We present TOCH, a method for refining incorrect 3D hand-object interaction sequences using a data prior. Existing hand trackers, especially those that rely on very few cameras, often produce visually unrealistic results with hand-object intersection or missing contacts. Although correcting such errors requires reasoning about temporal aspects of interaction, most previous works focus on static grasps and contacts. The core of our method are TOCH fields, a novel spatio-temporal representation for modeling correspondences between hands and objects during interaction. TOCH fields are a point-wise, object-centric representation, which encode the hand position relative to the object. Leveraging this novel representation, we learn a latent manifold of plausible TOCH fields with a temporal denoising auto-encoder. Experiments demonstrate that TOCH outperforms state-of-the-art 3D hand-object interaction models, which are limited to static grasps and contacts. More importantly, our method produces smooth interactions even before and after contact. Using a single trained TOCH model, we quantitatively and qualitatively demonstrate its usefulness for correcting erroneous sequences from off-the-shelf RGB/RGB-D hand-object reconstruction methods and transferring grasps across objects.
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We study the practical task of fine-grained 3D-VR-sketch-based 3D shape retrieval. This task is of particular interest as 2D sketches were shown to be effective queries for 2D images. However, due to the domain gap, it remains hard to achieve strong performance in 3D shape retrieval from 2D sketches. Recent work demonstrated the advantage of 3D VR sketching on this task. In our work, we focus on the challenge caused by inherent inaccuracies in 3D VR sketches. We observe that retrieval results obtained with a triplet loss with a fixed margin value, commonly used for retrieval tasks, contain many irrelevant shapes and often just one or few with a similar structure to the query. To mitigate this problem, we for the first time draw a connection between adaptive margin values and shape similarities. In particular, we propose to use a triplet loss with an adaptive margin value driven by a "fitting gap", which is the similarity of two shapes under structure-preserving deformations. We also conduct a user study which confirms that this fitting gap is indeed a suitable criterion to evaluate the structural similarity of shapes. Furthermore, we introduce a dataset of 202 VR sketches for 202 3D shapes drawn from memory rather than from observation. The code and data are available at //github.com/Rowl1ng/Structure-Aware-VR-Sketch-Shape-Retrieval.
Semantic segmentation is a challenging computer vision task demanding a significant amount of pixel-level annotated data. Producing such data is a time-consuming and costly process, especially for domains with a scarcity of experts, such as medicine or forensic anthropology. While numerous semi-supervised approaches have been developed to make the most from the limited labeled data and ample amount of unlabeled data, domain-specific real-world datasets often have characteristics that both reduce the effectiveness of off-the-shelf state-of-the-art methods and also provide opportunities to create new methods that exploit these characteristics. We propose and evaluate a semi-supervised method that reuses available labels for unlabeled images of a dataset by exploiting existing similarities, while dynamically weighting the impact of these reused labels in the training process. We evaluate our method on a large dataset of human decomposition images and find that our method, while conceptually simple, outperforms state-of-the-art consistency and pseudo-labeling-based methods for the segmentation of this dataset. This paper includes graphic content of human decomposition.
Cardiac magnetic resonance (CMR) sequences visualise the cardiac function voxel-wise over time. Simultaneously, deep learning-based deformable image registration is able to estimate discrete vector fields which warp one time step of a CMR sequence to the following in a self-supervised manner. However, despite the rich source of information included in these 3D+t vector fields, a standardised interpretation is challenging and the clinical applications remain limited so far. In this work, we show how to efficiently use a deformable vector field to describe the underlying dynamic process of a cardiac cycle in form of a derived 1D motion descriptor. Additionally, based on the expected cardiovascular physiological properties of a contracting or relaxing ventricle, we define a set of rules that enables the identification of five cardiovascular phases including the end-systole (ES) and end-diastole (ED) without the usage of labels. We evaluate the plausibility of the motion descriptor on two challenging multi-disease, -center, -scanner short-axis CMR datasets. First, by reporting quantitative measures such as the periodic frame difference for the extracted phases. Second, by comparing qualitatively the general pattern when we temporally resample and align the motion descriptors of all instances across both datasets. The average periodic frame difference for the ED, ES key phases of our approach is $0.80\pm{0.85}$, $0.69\pm{0.79}$ which is slightly better than the inter-observer variability ($1.07\pm{0.86}$, $0.91\pm{1.6}$) and the supervised baseline method ($1.18\pm{1.91}$, $1.21\pm{1.78}$). Code and labels will be made available on our GitHub repository. //github.com/Cardio-AI/cmr-phase-detection
Learning-based visual odometry (VO) algorithms achieve remarkable performance on common static scenes, benefiting from high-capacity models and massive annotated data, but tend to fail in dynamic, populated environments. Semantic segmentation is largely used to discard dynamic associations before estimating camera motions but at the cost of discarding static features and is hard to scale up to unseen categories. In this paper, we leverage the mutual dependence between camera ego-motion and motion segmentation and show that both can be jointly refined in a single learning-based framework. In particular, we present DytanVO, the first supervised learning-based VO method that deals with dynamic environments. It takes two consecutive monocular frames in real-time and predicts camera ego-motion in an iterative fashion. Our method achieves an average improvement of 27.7% in ATE over state-of-the-art VO solutions in real-world dynamic environments, and even performs competitively among dynamic visual SLAM systems which optimize the trajectory on the backend. Experiments on plentiful unseen environments also demonstrate our method's generalizability.
Moving Object Detection (MOD) is a critical vision task for successfully achieving safe autonomous driving. Despite plausible results of deep learning methods, most existing approaches are only frame-based and may fail to reach reasonable performance when dealing with dynamic traffic participants. Recent advances in sensor technologies, especially the Event camera, can naturally complement the conventional camera approach to better model moving objects. However, event-based works often adopt a pre-defined time window for event representation, and simply integrate it to estimate image intensities from events, neglecting much of the rich temporal information from the available asynchronous events. Therefore, from a new perspective, we propose RENet, a novel RGB-Event fusion Network, that jointly exploits the two complementary modalities to achieve more robust MOD under challenging scenarios for autonomous driving. Specifically, we first design a temporal multi-scale aggregation module to fully leverage event frames from both the RGB exposure time and larger intervals. Then we introduce a bi-directional fusion module to attentively calibrate and fuse multi-modal features. To evaluate the performance of our network, we carefully select and annotate a sub-MOD dataset from the commonly used DSEC dataset. Extensive experiments demonstrate that our proposed method performs significantly better than the state-of-the-art RGB-Event fusion alternatives.
Opinion summarization is the task of creating summaries capturing popular opinions from user reviews. In this paper, we introduce Geodesic Summarizer (GeoSumm), a novel system to perform unsupervised extractive opinion summarization. GeoSumm involves an encoder-decoder based representation learning model, that generates representations of text as a distribution over latent semantic units. GeoSumm generates these representations by performing dictionary learning over pre-trained text representations at multiple decoder layers. We then use these representations to quantify the relevance of review sentences using a novel approximate geodesic distance based scoring mechanism. We use the relevance scores to identify popular opinions in order to compose general and aspect-specific summaries. Our proposed model, GeoSumm, achieves state-of-the-art performance on three opinion summarization datasets. We perform additional experiments to analyze the functioning of our model and showcase the generalization ability of {\X} across different domains.
Optical coherence tomography (OCT) is a micrometer-scale, volumetric imaging modality that has become a clinical standard in ophthalmology. OCT instruments image by raster-scanning a focused light spot across the retina, acquiring sequential cross-sectional images to generate volumetric data. Patient eye motion during the acquisition poses unique challenges: Non-rigid, discontinuous distortions can occur, leading to gaps in data and distorted topographic measurements. We present a new distortion model and a corresponding fully-automatic, reference-free optimization strategy for computational motion correction in orthogonally raster-scanned, retinal OCT volumes. Using a novel, domain-specific spatiotemporal parametrization of forward-warping displacements, eye motion can be corrected continuously for the first time. Parameter estimation with temporal regularization improves robustness and accuracy over previous spatial approaches. We correct each A-scan individually in 3D in a single mapping, including repeated acquisitions used in OCT angiography protocols. Specialized 3D forward image warping reduces median runtime to < 9 s, fast enough for clinical use. We present a quantitative evaluation on 18 subjects with ocular pathology and demonstrate accurate correction during microsaccades. Transverse correction is limited only by ocular tremor, whereas submicron repeatability is achieved axially (0.51 um median of medians), representing a dramatic improvement over previous work. This allows assessing longitudinal changes in focal retinal pathologies as a marker of disease progression or treatment response, and promises to enable multiple new capabilities such as supersampled/super-resolution volume reconstruction and analysis of pathological eye motion occuring in neurological diseases.
Most object recognition approaches predominantly focus on learning discriminative visual patterns while overlooking the holistic object structure. Though important, structure modeling usually requires significant manual annotations and therefore is labor-intensive. In this paper, we propose to "look into object" (explicitly yet intrinsically model the object structure) through incorporating self-supervisions into the traditional framework. We show the recognition backbone can be substantially enhanced for more robust representation learning, without any cost of extra annotation and inference speed. Specifically, we first propose an object-extent learning module for localizing the object according to the visual patterns shared among the instances in the same category. We then design a spatial context learning module for modeling the internal structures of the object, through predicting the relative positions within the extent. These two modules can be easily plugged into any backbone networks during training and detached at inference time. Extensive experiments show that our look-into-object approach (LIO) achieves large performance gain on a number of benchmarks, including generic object recognition (ImageNet) and fine-grained object recognition tasks (CUB, Cars, Aircraft). We also show that this learning paradigm is highly generalizable to other tasks such as object detection and segmentation (MS COCO). Project page: //github.com/JDAI-CV/LIO.
Video captioning is a challenging task that requires a deep understanding of visual scenes. State-of-the-art methods generate captions using either scene-level or object-level information but without explicitly modeling object interactions. Thus, they often fail to make visually grounded predictions, and are sensitive to spurious correlations. In this paper, we propose a novel spatio-temporal graph model for video captioning that exploits object interactions in space and time. Our model builds interpretable links and is able to provide explicit visual grounding. To avoid unstable performance caused by the variable number of objects, we further propose an object-aware knowledge distillation mechanism, in which local object information is used to regularize global scene features. We demonstrate the efficacy of our approach through extensive experiments on two benchmarks, showing our approach yields competitive performance with interpretable predictions.
Substantial efforts have been devoted more recently to presenting various methods for object detection in optical remote sensing images. However, the current survey of datasets and deep learning based methods for object detection in optical remote sensing images is not adequate. Moreover, most of the existing datasets have some shortcomings, for example, the numbers of images and object categories are small scale, and the image diversity and variations are insufficient. These limitations greatly affect the development of deep learning based object detection methods. In the paper, we provide a comprehensive review of the recent deep learning based object detection progress in both the computer vision and earth observation communities. Then, we propose a large-scale, publicly available benchmark for object DetectIon in Optical Remote sensing images, which we name as DIOR. The dataset contains 23463 images and 192472 instances, covering 20 object classes. The proposed DIOR dataset 1) is large-scale on the object categories, on the object instance number, and on the total image number; 2) has a large range of object size variations, not only in terms of spatial resolutions, but also in the aspect of inter- and intra-class size variability across objects; 3) holds big variations as the images are obtained with different imaging conditions, weathers, seasons, and image quality; and 4) has high inter-class similarity and intra-class diversity. The proposed benchmark can help the researchers to develop and validate their data-driven methods. Finally, we evaluate several state-of-the-art approaches on our DIOR dataset to establish a baseline for future research.
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