benchmark datasets demonstrate that the proposed approach compares favorably against state-of-the-art methods, and with advantages in terms of simplicity, efficiency (45 FPS) and model size (81 MB).

We propose the idea of transferring common-sense knowledge from source categories to target categories for scalable object detection. In our setting, the training data for the source categories have bounding box annotations, while those for the target categories only have image-level annotations. Current state-of-the-art approaches focus on image-level visual or semantic similarity to adapt a detector trained on the source categories to the new target categories. In contrast, our key idea is to (i) use similarity not at image-level, but rather at region-level, as well as (ii) leverage richer common-sense (based on attribute, spatial, etc.,) to guide the algorithm towards learning the correct detections. We acquire such common-sense cues automatically from readily-available knowledge bases without any extra human effort. On the challenging MS COCO dataset, we find that using common-sense knowledge substantially improves detection performance over existing transfer-learning baselines.