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Purpose: Depth estimation in robotic surgery is vital in 3D reconstruction, surgical navigation and augmented reality visualization. Although the foundation model exhibits outstanding performance in many vision tasks, including depth estimation (e.g., DINOv2), recent works observed its limitations in medical and surgical domain-specific applications. This work presents a low-ranked adaptation (LoRA) of the foundation model for surgical depth estimation. Methods: We design a foundation model-based depth estimation method, referred to as Surgical-DINO, a low-rank adaptation of the DINOv2 for depth estimation in endoscopic surgery. We build LoRA layers and integrate them into DINO to adapt with surgery-specific domain knowledge instead of conventional fine-tuning. During training, we freeze the DINO image encoder, which shows excellent visual representation capacity, and only optimize the LoRA layers and depth decoder to integrate features from the surgical scene. Results: Our model is extensively validated on a MICCAI challenge dataset of SCARED, which is collected from da Vinci Xi endoscope surgery. We empirically show that Surgical-DINO significantly outperforms all the state-of-the-art models in endoscopic depth estimation tasks. The analysis with ablation studies has shown evidence of the remarkable effect of our LoRA layers and adaptation. Conclusion: Surgical-DINO shed some light on the successful adaptation of the foundation models into the surgical domain for depth estimation. There is clear evidence in the results that zero-shot prediction on pre-trained weights in computer vision datasets or naive fine-tuning is not sufficient to use the foundation model in the surgical domain directly. Code is available at //github.com/BeileiCui/SurgicalDINO.

Purpose: Depth estimation in robotic surgery is vital in 3D reconstruction, surgical navigation and augmented reality visualization. Although the foundation model exhibits outstanding performance in many vision tasks, including depth estimation (e.g., DINOv2), recent works observed its limitations in medical and surgical domain-specific applications. This work presents a low-ranked adaptation (LoRA) of the foundation model for surgical depth estimation. Methods: We design a foundation model-based depth estimation method, referred to as Surgical-DINO, a low-rank adaptation of the DINOv2 for depth estimation in endoscopic surgery. We build LoRA layers and integrate them into DINO to adapt with surgery-specific domain knowledge instead of conventional fine-tuning. During training, we freeze the DINO image encoder, which shows excellent visual representation capacity, and only optimize the LoRA layers and depth decoder to integrate features from the surgical scene. Results: Our model is extensively validated on a MICCAI challenge dataset of SCARED, which is collected from da Vinci Xi endoscope surgery. We empirically show that Surgical-DINO significantly outperforms all the state-of-the-art models in endoscopic depth estimation tasks. The analysis with ablation studies has shown evidence of the remarkable effect of our LoRA layers and adaptation. Conclusion: Surgical-DINO shed some light on the successful adaptation of the foundation models into the surgical domain for depth estimation. There is clear evidence in the results that zero-shot prediction on pre-trained weights in computer vision datasets or naive fine-tuning is not sufficient to use the foundation model in the surgical domain directly. Code is available at //github.com/BeileiCui/SurgicalDINO.

We introduce InseRF, a novel method for generative object insertion in the NeRF reconstructions of 3D scenes. Based on a user-provided textual description and a 2D bounding box in a reference viewpoint, InseRF generates new objects in 3D scenes. Recently, methods for 3D scene editing have been profoundly transformed, owing to the use of strong priors of text-to-image diffusion models in 3D generative modeling. Existing methods are mostly effective in editing 3D scenes via style and appearance changes or removing existing objects. Generating new objects, however, remains a challenge for such methods, which we address in this study. Specifically, we propose grounding the 3D object insertion to a 2D object insertion in a reference view of the scene. The 2D edit is then lifted to 3D using a single-view object reconstruction method. The reconstructed object is then inserted into the scene, guided by the priors of monocular depth estimation methods. We evaluate our method on various 3D scenes and provide an in-depth analysis of the proposed components. Our experiments with generative insertion of objects in several 3D scenes indicate the effectiveness of our method compared to the existing methods. InseRF is capable of controllable and 3D-consistent object insertion without requiring explicit 3D information as input. Please visit our project page at //mohamad-shahbazi.github.io/inserf.

This paper introduces CADgpt, an innovative plugin integrating Natural Language Processing (NLP) with Rhino3D for enhancing 3D modelling in computer-aided design (CAD) environments. Leveraging OpenAI's GPT-4, CADgpt simplifies the CAD interface, enabling users, particularly beginners, to perform complex 3D modelling tasks through intuitive natural language commands. This approach significantly reduces the learning curve associated with traditional CAD software, fostering a more inclusive and engaging educational environment. The paper discusses CADgpt's technical architecture, including its integration within Rhino3D and the adaptation of GPT-4 capabilities for CAD tasks. It presents case studies demonstrating CADgpt's efficacy in various design scenarios, highlighting its potential to democratise design education by making sophisticated design tools accessible to a broader range of students. The discussion further explores CADgpt's implications for pedagogy and curriculum development, emphasising its role in enhancing creative exploration and conceptual thinking in design education. Keywords: Natural Language Processing, Computer-Aided Design, 3D Modelling, Design Automation, Design Education, Architectural Education

With recent advancements in aerospace technology, the volume of unlabeled remote sensing image (RSI) data has increased dramatically. Effectively leveraging this data through self-supervised learning (SSL) is vital in the field of remote sensing. However, current methodologies, particularly contrastive learning (CL), a leading SSL method, encounter specific challenges in this domain. Firstly, CL often mistakenly identifies geographically adjacent samples with similar semantic content as negative pairs, leading to confusion during model training. Secondly, as an instance-level discriminative task, it tends to neglect the essential fine-grained features and complex details inherent in unstructured RSIs. To overcome these obstacles, we introduce SwiMDiff, a novel self-supervised pre-training framework designed for RSIs. SwiMDiff employs a scene-wide matching approach that effectively recalibrates labels to recognize data from the same scene as false negatives. This adjustment makes CL more applicable to the nuances of remote sensing. Additionally, SwiMDiff seamlessly integrates CL with a diffusion model. Through the implementation of pixel-level diffusion constraints, we enhance the encoder's ability to capture both the global semantic information and the fine-grained features of the images more comprehensively. Our proposed framework significantly enriches the information available for downstream tasks in remote sensing. Demonstrating exceptional performance in change detection and land-cover classification tasks, SwiMDiff proves its substantial utility and value in the field of remote sensing.

Action recognition in videos poses a challenge due to its high computational cost, especially for Joint Space-Time video transformers (Joint VT). Despite their effectiveness, the excessive number of tokens in such architectures significantly limits their efficiency. In this paper, we propose HaltingVT, an efficient video transformer adaptively removing redundant video patch tokens, which is primarily composed of a Joint VT and a Glimpser module. Specifically, HaltingVT applies data-adaptive token reduction at each layer, resulting in a significant reduction in the overall computational cost. Besides, the Glimpser module quickly removes redundant tokens in shallow transformer layers, which may even be misleading for video recognition tasks based on our observations. To further encourage HaltingVT to focus on the key motion-related information in videos, we design an effective Motion Loss during training. HaltingVT acquires video analysis capabilities and token halting compression strategies simultaneously in a unified training process, without requiring additional training procedures or sub-networks. On the Mini-Kinetics dataset, we achieved 75.0% top-1 ACC with 24.2 GFLOPs, as well as 67.2% top-1 ACC with an extremely low 9.9 GFLOPs. The code is available at //github.com/dun-research/HaltingVT.

In this work, we present WidthFormer, a novel transformer-based Bird's-Eye-View (BEV) 3D detection method tailored for real-time autonomous-driving applications. WidthFormer is computationally efficient, robust and does not require any special engineering effort to deploy. In this work, we propose a novel 3D positional encoding mechanism capable of accurately encapsulating 3D geometric information, which enables our model to generate high-quality BEV representations with only a single transformer decoder layer. This mechanism is also beneficial for existing sparse 3D object detectors. Inspired by the recently-proposed works, we further improve our model's efficiency by vertically compressing the image features when serving as attention keys and values. We also introduce two modules to compensate for potential information loss due to feature compression. Experimental evaluation on the widely-used nuScenes 3D object detection benchmark demonstrates that our method outperforms previous approaches across different 3D detection architectures. More importantly, our model is highly efficient. For example, when using $256\times 704$ input images, it achieves 1.5 ms and 2.8 ms latency on NVIDIA 3090 GPU and Horizon Journey-5 edge computing chips, respectively. Furthermore, WidthFormer also exhibits strong robustness to different degrees of camera perturbations. Our study offers valuable insights into the deployment of BEV transformation methods in real-world, complex road environments. Code is available at //github.com/ChenhongyiYang/WidthFormer .

Temporal sentence grounding in videos (TSGV), a.k.a., natural language video localization (NLVL) or video moment retrieval (VMR), aims to retrieve a temporal moment that semantically corresponds to a language query from an untrimmed video. Connecting computer vision and natural language, TSGV has drawn significant attention from researchers in both communities. This survey attempts to provide a summary of fundamental concepts in TSGV and current research status, as well as future research directions. As the background, we present a common structure of functional components in TSGV, in a tutorial style: from feature extraction from raw video and language query, to answer prediction of the target moment. Then we review the techniques for multimodal understanding and interaction, which is the key focus of TSGV for effective alignment between the two modalities. We construct a taxonomy of TSGV techniques and elaborate methods in different categories with their strengths and weaknesses. Lastly, we discuss issues with the current TSGV research and share our insights about promising research directions.

Images can convey rich semantics and induce various emotions in viewers. Recently, with the rapid advancement of emotional intelligence and the explosive growth of visual data, extensive research efforts have been dedicated to affective image content analysis (AICA). In this survey, we will comprehensively review the development of AICA in the recent two decades, especially focusing on the state-of-the-art methods with respect to three main challenges -- the affective gap, perception subjectivity, and label noise and absence. We begin with an introduction to the key emotion representation models that have been widely employed in AICA and description of available datasets for performing evaluation with quantitative comparison of label noise and dataset bias. We then summarize and compare the representative approaches on (1) emotion feature extraction, including both handcrafted and deep features, (2) learning methods on dominant emotion recognition, personalized emotion prediction, emotion distribution learning, and learning from noisy data or few labels, and (3) AICA based applications. Finally, we discuss some challenges and promising research directions in the future, such as image content and context understanding, group emotion clustering, and viewer-image interaction.

Collecting supporting evidence from large corpora of text (e.g., Wikipedia) is of great challenge for open-domain Question Answering (QA). Especially, for multi-hop open-domain QA, scattered evidence pieces are required to be gathered together to support the answer extraction. In this paper, we propose a new retrieval target, hop, to collect the hidden reasoning evidence from Wikipedia for complex question answering. Specifically, the hop in this paper is defined as the combination of a hyperlink and the corresponding outbound link document. The hyperlink is encoded as the mention embedding which models the structured knowledge of how the outbound link entity is mentioned in the textual context, and the corresponding outbound link document is encoded as the document embedding representing the unstructured knowledge within it. Accordingly, we build HopRetriever which retrieves hops over Wikipedia to answer complex questions. Experiments on the HotpotQA dataset demonstrate that HopRetriever outperforms previously published evidence retrieval methods by large margins. Moreover, our approach also yields quantifiable interpretations of the evidence collection process.