亚洲男人的天堂2018av,欧美草比,久久久久久免费视频精选,国色天香在线看免费,久久久久亚洲av成人片仓井空

Consistent motion estimation is fundamental for all mobile autonomous systems. While this sounds like an easy task, often, it is not the case because of changing environmental conditions affecting odometry obtained from vision, Lidar, or the wheels themselves. Unsusceptible to challenging lighting and weather conditions, radar sensors are an obvious alternative. Usually, automotive radars return a sparse point cloud, representing the surroundings. Utilizing this information to motion estimation is challenging due to unstable and phantom measurements, which result in a high rate of outliers. We introduce a credible and robust probabilistic approach to estimate the ego-motion based on these challenging radar measurements; intended to be used within a loosely-coupled sensor fusion framework. Compared to existing solutions, evaluated on the popular nuScenes dataset and others, we show that our proposed algorithm is more credible while not depending on explicit correspondence calculation.

We propose a robust and accurate method for estimating the 3D poses of two hands in close interaction from a single color image. This is a very challenging problem, as large occlusions and many confusions between the joints may happen. State-of-the-art methods solve this problem by regressing a heatmap for each joint, which requires solving two problems simultaneously: localizing the joints and recognizing them. In this work, we propose to separate these tasks by relying on a CNN to first localize joints as 2D keypoints, and on self-attention between the CNN features at these keypoints to associate them with the corresponding hand joint. The resulting architecture, which we call "Keypoint Transformer", is highly efficient as it achieves state-of-the-art performance with roughly half the number of model parameters on the InterHand2.6M dataset. We also show it can be easily extended to estimate the 3D pose of an object manipulated by one or two hands with high performance. Moreover, we created a new dataset of more than 75,000 images of two hands manipulating an object fully annotated in 3D and will make it publicly available.

Many adaptations of transformers have emerged to address the single-modal vision tasks, where self-attention modules are stacked to handle input sources like images. Intuitively, feeding multiple modalities of data to vision transformers could improve the performance, yet the inner-modal attentive weights may also be diluted, which could thus undermine the final performance. In this paper, we propose a multimodal token fusion method (TokenFusion), tailored for transformer-based vision tasks. To effectively fuse multiple modalities, TokenFusion dynamically detects uninformative tokens and substitutes these tokens with projected and aggregated inter-modal features. Residual positional alignment is also adopted to enable explicit utilization of the inter-modal alignments after fusion. The design of TokenFusion allows the transformer to learn correlations among multimodal features, while the single-modal transformer architecture remains largely intact. Extensive experiments are conducted on a variety of homogeneous and heterogeneous modalities and demonstrate that TokenFusion surpasses state-of-the-art methods in three typical vision tasks: multimodal image-to-image translation, RGB-depth semantic segmentation, and 3D object detection with point cloud and images.

Many recent state-of-the-art (SOTA) optical flow models use finite-step recurrent update operations to emulate traditional algorithms by encouraging iterative refinements toward a stable flow estimation. However, these RNNs impose large computation and memory overheads, and are not directly trained to model such stable estimation. They can converge poorly and thereby suffer from performance degradation. To combat these drawbacks, we propose deep equilibrium (DEQ) flow estimators, an approach that directly solves for the flow as the infinite-level fixed point of an implicit layer (using any black-box solver), and differentiates through this fixed point analytically (thus requiring $O(1)$ training memory). This implicit-depth approach is not predicated on any specific model, and thus can be applied to a wide range of SOTA flow estimation model designs. The use of these DEQ flow estimators allows us to compute the flow faster using, e.g., fixed-point reuse and inexact gradients, consumes $4\sim6\times$ times less training memory than the recurrent counterpart, and achieves better results with the same computation budget. In addition, we propose a novel, sparse fixed-point correction scheme to stabilize our DEQ flow estimators, which addresses a longstanding challenge for DEQ models in general. We test our approach in various realistic settings and show that it improves SOTA methods on Sintel and KITTI datasets with substantially better computational and memory efficiency.

Video deblurring is still an unsolved problem due to the challenging spatio-temporal modeling process. While existing convolutional neural network-based methods show a limited capacity for effective spatial and temporal modeling for video deblurring. This paper presents VDTR, an effective Transformer-based model that makes the first attempt to adapt Transformer for video deblurring. VDTR exploits the superior long-range and relation modeling capabilities of Transformer for both spatial and temporal modeling. However, it is challenging to design an appropriate Transformer-based model for video deblurring due to the complicated non-uniform blurs, misalignment across multiple frames and the high computational costs for high-resolution spatial modeling. To address these problems, VDTR advocates performing attention within non-overlapping windows and exploiting the hierarchical structure for long-range dependencies modeling. For frame-level spatial modeling, we propose an encoder-decoder Transformer that utilizes multi-scale features for deblurring. For multi-frame temporal modeling, we adapt Transformer to fuse multiple spatial features efficiently. Compared with CNN-based methods, the proposed method achieves highly competitive results on both synthetic and real-world video deblurring benchmarks, including DVD, GOPRO, REDS and BSD. We hope such a Transformer-based architecture can serve as a powerful alternative baseline for video deblurring and other video restoration tasks. The source code will be available at \url{//github.com/ljzycmd/VDTR}.

With the rapid growth of surveillance cameras in many public places to mon-itor human activities such as in malls, streets, schools and, prisons, there is a strong demand for such systems to detect violence events automatically. Au-tomatic analysis of video to detect violence is significant for law enforce-ment. Moreover, it helps to avoid any social, economic and environmental damages. Mostly, all systems today require manual human supervisors to de-tect violence scenes in the video which is inefficient and inaccurate. in this work, we interest in physical violence that involved two persons or more. This work proposed a novel method to detect violence using a fusion tech-nique of two significantly different convolutional neural networks (CNNs) which are AlexNet and SqueezeNet networks. Each network followed by separate Convolution Long Short Term memory (ConvLSTM) to extract ro-bust and richer features from a video in the final hidden state. Then, making a fusion of these two obtained states and fed to the max-pooling layer. Final-ly, features were classified using a series of fully connected layers and soft-max classifier. The performance of the proposed method is evaluated using three standard benchmark datasets in terms of detection accuracy: Hockey Fight dataset, Movie dataset and Violent Flow dataset. The results show an accuracy of 97%, 100%, and 96% respectively. A comparison of the results with the state of the art techniques revealed the promising capability of the proposed method in recognizing violent videos.

Visual place recognition (VPR) in condition-varying environments is still an open problem. Popular solutions are CNN-based image descriptors, which have been shown to outperform traditional image descriptors based on hand-crafted visual features. However, there are two drawbacks of current CNN-based descriptors: a) their high dimension and b) lack of generalization, leading to low efficiency and poor performance in applications. In this paper, we propose to use a convolutional autoencoder (CAE) to tackle this problem. We employ a high-level layer of a pre-trained CNN to generate features, and train a CAE to map the features to a low-dimensional space to improve the condition invariance property of the descriptor and reduce its dimension at the same time. We verify our method in three challenging datasets involving significant illumination changes, and our method is shown to be superior to the state-of-the-art. For the benefit of the community, we make public the source code.

Correlation acts as a critical role in the tracking field, especially in recent popular Siamese-based trackers. The correlation operation is a simple fusion manner to consider the similarity between the template and the search region. However, the correlation operation itself is a local linear matching process, leading to lose semantic information and fall into local optimum easily, which may be the bottleneck of designing high-accuracy tracking algorithms. Is there any better feature fusion method than correlation? To address this issue, inspired by Transformer, this work presents a novel attention-based feature fusion network, which effectively combines the template and search region features solely using attention. Specifically, the proposed method includes an ego-context augment module based on self-attention and a cross-feature augment module based on cross-attention. Finally, we present a Transformer tracking (named TransT) method based on the Siamese-like feature extraction backbone, the designed attention-based fusion mechanism, and the classification and regression head. Experiments show that our TransT achieves very promising results on six challenging datasets, especially on large-scale LaSOT, TrackingNet, and GOT-10k benchmarks. Our tracker runs at approximatively 50 fps on GPU. Code and models are available at //github.com/chenxin-dlut/TransT.

Detection and recognition of text in natural images are two main problems in the field of computer vision that have a wide variety of applications in analysis of sports videos, autonomous driving, industrial automation, to name a few. They face common challenging problems that are factors in how text is represented and affected by several environmental conditions. The current state-of-the-art scene text detection and/or recognition methods have exploited the witnessed advancement in deep learning architectures and reported a superior accuracy on benchmark datasets when tackling multi-resolution and multi-oriented text. However, there are still several remaining challenges affecting text in the wild images that cause existing methods to underperform due to there models are not able to generalize to unseen data and the insufficient labeled data. Thus, unlike previous surveys in this field, the objectives of this survey are as follows: first, offering the reader not only a review on the recent advancement in scene text detection and recognition, but also presenting the results of conducting extensive experiments using a unified evaluation framework that assesses pre-trained models of the selected methods on challenging cases, and applies the same evaluation criteria on these techniques. Second, identifying several existing challenges for detecting or recognizing text in the wild images, namely, in-plane-rotation, multi-oriented and multi-resolution text, perspective distortion, illumination reflection, partial occlusion, complex fonts, and special characters. Finally, the paper also presents insight into the potential research directions in this field to address some of the mentioned challenges that are still encountering scene text detection and recognition techniques.

We present a monocular Simultaneous Localization and Mapping (SLAM) using high level object and plane landmarks, in addition to points. The resulting map is denser, more compact and meaningful compared to point only SLAM. We first propose a high order graphical model to jointly infer the 3D object and layout planes from single image considering occlusions and semantic constraints. The extracted cuboid object and layout planes are further optimized in a unified SLAM framework. Objects and planes can provide more semantic constraints such as Manhattan and object supporting relationships compared to points. Experiments on various public and collected datasets including ICL NUIM and TUM mono show that our algorithm can improve camera localization accuracy compared to state-of-the-art SLAM and also generate dense maps in many structured environments.