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Autonomous driving is a popular research area within the computer vision research community. Since autonomous vehicles are highly safety-critical, ensuring robustness is essential for real-world deployment. While several public multimodal datasets are accessible, they mainly comprise two sensor modalities (camera, LiDAR) which are not well suited for adverse weather. In addition, they lack far-range annotations, making it harder to train neural networks that are the base of a highway assistant function of an autonomous vehicle. Therefore, we introduce a multimodal dataset for robust autonomous driving with long-range perception. The dataset consists of 176 scenes with synchronized and calibrated LiDAR, camera, and radar sensors covering a 360-degree field of view. The collected data was captured in highway, urban, and suburban areas during daytime, night, and rain and is annotated with 3D bounding boxes with consistent identifiers across frames. Furthermore, we trained unimodal and multimodal baseline models for 3D object detection. Data are available at \url{//github.com/aimotive/aimotive_dataset}.

Key-point-based scene understanding is fundamental for autonomous driving applications. At the same time, optical flow plays an important role in many vision tasks. However, due to the implicit bias of equal attention on all points, classic data-driven optical flow estimation methods yield less satisfactory performance on key points, limiting their implementations in key-point-critical safety-relevant scenarios. To address these issues, we introduce a points-based modeling method that requires the model to learn key-point-related priors explicitly. Based on the modeling method, we present FocusFlow, a framework consisting of 1) a mix loss function combined with a classic photometric loss function and our proposed Conditional Point Control Loss (CPCL) function for diverse point-wise supervision; 2) a conditioned controlling model which substitutes the conventional feature encoder by our proposed Condition Control Encoder (CCE). CCE incorporates a Frame Feature Encoder (FFE) that extracts features from frames, a Condition Feature Encoder (CFE) that learns to control the feature extraction behavior of FFE from input masks containing information of key points, and fusion modules that transfer the controlling information between FFE and CFE. Our FocusFlow framework shows outstanding performance with up to +44.5% precision improvement on various key points such as ORB, SIFT, and even learning-based SiLK, along with exceptional scalability for most existing data-driven optical flow methods like PWC-Net, RAFT, and FlowFormer. Notably, FocusFlow yields competitive or superior performances rivaling the original models on the whole frame. The source code will be available at //github.com/ZhonghuaYi/FocusFlow_official.

Federated Learning (FL) is a distributed machine learning technique that allows model training among multiple devices or organizations by sharing training parameters instead of raw data. However, adversaries can still infer individual information through inference attacks (e.g. differential attacks) on these training parameters. As a result, Differential Privacy (DP) has been widely used in FL to prevent such attacks. We consider differentially private federated learning in a resource-constrained scenario, where both privacy budget and communication round are constrained. By theoretically analyzing the convergence, we can find the optimal number of differentially private local iterations for clients between any two sequential global updates. Based on this, we design an algorithm of differentially private federated learning with adaptive local iterations (ALI-DPFL). We experiment our algorithm on the FashionMNIST and CIFAR10 datasets, and demonstrate significantly better performances than previous work in the resource-constraint scenario.

Generating 3D city models rapidly is crucial for many applications. Monocular height estimation is one of the most efficient and timely ways to obtain large-scale geometric information. However, existing works focus primarily on training and testing models using unbiased datasets, which does not align well with real-world applications. Therefore, we propose a new benchmark dataset to study the transferability of height estimation models in a cross-dataset setting. To this end, we first design and construct a large-scale benchmark dataset for cross-dataset transfer learning on the height estimation task. This benchmark dataset includes a newly proposed large-scale synthetic dataset, a newly collected real-world dataset, and four existing datasets from different cities. Next, a new experimental protocol, few-shot cross-dataset transfer, is designed. Furthermore, in this paper, we propose a scale-deformable convolution module to enhance the window-based Transformer for handling the scale-variation problem in the height estimation task. Experimental results have demonstrated the effectiveness of the proposed methods in the traditional and cross-dataset transfer settings. The datasets and codes are publicly available at //mediatum.ub.tum.de/1662763 and //thebenchmarkh.github.io/.

Detection of radar signals without assistance from the radar transmitter is a crucial requirement for emerging and future shared-spectrum wireless networks like Citizens Broadband Radio Service (CBRS). In this paper, we propose a supervised deep learning-based spectrum sensing approach called RadYOLOLet that can detect low-power radar signals in the presence of interference and estimate the radar signal parameters. The core of RadYOLOLet is two different convolutional neural networks (CNN), RadYOLO and Wavelet-CNN, that are trained independently. RadYOLO operates on spectrograms and provides most of the capabilities of RadYOLOLet. However, it suffers from low radar detection accuracy in the low signal-to-noise ratio (SNR) regime. We develop Wavelet-CNN specifically to deal with this limitation of RadYOLO. Wavelet-CNN operates on continuous Wavelet transform of the captured signals, and we use it only when RadYOLO fails to detect any radar signal. We thoroughly evaluate RadYOLOLet using different experiments corresponding to different types of interference signals. Based on our evaluations, we find that RadYOLOLet can achieve 100% radar detection accuracy for our considered radar types up to 16 dB SNR, which cannot be guaranteed by other comparable methods. RadYOLOLet can also function accurately under interference up to 16 dB SINR.

Synthetic aperture radar (SAR) image change detection is a critical task and has received increasing attentions in the remote sensing community. However, existing SAR change detection methods are mainly based on convolutional neural networks (CNNs), with limited consideration of global attention mechanism. In this letter, we explore Transformer-like architecture for SAR change detection to incorporate global attention. To this end, we propose a convolution and attention mixer (CAMixer). First, to compensate the inductive bias for Transformer, we combine self-attention with shift convolution in a parallel way. The parallel design effectively captures the global semantic information via the self-attention and performs local feature extraction through shift convolution simultaneously. Second, we adopt a gating mechanism in the feed-forward network to enhance the non-linear feature transformation. The gating mechanism is formulated as the element-wise multiplication of two parallel linear layers. Important features can be highlighted, leading to high-quality representations against speckle noise. Extensive experiments conducted on three SAR datasets verify the superior performance of the proposed CAMixer. The source codes will be publicly available at //github.com/summitgao/CAMixer .

Millimeter Wave (mmWave) Radar is gaining popularity as it can work in adverse environments like smoke, rain, snow, poor lighting, etc. Prior work has explored the possibility of reconstructing 3D skeletons or meshes from the noisy and sparse mmWave Radar signals. However, it is unclear how accurately we can reconstruct the 3D body from the mmWave signals across scenes and how it performs compared with cameras, which are important aspects needed to be considered when either using mmWave radars alone or combining them with cameras. To answer these questions, an automatic 3D body annotation system is first designed and built up with multiple sensors to collect a large-scale dataset. The dataset consists of synchronized and calibrated mmWave radar point clouds and RGB(D) images in different scenes and skeleton/mesh annotations for humans in the scenes. With this dataset, we train state-of-the-art methods with inputs from different sensors and test them in various scenarios. The results demonstrate that 1) despite the noise and sparsity of the generated point clouds, the mmWave radar can achieve better reconstruction accuracy than the RGB camera but worse than the depth camera; 2) the reconstruction from the mmWave radar is affected by adverse weather conditions moderately while the RGB(D) camera is severely affected. Further, analysis of the dataset and the results shadow insights on improving the reconstruction from the mmWave radar and the combination of signals from different sensors.

Lidars and cameras are critical sensors that provide complementary information for 3D detection in autonomous driving. While most prevalent methods progressively downscale the 3D point clouds and camera images and then fuse the high-level features, the downscaled features inevitably lose low-level detailed information. In this paper, we propose Fine-Grained Lidar-Camera Fusion (FGFusion) that make full use of multi-scale features of image and point cloud and fuse them in a fine-grained way. First, we design a dual pathway hierarchy structure to extract both high-level semantic and low-level detailed features of the image. Second, an auxiliary network is introduced to guide point cloud features to better learn the fine-grained spatial information. Finally, we propose multi-scale fusion (MSF) to fuse the last N feature maps of image and point cloud. Extensive experiments on two popular autonomous driving benchmarks, i.e. KITTI and Waymo, demonstrate the effectiveness of our method.

In the analysis of optical coherence tomography angiography (OCTA) images, the operation of segmenting specific targets is necessary. Existing methods typically train on supervised datasets with limited samples (approximately a few hundred), which can lead to overfitting. To address this, the low-rank adaptation technique is adopted for foundation model fine-tuning and proposed corresponding prompt point generation strategies to process various segmentation tasks on OCTA datasets. This method is named SAM-OCTA and has been experimented on the publicly available OCTA-500 dataset. While achieving state-of-the-art performance metrics, this method accomplishes local vessel segmentation as well as effective artery-vein segmentation, which was not well-solved in previous works. The code is available at: //github.com/ShellRedia/SAM-OCTA.

One key bottleneck of employing state-of-the-art semantic segmentation networks in the real world is the availability of training labels. Conventional semantic segmentation networks require massive pixel-wise annotated labels to reach state-of-the-art prediction quality. Hence, several works focus on semantic segmentation networks trained with only image-level annotations. However, when scrutinizing the results of state-of-the-art in more detail, we notice that they are remarkably close to each other on average prediction quality, different approaches perform better in different classes while providing low quality in others. To address this problem, we propose a novel framework, ISLE, which employs an ensemble of the "pseudo-labels" for a given set of different semantic segmentation techniques on a class-wise level. Pseudo-labels are the pixel-wise predictions of the image-level semantic segmentation frameworks used to train the final segmentation model. Our pseudo-labels seamlessly combine the strong points of multiple segmentation techniques approaches to reach superior prediction quality. We reach up to 2.4% improvement over ISLE's individual components. An exhaustive analysis was performed to demonstrate ISLE's effectiveness over state-of-the-art frameworks for image-level semantic segmentation.