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In a constant evolving world, change detection is of prime importance to keep updated maps. To better sense areas with complex geometry (urban areas in particular), considering 3D data appears to be an interesting alternative to classical 2D images. In this context, 3D point clouds (PCs) obtained by LiDAR or photogrammetry are very interesting. While recent studies showed the considerable benefit of using deep learning-based methods to detect and characterize changes into raw 3D PCs, these studies rely on large annotated training data to obtain accurate results. The collection of these annotations are tricky and time-consuming. The availability of unsupervised or weakly supervised approaches is then of prime interest. In this paper, we propose an unsupervised method, called DeepCluster 3D Change Detection (DC3DCD), to detect and categorize multiclass changes at point level. We classify our approach in the unsupervised family given the fact that we extract in a completely unsupervised way a number of clusters associated with potential changes. Let us precise that in the end of the process, the user has only to assign a label to each of these clusters to derive the final change map. Our method builds upon the DeepCluster approach, originally designed for image classification, to handle complex raw 3D PCs and perform change segmentation task. An assessment of the method on both simulated and real public dataset is provided. The proposed method allows to outperform fully-supervised traditional machine learning algorithm and to be competitive with fully-supervised deep learning networks applied on rasterization of 3D PCs with a mean of IoU over classes of change of 57.06% and 66.69% for the simulated and the real datasets, respectively.

Autonomous exploration is a new technology in the field of robotics that has found widespread application due to its objective to help robots independently localize, scan maps, and navigate any terrain without human control. Up to present, the sampling-based exploration strategies have been the most effective for aerial and ground vehicles equipped with depth sensors producing three-dimensional point clouds. Those methods utilize the sampling task to choose random points or make samples based on Rapidly-exploring Random Trees (RRT). Then, they decide on frontiers or Next Best Views (NBV) with useful volumetric information. However, most state-of-the-art sampling-based methodology is challenging to implement in two-dimensional robots due to the lack of environmental knowledge, thus resulting in a bad volumetric gain for evaluating random destinations. This study proposed an enhanced sampling-based solution for indoor robot exploration to decide Next Best View (NBV) in 2D environments. Our method makes RRT until have the endpoints as frontiers and evaluates those with the enhanced utility function. The volumetric information obtained from environments was estimated using non-uniform distribution to determine cells that are occupied and have an uncertain probability. Compared to the sampling-based Frontier Detection and Receding Horizon NBV approaches, the methodology executed performed better in Gazebo platform-simulated environments, achieving a significantly larger explored area, with the average distance and time traveled being reduced. Moreover, the operated proposed method on an author-built 2D robot exploring the entire natural environment confirms that the method is effective and applicable in real-world scenarios.

Image harmonization is a critical task in computer vision, which aims to adjust the foreground to make it compatible with the background. Recent works mainly focus on using global transformations (i.e., normalization and color curve rendering) to achieve visual consistency. However, these models ignore local visual consistency and their huge model sizes limit their harmonization ability on edge devices. In this paper, we propose a hierarchical dynamic network (HDNet) to adapt features from local to global view for better feature transformation in efficient image harmonization. Inspired by the success of various dynamic models, local dynamic (LD) module and mask-aware global dynamic (MGD) module are proposed in this paper. Specifically, LD matches local representations between the foreground and background regions based on semantic similarities, then adaptively adjust every foreground local representation according to the appearance of its $K$-nearest neighbor background regions. In this way, LD can produce more realistic images at a more fine-grained level, and simultaneously enjoy the characteristic of semantic alignment. The MGD effectively applies distinct convolution to the foreground and background, learning the representations of foreground and background regions as well as their correlations to the global harmonization, facilitating local visual consistency for the images much more efficiently. Experimental results demonstrate that the proposed HDNet significantly reduces the total model parameters by more than 80\% compared to previous methods, while still attaining state-of-the-art performance on the popular iHarmony4 dataset. Notably, the HDNet achieves a 4\% improvement in PSNR and a 19\% reduction in MSE compared to the prior state-of-the-art methods.

Forecasting the scalable future states of surrounding traffic participants in complex traffic scenarios is a critical capability for autonomous vehicles, as it enables safe and feasible decision-making. Recent successes in learning-based prediction and planning have introduced two primary challenges: generating accurate joint predictions for the environment and integrating prediction guidance for planning purposes. To address these challenges, we propose a two-stage integrated neural planning framework, termed OPGP, that incorporates joint prediction guidance from occupancy forecasting. The preliminary planning phase simultaneously outputs the predicted occupancy for various types of traffic actors based on imitation learning objectives, taking into account shared interactions, scene context, and actor dynamics within a unified Transformer structure. Subsequently, the transformed occupancy prediction guides optimization to further inform safe and smooth planning under Frenet coordinates. We train our planner using a large-scale, real-world driving dataset and validate it in open-loop configurations. Our proposed planner outperforms strong learning-based methods, exhibiting improved performance due to occupancy prediction guidance.

Training a dialogue policy using deep reinforcement learning requires a lot of exploration of the environment. The amount of wasted invalid exploration makes their learning inefficient. In this paper, we find and define an important reason for the invalid exploration: dead-ends. When a conversation enters a dead-end state, regardless of the actions taken afterward, it will continue in a dead-end trajectory until the agent reaches a termination state or maximum turn. We propose a dead-end resurrection (DDR) algorithm that detects the initial dead-end state in a timely and efficient manner and provides a rescue action to guide and correct the exploration direction. To prevent dialogue policies from repeatedly making the same mistake, DDR also performs dialogue data augmentation by adding relevant experiences containing dead-end states. We first validate the dead-end detection reliability and then demonstrate the effectiveness and generality of the method by reporting experimental results on several dialogue datasets from different domains.

The existence of representative datasets is a prerequisite of many successful artificial intelligence and machine learning models. However, the subsequent application of these models often involves scenarios that are inadequately represented in the data used for training. The reasons for this are manifold and range from time and cost constraints to ethical considerations. As a consequence, the reliable use of these models, especially in safety-critical applications, is a huge challenge. Leveraging additional, already existing sources of knowledge is key to overcome the limitations of purely data-driven approaches, and eventually to increase the generalization capability of these models. Furthermore, predictions that conform with knowledge are crucial for making trustworthy and safe decisions even in underrepresented scenarios. This work provides an overview of existing techniques and methods in the literature that combine data-based models with existing knowledge. The identified approaches are structured according to the categories integration, extraction and conformity. Special attention is given to applications in the field of autonomous driving.

Estimating human pose and shape from monocular images is a long-standing problem in computer vision. Since the release of statistical body models, 3D human mesh recovery has been drawing broader attention. With the same goal of obtaining well-aligned and physically plausible mesh results, two paradigms have been developed to overcome challenges in the 2D-to-3D lifting process: i) an optimization-based paradigm, where different data terms and regularization terms are exploited as optimization objectives; and ii) a regression-based paradigm, where deep learning techniques are embraced to solve the problem in an end-to-end fashion. Meanwhile, continuous efforts are devoted to improving the quality of 3D mesh labels for a wide range of datasets. Though remarkable progress has been achieved in the past decade, the task is still challenging due to flexible body motions, diverse appearances, complex environments, and insufficient in-the-wild annotations. To the best of our knowledge, this is the first survey to focus on the task of monocular 3D human mesh recovery. We start with the introduction of body models and then elaborate recovery frameworks and training objectives by providing in-depth analyses of their strengths and weaknesses. We also summarize datasets, evaluation metrics, and benchmark results. Open issues and future directions are discussed in the end, hoping to motivate researchers and facilitate their research in this area. A regularly updated project page can be found at //github.com/tinatiansjz/hmr-survey.

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.

Semantic reconstruction of indoor scenes refers to both scene understanding and object reconstruction. Existing works either address one part of this problem or focus on independent objects. In this paper, we bridge the gap between understanding and reconstruction, and propose an end-to-end solution to jointly reconstruct room layout, object bounding boxes and meshes from a single image. Instead of separately resolving scene understanding and object reconstruction, our method builds upon a holistic scene context and proposes a coarse-to-fine hierarchy with three components: 1. room layout with camera pose; 2. 3D object bounding boxes; 3. object meshes. We argue that understanding the context of each component can assist the task of parsing the others, which enables joint understanding and reconstruction. The experiments on the SUN RGB-D and Pix3D datasets demonstrate that our method consistently outperforms existing methods in indoor layout estimation, 3D object detection and mesh reconstruction.

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.