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360$^\circ$ video saliency detection is one of the challenging benchmarks for 360$^\circ$ video understanding since non-negligible distortion and discontinuity occur in the projection of any format of 360$^\circ$ videos, and capture-worthy viewpoint in the omnidirectional sphere is ambiguous by nature. We present a new framework named Panoramic Vision Transformer (PAVER). We design the encoder using Vision Transformer with deformable convolution, which enables us not only to plug pretrained models from normal videos into our architecture without additional modules or finetuning but also to perform geometric approximation only once, unlike previous deep CNN-based approaches. Thanks to its powerful encoder, PAVER can learn the saliency from three simple relative relations among local patch features, outperforming state-of-the-art models for the Wild360 benchmark by large margins without supervision or auxiliary information like class activation. We demonstrate the utility of our saliency prediction model with the omnidirectional video quality assessment task in VQA-ODV, where we consistently improve performance without any form of supervision, including head movement.

Depth estimation from images serves as the fundamental step of 3D perception for autonomous driving and is an economical alternative to expensive depth sensors like LiDAR. The temporal photometric constraints enables self-supervised depth estimation without labels, further facilitating its application. However, most existing methods predict the depth solely based on each monocular image and ignore the correlations among multiple surrounding cameras, which are typically available for modern self-driving vehicles. In this paper, we propose a SurroundDepth method to incorporate the information from multiple surrounding views to predict depth maps across cameras. Specifically, we employ a joint network to process all the surrounding views and propose a cross-view transformer to effectively fuse the information from multiple views. We apply cross-view self-attention to efficiently enable the global interactions between multi-camera feature maps. Different from self-supervised monocular depth estimation, we are able to predict real-world scales given multi-camera extrinsic matrices. To achieve this goal, we adopt the two-frame structure-from-motion to extract scale-aware pseudo depths to pretrain the models. Further, instead of predicting the ego-motion of each individual camera, we estimate a universal ego-motion of the vehicle and transfer it to each view to achieve multi-view ego-motion consistency. In experiments, our method achieves the state-of-the-art performance on the challenging multi-camera depth estimation datasets DDAD and nuScenes.

Recently, Neural Radiance Fields (NeRF) has shown promising performances on reconstructing 3D scenes and synthesizing novel views from a sparse set of 2D images. Albeit effective, the performance of NeRF is highly influenced by the quality of training samples. With limited posed images from the scene, NeRF fails to generalize well to novel views and may collapse to trivial solutions in unobserved regions. This makes NeRF impractical under resource-constrained scenarios. In this paper, we present a novel learning framework, ActiveNeRF, aiming to model a 3D scene with a constrained input budget. Specifically, we first incorporate uncertainty estimation into a NeRF model, which ensures robustness under few observations and provides an interpretation of how NeRF understands the scene. On this basis, we propose to supplement the existing training set with newly captured samples based on an active learning scheme. By evaluating the reduction of uncertainty given new inputs, we select the samples that bring the most information gain. In this way, the quality of novel view synthesis can be improved with minimal additional resources. Extensive experiments validate the performance of our model on both realistic and synthetic scenes, especially with scarcer training data. Code will be released at \url{//github.com/LeapLabTHU/ActiveNeRF}.

Transparent objects are widely used in industrial automation and daily life. However, robust visual recognition and perception of transparent objects have always been a major challenge. Currently, most commercial-grade depth cameras are still not good at sensing the surfaces of transparent objects due to the refraction and reflection of light. In this work, we present a transformer-based transparent object depth estimation approach from a single RGB-D input. We observe that the global characteristics of the transformer make it easier to extract contextual information to perform depth estimation of transparent areas. In addition, to better enhance the fine-grained features, a feature fusion module (FFM) is designed to assist coherent prediction. Our empirical evidence demonstrates that our model delivers significant improvements in recent popular datasets, e.g., 25% gain on RMSE and 21% gain on REL compared to previous state-of-the-art convolutional-based counterparts in ClearGrasp dataset. Extensive results show that our transformer-based model enables better aggregation of the object's RGB and inaccurate depth information to obtain a better depth representation. Our code and the pre-trained model will be available at //github.com/yuchendoudou/TODE.

Binary stars undergo a variety of interactions and evolutionary phases, critical for predicting and explaining observed properties. Binary population synthesis with full stellar-structure and evolution simulations are computationally expensive requiring a large number of mass-transfer sequences. The recently developed binary population synthesis code POSYDON incorporates grids of MESA binary star simulations which are then interpolated to model large-scale populations of massive binaries. The traditional method of computing a high-density rectilinear grid of simulations is not scalable for higher-dimension grids, accounting for a range of metallicities, rotation, and eccentricity. We present a new active learning algorithm, psy-cris, which uses machine learning in the data-gathering process to adaptively and iteratively select targeted simulations to run, resulting in a custom, high-performance training set. We test psy-cris on a toy problem and find the resulting training sets require fewer simulations for accurate classification and regression than either regular or randomly sampled grids. We further apply psy-cris to the target problem of building a dynamic grid of MESA simulations, and we demonstrate that, even without fine tuning, a simulation set of only $\sim 1/4$ the size of a rectilinear grid is sufficient to achieve the same classification accuracy. We anticipate further gains when algorithmic parameters are optimized for the targeted application. We find that optimizing for classification only may lead to performance losses in regression, and vice versa. Lowering the computational cost of producing grids will enable future versions of POSYDON to cover more input parameters while preserving interpolation accuracies.

Place recognition is an important component for autonomous vehicles to achieve loop closing or global localization. In this paper, we tackle the problem of place recognition based on sequential 3D LiDAR scans obtained by an onboard LiDAR sensor. We propose a transformer-based network named SeqOT to exploit the temporal and spatial information provided by sequential range images generated from the LiDAR data. It uses multi-scale transformers to generate a global descriptor for each sequence of LiDAR range images in an end-to-end fashion. During online operation, our SeqOT finds similar places by matching such descriptors between the current query sequence and those stored in the map. We evaluate our approach on four datasets collected with different types of LiDAR sensors in different environments. The experimental results show that our method outperforms the state-of-the-art LiDAR-based place recognition methods and generalizes well across different environments. Furthermore, our method operates online faster than the frame rate of the sensor. The implementation of our method is released as open source at: //github.com/BIT-MJY/SeqOT.

Event camera is an emerging bio-inspired vision sensors that report per-pixel brightness changes asynchronously. It holds noticeable advantage of high dynamic range, high speed response, and low power budget that enable it to best capture local motions in uncontrolled environments. This motivates us to unlock the potential of event cameras for human pose estimation, as the human pose estimation with event cameras is rarely explored. Due to the novel paradigm shift from conventional frame-based cameras, however, event signals in a time interval contain very limited information, as event cameras can only capture the moving body parts and ignores those static body parts, resulting in some parts to be incomplete or even disappeared in the time interval. This paper proposes a novel densely connected recurrent architecture to address the problem of incomplete information. By this recurrent architecture, we can explicitly model not only the sequential but also non-sequential geometric consistency across time steps to accumulate information from previous frames to recover the entire human bodies, achieving a stable and accurate human pose estimation from event data. Moreover, to better evaluate our model, we collect a large scale multimodal event-based dataset that comes with human pose annotations, which is by far the most challenging one to the best of our knowledge. The experimental results on two public datasets and our own dataset demonstrate the effectiveness and strength of our approach. Code can be available online for facilitating the future research.

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.

Event detection (ED), a sub-task of event extraction, involves identifying triggers and categorizing event mentions. Existing methods primarily rely upon supervised learning and require large-scale labeled event datasets which are unfortunately not readily available in many real-life applications. In this paper, we consider and reformulate the ED task with limited labeled data as a Few-Shot Learning problem. We propose a Dynamic-Memory-Based Prototypical Network (DMB-PN), which exploits Dynamic Memory Network (DMN) to not only learn better prototypes for event types, but also produce more robust sentence encodings for event mentions. Differing from vanilla prototypical networks simply computing event prototypes by averaging, which only consume event mentions once, our model is more robust and is capable of distilling contextual information from event mentions for multiple times due to the multi-hop mechanism of DMNs. The experiments show that DMB-PN not only deals with sample scarcity better than a series of baseline models but also performs more robustly when the variety of event types is relatively large and the instance quantity is extremely small.

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.