Semantic segmentation for robotic systems can enable a wide range of applications, from self-driving cars and augmented reality systems to domestic robots. We argue that a spherical representation is a natural one for egocentric pointclouds. Thus, in this work, we present a novel framework exploiting such a representation of LiDAR pointclouds for the task of semantic segmentation. Our approach is based on a spherical convolutional neural network that can seamlessly handle observations from various sensor systems (e.g., different LiDAR systems) and provides an accurate segmentation of the environment. We operate in two distinct stages: First, we encode the projected input pointclouds to spherical features. Second, we decode and back-project the spherical features to achieve an accurate semantic segmentation of the pointcloud. We evaluate our method with respect to state-of-the-art projection-based semantic segmentation approaches using well-known public datasets. We demonstrate that the spherical representation enables us to provide more accurate segmentation and to have a better generalization to sensors with different field-of-view and number of beams than what was seen during training.
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Recently, CLIP has been applied to pixel-level zero-shot learning tasks via a two-stage scheme. The general idea is to first generate class-agnostic region proposals and then feed the cropped proposal regions to CLIP to utilize its image-level zero-shot classification capability. While effective, such a scheme requires two image encoders, one for proposal generation and one for CLIP, leading to a complicated pipeline and high computational cost. In this work, we pursue a simpler-and-efficient one-stage solution that directly extends CLIP's zero-shot prediction capability from image to pixel level. Our investigation starts with a straightforward extension as our baseline that generates semantic masks by comparing the similarity between text and patch embeddings extracted from CLIP. However, such a paradigm could heavily overfit the seen classes and fail to generalize to unseen classes. To handle this issue, we propose three simple-but-effective designs and figure out that they can significantly retain the inherent zero-shot capacity of CLIP and improve pixel-level generalization ability. Incorporating those modifications leads to an efficient zero-shot semantic segmentation system called ZegCLIP. Through extensive experiments on three public benchmarks, ZegCLIP demonstrates superior performance, outperforming the state-of-the-art methods by a large margin under both "inductive" and "transductive" zero-shot settings. In addition, compared with the two-stage method, our one-stage ZegCLIP achieves a speedup of about 5 times faster during inference. We release the code at //github.com/ZiqinZhou66/ZegCLIP.git.
How will you repair a physical object with some missings? You may imagine its original shape from previously captured images, recover its overall (global) but coarse shape first, and then refine its local details. We are motivated to imitate the physical repair procedure to address point cloud completion. To this end, we propose a cross-modal shape-transfer dual-refinement network (termed CSDN), a coarse-to-fine paradigm with images of full-cycle participation, for quality point cloud completion. CSDN mainly consists of "shape fusion" and "dual-refinement" modules to tackle the cross-modal challenge. The first module transfers the intrinsic shape characteristics from single images to guide the geometry generation of the missing regions of point clouds, in which we propose IPAdaIN to embed the global features of both the image and the partial point cloud into completion. The second module refines the coarse output by adjusting the positions of the generated points, where the local refinement unit exploits the geometric relation between the novel and the input points by graph convolution, and the global constraint unit utilizes the input image to fine-tune the generated offset. Different from most existing approaches, CSDN not only explores the complementary information from images but also effectively exploits cross-modal data in the whole coarse-to-fine completion procedure. Experimental results indicate that CSDN performs favorably against ten competitors on the cross-modal benchmark.
This work presents a framework for studying temporal networks using zigzag persistence, a tool from the field of Topological Data Analysis (TDA). The resulting approach is general and applicable to a wide variety of time-varying graphs. For example, these graphs may correspond to a system modeled as a network with edges whose weights are functions of time, or they may represent a time series of a complex dynamical system. We use simplicial complexes to represent snapshots of the temporal networks that can then be analyzed using zigzag persistence. We show two applications of our method to dynamic networks: an analysis of commuting trends on multiple temporal scales, e.g., daily and weekly, in the Great Britain transportation network, and the detection of periodic/chaotic transitions due to intermittency in dynamical systems represented by temporal ordinal partition networks. Our findings show that the resulting zero- and one-dimensional zigzag persistence diagrams can detect changes in the networks' shapes that are missed by traditional connectivity and centrality graph statistics.
Existing methods for large-scale point cloud semantic segmentation require expensive, tedious and error-prone manual point-wise annotations. Intuitively, weakly supervised training is a direct solution to reduce the cost of labeling. However, for weakly supervised large-scale point cloud semantic segmentation, too few annotations will inevitably lead to ineffective learning of network. We propose an effective weakly supervised method containing two components to solve the above problem. Firstly, we construct a pretext task, \textit{i.e.,} point cloud colorization, with a self-supervised learning to transfer the learned prior knowledge from a large amount of unlabeled point cloud to a weakly supervised network. In this way, the representation capability of the weakly supervised network can be improved by the guidance from a heterogeneous task. Besides, to generate pseudo label for unlabeled data, a sparse label propagation mechanism is proposed with the help of generated class prototypes, which is used to measure the classification confidence of unlabeled point. Our method is evaluated on large-scale point cloud datasets with different scenarios including indoor and outdoor. The experimental results show the large gain against existing weakly supervised and comparable results to fully supervised methods\footnote{Code based on mindspore: //github.com/dmcv-ecnu/MindSpore\_ModelZoo/tree/main/WS3\_MindSpore}.
We present a self-supervised learning (SSL) method suitable for semi-global tasks such as object detection and semantic segmentation. We enforce local consistency between self-learned features, representing corresponding image locations of transformed versions of the same image, by minimizing a pixel-level local contrastive (LC) loss during training. LC-loss can be added to existing self-supervised learning methods with minimal overhead. We evaluate our SSL approach on two downstream tasks -- object detection and semantic segmentation, using COCO, PASCAL VOC, and CityScapes datasets. Our method outperforms the existing state-of-the-art SSL approaches by 1.9% on COCO object detection, 1.4% on PASCAL VOC detection, and 0.6% on CityScapes segmentation.
Densely annotating LiDAR point clouds is costly, which restrains the scalability of fully-supervised learning methods. In this work, we study the underexplored semi-supervised learning (SSL) in LiDAR segmentation. Our core idea is to leverage the strong spatial cues of LiDAR point clouds to better exploit unlabeled data. We propose LaserMix to mix laser beams from different LiDAR scans, and then encourage the model to make consistent and confident predictions before and after mixing. Our framework has three appealing properties: 1) Generic: LaserMix is agnostic to LiDAR representations (e.g., range view and voxel), and hence our SSL framework can be universally applied. 2) Statistically grounded: We provide a detailed analysis to theoretically explain the applicability of the proposed framework. 3) Effective: Comprehensive experimental analysis on popular LiDAR segmentation datasets (nuScenes, SemanticKITTI, and ScribbleKITTI) demonstrates our effectiveness and superiority. Notably, we achieve competitive results over fully-supervised counterparts with 2x to 5x fewer labels and improve the supervised-only baseline significantly by 10.8% on average. We hope this concise yet high-performing framework could facilitate future research in semi-supervised LiDAR segmentation. Code is publicly available.
Knowledge Graph Embedding (KGE) aims to learn representations for entities and relations. Most KGE models have gained great success, especially on extrapolation scenarios. Specifically, given an unseen triple (h, r, t), a trained model can still correctly predict t from (h, r, ?), or h from (?, r, t), such extrapolation ability is impressive. However, most existing KGE works focus on the design of delicate triple modeling function, which mainly tells us how to measure the plausibility of observed triples, but offers limited explanation of why the methods can extrapolate to unseen data, and what are the important factors to help KGE extrapolate. Therefore in this work, we attempt to study the KGE extrapolation of two problems: 1. How does KGE extrapolate to unseen data? 2. How to design the KGE model with better extrapolation ability? For the problem 1, we first discuss the impact factors for extrapolation and from relation, entity and triple level respectively, propose three Semantic Evidences (SEs), which can be observed from train set and provide important semantic information for extrapolation. Then we verify the effectiveness of SEs through extensive experiments on several typical KGE methods. For the problem 2, to make better use of the three levels of SE, we propose a novel GNN-based KGE model, called Semantic Evidence aware Graph Neural Network (SE-GNN). In SE-GNN, each level of SE is modeled explicitly by the corresponding neighbor pattern, and merged sufficiently by the multi-layer aggregation, which contributes to obtaining more extrapolative knowledge representation. Finally, through extensive experiments on FB15k-237 and WN18RR datasets, we show that SE-GNN achieves state-of-the-art performance on Knowledge Graph Completion task and performs a better extrapolation ability.
Current state-of-the-art semantic role labeling (SRL) uses a deep neural network with no explicit linguistic features. However, prior work has shown that gold syntax trees can dramatically improve SRL decoding, suggesting the possibility of increased accuracy from explicit modeling of syntax. In this work, we present linguistically-informed self-attention (LISA): a neural network model that combines multi-head self-attention with multi-task learning across dependency parsing, part-of-speech tagging, predicate detection and SRL. Unlike previous models which require significant pre-processing to prepare linguistic features, LISA can incorporate syntax using merely raw tokens as input, encoding the sequence only once to simultaneously perform parsing, predicate detection and role labeling for all predicates. Syntax is incorporated by training one attention head to attend to syntactic parents for each token. Moreover, if a high-quality syntactic parse is already available, it can be beneficially injected at test time without re-training our SRL model. In experiments on CoNLL-2005 SRL, LISA achieves new state-of-the-art performance for a model using predicted predicates and standard word embeddings, attaining 2.5 F1 absolute higher than the previous state-of-the-art on newswire and more than 3.5 F1 on out-of-domain data, nearly 10% reduction in error. On ConLL-2012 English SRL we also show an improvement of more than 2.5 F1. LISA also out-performs the state-of-the-art with contextually-encoded (ELMo) word representations, by nearly 1.0 F1 on news and more than 2.0 F1 on out-of-domain text.
We consider the problem of zero-shot recognition: learning a visual classifier for a category with zero training examples, just using the word embedding of the category and its relationship to other categories, which visual data are provided. The key to dealing with the unfamiliar or novel category is to transfer knowledge obtained from familiar classes to describe the unfamiliar class. In this paper, we build upon the recently introduced Graph Convolutional Network (GCN) and propose an approach that uses both semantic embeddings and the categorical relationships to predict the classifiers. Given a learned knowledge graph (KG), our approach takes as input semantic embeddings for each node (representing visual category). After a series of graph convolutions, we predict the visual classifier for each category. During training, the visual classifiers for a few categories are given to learn the GCN parameters. At test time, these filters are used to predict the visual classifiers of unseen categories. We show that our approach is robust to noise in the KG. More importantly, our approach provides significant improvement in performance compared to the current state-of-the-art results (from 2 ~ 3% on some metrics to whopping 20% on a few).
Recent advances in 3D fully convolutional networks (FCN) have made it feasible to produce dense voxel-wise predictions of volumetric images. In this work, we show that a multi-class 3D FCN trained on manually labeled CT scans of several anatomical structures (ranging from the large organs to thin vessels) can achieve competitive segmentation results, while avoiding the need for handcrafting features or training class-specific models. To this end, we propose a two-stage, coarse-to-fine approach that will first use a 3D FCN to roughly define a candidate region, which will then be used as input to a second 3D FCN. This reduces the number of voxels the second FCN has to classify to ~10% and allows it to focus on more detailed segmentation of the organs and vessels. We utilize training and validation sets consisting of 331 clinical CT images and test our models on a completely unseen data collection acquired at a different hospital that includes 150 CT scans, targeting three anatomical organs (liver, spleen, and pancreas). In challenging organs such as the pancreas, our cascaded approach improves the mean Dice score from 68.5 to 82.2%, achieving the highest reported average score on this dataset. We compare with a 2D FCN method on a separate dataset of 240 CT scans with 18 classes and achieve a significantly higher performance in small organs and vessels. Furthermore, we explore fine-tuning our models to different datasets. Our experiments illustrate the promise and robustness of current 3D FCN based semantic segmentation of medical images, achieving state-of-the-art results. Our code and trained models are available for download: //github.com/holgerroth/3Dunet_abdomen_cascade.
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