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This paper addresses the problem of estimating the 3-DoF camera pose for a ground-level image with respect to a satellite image that encompasses the local surroundings. We propose a novel end-to-end approach that leverages the learning of dense pixel-wise flow fields in pairs of ground and satellite images to calculate the camera pose. Our approach differs from existing methods by constructing the feature metric at the pixel level, enabling full-image supervision for learning distinctive geometric configurations and visual appearances across views. Specifically, our method employs two distinct convolution networks for ground and satellite feature extraction. Then, we project the ground feature map to the bird's eye view (BEV) using a fixed camera height assumption to achieve preliminary geometric alignment. To further establish content association between the BEV and satellite features, we introduce a residual convolution block to refine the projected BEV feature. Optical flow estimation is performed on the refined BEV feature map and the satellite feature map using flow decoder networks based on RAFT. After obtaining dense flow correspondences, we apply the least square method to filter matching inliers and regress the ground camera pose. Extensive experiments demonstrate significant improvements compared to state-of-the-art methods. Notably, our approach reduces the median localization error by 89%, 19%, 80% and 35% on the KITTI, Ford multi-AV, VIGOR and Oxford RobotCar datasets, respectively.

Existing explanation tools for image classifiers usually give only one single explanation for an image. For many images, however, both humans and image classifiers accept more than one explanation for the image label. Thus, restricting the number of explanations to just one severely limits the insight into the behavior of the classifier. In this paper, we describe an algorithm and a tool, REX, for computing multiple explanations of the output of a black-box image classifier for a given image. Our algorithm uses a principled approach based on causal theory. We analyse its theoretical complexity and provide experimental results showing that REX finds multiple explanations on 7 times more images than the previous work on the ImageNet-mini benchmark.

Weakly-supervised semantic segmentation (WSSS) performs pixel-wise classification given only image-level labels for training. Despite the difficulty of this task, the research community has achieved promising results over the last five years. Still, current WSSS literature misses the detailed sense of how well the methods perform on different sizes of objects. Thus we propose a novel evaluation metric to provide a comprehensive assessment across different object sizes and collect a size-balanced evaluation set to complement PASCAL VOC. With these two gadgets, we reveal that the existing WSSS methods struggle in capturing small objects. Furthermore, we propose a size-balanced cross-entropy loss coupled with a proper training strategy. It generally improves existing WSSS methods as validated upon ten baselines on three different datasets.

Semantic image editing requires inpainting pixels following a semantic map. It is a challenging task since this inpainting requires both harmony with the context and strict compliance with the semantic maps. The majority of the previous methods proposed for this task try to encode the whole information from erased images. However, when an object is added to a scene such as a car, its style cannot be encoded from the context alone. On the other hand, the models that can output diverse generations struggle to output images that have seamless boundaries between the generated and unerased parts. Additionally, previous methods do not have a mechanism to encode the styles of visible and partially visible objects differently for better performance. In this work, we propose a framework that can encode visible and partially visible objects with a novel mechanism to achieve consistency in the style encoding and final generations. We extensively compare with previous conditional image generation and semantic image editing algorithms. Our extensive experiments show that our method significantly improves over the state-of-the-art. Our method not only achieves better quantitative results but also provides diverse results. Please refer to the project web page for the released code and demo: //github.com/hakansivuk/DivSem.

This work aims to improve unsupervised audio-visual pre-training. Inspired by the efficacy of data augmentation in visual contrastive learning, we propose a novel speed co-augmentation method that randomly changes the playback speeds of both audio and video data. Despite its simplicity, the speed co-augmentation method possesses two compelling attributes: (1) it increases the diversity of audio-visual pairs and doubles the size of negative pairs, resulting in a significant enhancement in the learned representations, and (2) it changes the strict correlation between audio-visual pairs but introduces a partial relationship between the augmented pairs, which is modeled by our proposed SoftInfoNCE loss to further boost the performance. Experimental results show that the proposed method significantly improves the learned representations when compared to vanilla audio-visual contrastive learning.

Effective aggregation of temporal information of consecutive frames is the core of achieving video super-resolution. Many scholars have utilized structures such as sliding windows and recurrent to gather spatio-temporal information of frames. However, although the performance of the constructed VSR models is improving, the size of the models is also increasing, exacerbating the demand on the equipment. Thus, to reduce the stress on the device, we propose a novel lightweight recurrent grouping attention network. The parameters of this model are only 0.878M, which is much lower than the current mainstream model for studying video super-resolution. We design forward feature extraction module and backward feature extraction module to collect temporal information between consecutive frames from two directions. Moreover, a new grouping mechanism is proposed to efficiently collect spatio-temporal information of the reference frame and its neighboring frames. The attention supplementation module is presented to further enhance the information gathering range of the model. The feature reconstruction module aims to aggregate information from different directions to reconstruct high-resolution features. Experiments demonstrate that our model achieves state-of-the-art performance on multiple datasets.

NMT systems trained on Pre-trained Multilingual Sequence-Sequence (PMSS) models flounder when sufficient amounts of parallel data is not available for fine-tuning. This specifically holds for languages missing/under-represented in these models. The problem gets aggravated when the data comes from different domains. In this paper, we show that intermediate-task fine-tuning (ITFT) of PMSS models is extremely beneficial for domain-specific NMT, especially when target domain data is limited/unavailable and the considered languages are missing or under-represented in the PMSS model. We quantify the domain-specific results variations using a domain-divergence test, and show that ITFT can mitigate the impact of domain divergence to some extent.

In dynamic scenes, both localization and mapping in visual SLAM face significant challenges. In recent years, numerous outstanding research works have proposed effective solutions for the localization problem. However, there has been a scarcity of excellent works focusing on constructing long-term consistent maps in dynamic scenes, which severely hampers map applications. To address this issue, we have designed a multi-level map construction system tailored for dynamic scenes. In this system, we employ multi-object tracking algorithms, DBSCAN clustering algorithm, and depth information to rectify the results of object detection, accurately extract static point clouds, and construct dense point cloud maps and octree maps. We propose a plane map construction algorithm specialized for dynamic scenes, involving the extraction, filtering, data association, and fusion optimization of planes in dynamic environments, thus creating a plane map. Additionally, we introduce an object map construction algorithm targeted at dynamic scenes, which includes object parameterization, data association, and update optimization. Extensive experiments on public datasets and real-world scenarios validate the accuracy of the multi-level maps constructed in this study and the robustness of the proposed algorithms. Furthermore, we demonstrate the practical application prospects of our algorithms by utilizing the constructed object maps for dynamic object tracking.

Convolutional neural networks (CNNs) have shown dramatic improvements in single image super-resolution (SISR) by using large-scale external samples. Despite their remarkable performance based on the external dataset, they cannot exploit internal information within a specific image. Another problem is that they are applicable only to the specific condition of data that they are supervised. For instance, the low-resolution (LR) image should be a "bicubic" downsampled noise-free image from a high-resolution (HR) one. To address both issues, zero-shot super-resolution (ZSSR) has been proposed for flexible internal learning. However, they require thousands of gradient updates, i.e., long inference time. In this paper, we present Meta-Transfer Learning for Zero-Shot Super-Resolution (MZSR), which leverages ZSSR. Precisely, it is based on finding a generic initial parameter that is suitable for internal learning. Thus, we can exploit both external and internal information, where one single gradient update can yield quite considerable results. (See Figure 1). With our method, the network can quickly adapt to a given image condition. In this respect, our method can be applied to a large spectrum of image conditions within a fast adaptation process.

We study the problem of embedding-based entity alignment between knowledge graphs (KGs). Previous works mainly focus on the relational structure of entities. Some further incorporate another type of features, such as attributes, for refinement. However, a vast of entity features are still unexplored or not equally treated together, which impairs the accuracy and robustness of embedding-based entity alignment. In this paper, we propose a novel framework that unifies multiple views of entities to learn embeddings for entity alignment. Specifically, we embed entities based on the views of entity names, relations and attributes, with several combination strategies. Furthermore, we design some cross-KG inference methods to enhance the alignment between two KGs. Our experiments on real-world datasets show that the proposed framework significantly outperforms the state-of-the-art embedding-based entity alignment methods. The selected views, cross-KG inference and combination strategies all contribute to the performance improvement.