The monocular visual-inertial odometry (VIO) based on the direct method can leverage all available pixels in the image to simultaneously estimate the camera motion and reconstruct the denser map of the scene in real time. However, the direct method is sensitive to photometric changes, which can be compensated by introducing geometric information in the environment. In this paper, we propose a monocular direct sparse visual-inertial odometry, which exploits the planar regularities (PVI-DSO). Our system detects the planar regularities from the 3D mesh built on the estimated map points. To improve the pose estimation accuracy with the geometric information, a tightly coupled coplanar constraint expression is used to express photometric error in the direct method. Additionally, to improve the optimization efficiency, we elaborately derive the analytical Jacobian of the linearization form for the coplanar constraint. Finally, the inertial measurement error, coplanar point photometric error, non-coplanar photometric error, and prior error are added into the optimizer, which simultaneously improves the pose estimation accuracy and mesh itself. We verified the performance of the whole system on simulation and real-world datasets. Extensive experiments have demonstrated that our system outperforms the state-of-the-art counterparts.
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We propose MM-Vet, an evaluation benchmark that examines large multimodal models (LMMs) on complicated multimodal tasks. Recent LMMs have shown various intriguing abilities, such as solving math problems written on the blackboard, reasoning about events and celebrities in news images, and explaining visual jokes. Rapid model advancements pose challenges to evaluation benchmark development. Problems include: (1) How to systematically structure and evaluate the complicated multimodal tasks; (2) How to design evaluation metrics that work well across question and answer types; and (3) How to give model insights beyond a simple performance ranking. To this end, we present MM-Vet, designed based on the insight that the intriguing ability to solve complicated tasks is often achieved by a generalist model being able to integrate different core vision-language (VL) capabilities. MM-Vet defines 6 core VL capabilities and examines the 16 integrations of interest derived from the capability combination. For evaluation metrics, we propose an LLM-based evaluator for open-ended outputs. The evaluator enables the evaluation across different question types and answer styles, resulting in a unified scoring metric. We evaluate representative LMMs on MM-Vet, providing insights into the capabilities of different LMM system paradigms and models. Code and data are available at //github.com/yuweihao/MM-Vet.
Remote sensing image change detection aims to identify the differences between images acquired at different times in the same area. It is widely used in land management, environmental monitoring, disaster assessment and other fields. Currently, most change detection methods are based on Siamese network structure or early fusion structure. Siamese structure focuses on extracting object features at different times but lacks attention to change information, which leads to false alarms and missed detections. Early fusion (EF) structure focuses on extracting features after the fusion of images of different phases but ignores the significance of object features at different times for detecting change details, making it difficult to accurately discern the edges of changed objects. To address these issues and obtain more accurate results, we propose a novel network, Triplet UNet(T-UNet), based on a three-branch encoder, which is capable to simultaneously extract the object features and the change features between the pre- and post-time-phase images through triplet encoder. To effectively interact and fuse the features extracted from the three branches of triplet encoder, we propose a multi-branch spatial-spectral cross-attention module (MBSSCA). In the decoder stage, we introduce the channel attention mechanism (CAM) and spatial attention mechanism (SAM) to fully mine and integrate detailed textures information at the shallow layer and semantic localization information at the deep layer.
We present the NVIDIA cuQuantum SDK, a state-of-the-art library of composable primitives for GPU-accelerated quantum circuit simulations. As the size of quantum devices continues to increase, making their classical simulation progressively more difficult, the availability of fast and scalable quantum circuit simulators becomes vital for quantum algorithm developers, as well as quantum hardware engineers focused on the validation and optimization of quantum devices. The cuQuantum SDK was created to accelerate and scale up quantum circuit simulators developed by the quantum information science community by enabling them to utilize efficient scalable software building blocks optimized for NVIDIA GPU platforms. The functional building blocks provided cover the needs of both state vector- and tensor network- based simulators, including approximate tensor network simulation methods based on matrix product state, projected entangled pair state, and other factorized tensor representations. By leveraging the enormous computing power of the latest NVIDIA GPU architectures, quantum circuit simulators that have adopted the cuQuantum SDK demonstrate significant acceleration, compared to CPU-only execution, for both the state vector and tensor network simulation methods. Furthermore, by utilizing the parallel primitives available in the cuQuantum SDK, one can easily transition to distributed GPU-accelerated platforms, including those furnished by cloud service providers and high-performance computing systems deployed by supercomputing centers, extending the scale of possible quantum circuit simulations. The rich capabilities provided by the SDK are conveniently made available via both Python and C application programming interfaces, where the former is directly targeting a broad Python quantum community and the latter allows tight integration with simulators written in any programming language.
Recent data-driven image colorization methods have enabled automatic or reference-based colorization, while still suffering from unsatisfactory and inaccurate object-level color control. To address these issues, we propose a new method called DiffColor that leverages the power of pre-trained diffusion models to recover vivid colors conditioned on a prompt text, without any additional inputs. DiffColor mainly contains two stages: colorization with generative color prior and in-context controllable colorization. Specifically, we first fine-tune a pre-trained text-to-image model to generate colorized images using a CLIP-based contrastive loss. Then we try to obtain an optimized text embedding aligning the colorized image and the text prompt, and a fine-tuned diffusion model enabling high-quality image reconstruction. Our method can produce vivid and diverse colors with a few iterations, and keep the structure and background intact while having colors well-aligned with the target language guidance. Moreover, our method allows for in-context colorization, i.e., producing different colorization results by modifying prompt texts without any fine-tuning, and can achieve object-level controllable colorization results. Extensive experiments and user studies demonstrate that DiffColor outperforms previous works in terms of visual quality, color fidelity, and diversity of colorization options.
For text-to-video retrieval (T2VR), which aims to retrieve unlabeled videos by ad-hoc textual queries, CLIP-based methods are dominating. Compared to CLIP4Clip which is efficient and compact, the state-of-the-art models tend to compute video-text similarity by fine-grained cross-modal feature interaction and matching, putting their scalability for large-scale T2VR into doubt. For efficient T2VR, we propose TeachCLIP with multi-grained teaching to let a CLIP4Clip based student network learn from more advanced yet computationally heavy models such as X-CLIP, TS2-Net and X-Pool . To improve the student's learning capability, we add an Attentional frame-Feature Aggregation (AFA) block, which by design adds no extra storage/computation overhead at the retrieval stage. While attentive weights produced by AFA are commonly used for combining frame-level features, we propose a novel use of the weights to let them imitate frame-text relevance estimated by the teacher network. As such, AFA provides a fine-grained learning (teaching) channel for the student (teacher). Extensive experiments on multiple public datasets justify the viability of the proposed method.
Practical object detection application can lose its effectiveness on image inputs with natural distribution shifts. This problem leads the research community to pay more attention on the robustness of detectors under Out-Of-Distribution (OOD) inputs. Existing works construct datasets to benchmark the detector's OOD robustness for a specific application scenario, e.g., Autonomous Driving. However, these datasets lack universality and are hard to benchmark general detectors built on common tasks such as COCO. To give a more comprehensive robustness assessment, we introduce COCO-O(ut-of-distribution), a test dataset based on COCO with 6 types of natural distribution shifts. COCO-O has a large distribution gap with training data and results in a significant 55.7% relative performance drop on a Faster R-CNN detector. We leverage COCO-O to conduct experiments on more than 100 modern object detectors to investigate if their improvements are credible or just over-fitting to the COCO test set. Unfortunately, most classic detectors in early years do not exhibit strong OOD generalization. We further study the robustness effect on recent breakthroughs of detector's architecture design, augmentation and pre-training techniques. Some empirical findings are revealed: 1) Compared with detection head or neck, backbone is the most important part for robustness; 2) An end-to-end detection transformer design brings no enhancement, and may even reduce robustness; 3) Large-scale foundation models have made a great leap on robust object detection. We hope our COCO-O could provide a rich testbed for robustness study of object detection. The dataset will be available at //github.com/alibaba/easyrobust/tree/main/benchmarks/coco_o.
Underwater images suffer from light refraction and absorption, which impairs visibility and interferes the subsequent applications. Existing underwater image enhancement methods mainly focus on image quality improvement, ignoring the effect on practice. To balance the visual quality and application, we propose a heuristic normalizing flow for detection-driven underwater image enhancement, dubbed WaterFlow. Specifically, we first develop an invertible mapping to achieve the translation between the degraded image and its clear counterpart. Considering the differentiability and interpretability, we incorporate the heuristic prior into the data-driven mapping procedure, where the ambient light and medium transmission coefficient benefit credible generation. Furthermore, we introduce a detection perception module to transmit the implicit semantic guidance into the enhancement procedure, where the enhanced images hold more detection-favorable features and are able to promote the detection performance. Extensive experiments prove the superiority of our WaterFlow, against state-of-the-art methods quantitatively and qualitatively.
Multi-Object Tracking (MOT) aims to detect and associate all desired objects across frames. Most methods accomplish the task by explicitly or implicitly leveraging strong cues (i.e., spatial and appearance information), which exhibit powerful instance-level discrimination. However, when object occlusion and clustering occur, both spatial and appearance information will become ambiguous simultaneously due to the high overlap between objects. In this paper, we demonstrate that this long-standing challenge in MOT can be efficiently and effectively resolved by incorporating weak cues to compensate for strong cues. Along with velocity direction, we introduce the confidence state and height state as potential weak cues. With superior performance, our method still maintains Simple, Online and Real-Time (SORT) characteristics. Furthermore, our method shows strong generalization for diverse trackers and scenarios in a plug-and-play and training-free manner. Significant and consistent improvements are observed when applying our method to 5 different representative trackers. Further, by leveraging both strong and weak cues, our method Hybrid-SORT achieves superior performance on diverse benchmarks, including MOT17, MOT20, and especially DanceTrack where interaction and occlusion are frequent and severe. The code and models are available at //github.com/ymzis69/HybirdSORT.
In many visual systems, visual tracking often bases on RGB image sequences, in which some targets are invalid in low-light conditions, and tracking performance is thus affected significantly. Introducing other modalities such as depth and infrared data is an effective way to handle imaging limitations of individual sources, but multi-modal imaging platforms usually require elaborate designs and cannot be applied in many real-world applications at present. Near-infrared (NIR) imaging becomes an essential part of many surveillance cameras, whose imaging is switchable between RGB and NIR based on the light intensity. These two modalities are heterogeneous with very different visual properties and thus bring big challenges for visual tracking. However, existing works have not studied this challenging problem. In this work, we address the cross-modal object tracking problem and contribute a new video dataset, including 654 cross-modal image sequences with over 481K frames in total, and the average video length is more than 735 frames. To promote the research and development of cross-modal object tracking, we propose a new algorithm, which learns the modality-aware target representation to mitigate the appearance gap between RGB and NIR modalities in the tracking process. It is plug-and-play and could thus be flexibly embedded into different tracking frameworks. Extensive experiments on the dataset are conducted, and we demonstrate the effectiveness of the proposed algorithm in two representative tracking frameworks against 17 state-of-the-art tracking methods. We will release the dataset for free academic usage, dataset download link and code will be released soon.
Visual dialogue is a challenging task that needs to extract implicit information from both visual (image) and textual (dialogue history) contexts. Classical approaches pay more attention to the integration of the current question, vision knowledge and text knowledge, despising the heterogeneous semantic gaps between the cross-modal information. In the meantime, the concatenation operation has become de-facto standard to the cross-modal information fusion, which has a limited ability in information retrieval. In this paper, we propose a novel Knowledge-Bridge Graph Network (KBGN) model by using graph to bridge the cross-modal semantic relations between vision and text knowledge in fine granularity, as well as retrieving required knowledge via an adaptive information selection mode. Moreover, the reasoning clues for visual dialogue can be clearly drawn from intra-modal entities and inter-modal bridges. Experimental results on VisDial v1.0 and VisDial-Q datasets demonstrate that our model outperforms exiting models with state-of-the-art results.
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