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Dynamic scene graphs generated from video clips could help enhance the semantic visual understanding in a wide range of challenging tasks such as environmental perception, autonomous navigation, and task planning of self-driving vehicles and mobile robots. In the process of temporal and spatial modeling during dynamic scene graph generation, it is particularly intractable to learn time-variant relations in dynamic scene graphs among frames. In this paper, we propose a Time-variant Relation-aware TRansformer (TR$^2$), which aims to model the temporal change of relations in dynamic scene graphs. Explicitly, we leverage the difference of text embeddings of prompted sentences about relation labels as the supervision signal for relations. In this way, cross-modality feature guidance is realized for the learning of time-variant relations. Implicitly, we design a relation feature fusion module with a transformer and an additional message token that describes the difference between adjacent frames. Extensive experiments on the Action Genome dataset prove that our TR$^2$ can effectively model the time-variant relations. TR$^2$ significantly outperforms previous state-of-the-art methods under two different settings by 2.1% and 2.6% respectively.

Relocalization is the basis of map-based localization algorithms. Camera and LiDAR map-based methods are pervasive since their robustness under different scenarios. Generally, mapping and localization using the same sensor have better accuracy since matching features between the same type of data is easier. However, due to the camera's lack of 3D information and the high cost of LiDAR, cross-media methods are developing, which combined live image data and Lidar map. Although matching features between different media is challenging, we believe cross-media is the tendency for AV relocalization since its low cost and accuracy can be comparable to the same-sensor-based methods. In this paper, we propose CMSG, a novel cross-media algorithm for AV relocalization tasks. Semantic features are utilized for better interpretation the correlation between point clouds and image features. What's more, abstracted semantic graph nodes are introduced, and a graph network architecture is integrated to better extract the similarity of semantic features. Validation experiments are conducted on the KITTI odometry dataset. Our results show that CMSG can have comparable or even better accuracy compared to current single-sensor-based methods at a speed of 25 FPS on NVIDIA 1080 Ti GPU.

Existing recommender systems face difficulties with zero-shot items, i.e. items that have no historical interactions with users during the training stage. Though recent works extract universal item representation via pre-trained language models (PLMs), they ignore the crucial item relationships. This paper presents a novel paradigm for the Zero-Shot Item-based Recommendation (ZSIR) task, which pre-trains a model on product knowledge graph (PKG) to refine the item features from PLMs. We identify three challenges for pre-training PKG, which are multi-type relations in PKG, semantic divergence between item generic information and relations and domain discrepancy from PKG to downstream ZSIR task. We address the challenges by proposing four pre-training tasks and novel task-oriented adaptation (ToA) layers. Moreover, this paper discusses how to fine-tune the model on new recommendation task such that the ToA layers are adapted to ZSIR task. Comprehensive experiments on 18 markets dataset are conducted to verify the effectiveness of the proposed model in both knowledge prediction and ZSIR task.

Temporal facts, the facts for characterizing events that hold in specific time periods, are attracting rising attention in the knowledge graph (KG) research communities. In terms of quality management, the introduction of time restrictions brings new challenges to maintaining the temporal consistency of KGs and detecting potential temporal conflicts. Previous studies rely on manually enumerated temporal constraints to detect conflicts, which are labor-intensive and may have granularity issues. We start from the common pattern of temporal facts and constraints and propose a pattern-based temporal constraint mining method, PaTeCon. PaTeCon uses automatically determined graph patterns and their relevant statistical information over the given KG instead of human experts to generate time constraints. Specifically, PaTeCon dynamically attaches class restriction to candidate constraints according to their measuring scores.We evaluate PaTeCon on two large-scale datasets based on Wikidata and Freebase respectively. The experimental results show that pattern-based automatic constraint mining is powerful in generating valuable temporal constraints.

3D single object tracking plays a crucial role in computer vision. Mainstream methods mainly rely on point clouds to achieve geometry matching between target template and search area. However, textureless and incomplete point clouds make it difficult for single-modal trackers to distinguish objects with similar structures. To overcome the limitations of geometry matching, we propose a Multi-modal Multi-level Fusion Tracker (MMF-Track), which exploits the image texture and geometry characteristic of point clouds to track 3D target. Specifically, we first propose a Space Alignment Module (SAM) to align RGB images with point clouds in 3D space, which is the prerequisite for constructing inter-modal associations. Then, in feature interaction level, we design a Feature Interaction Module (FIM) based on dual-stream structure, which enhances intra-modal features in parallel and constructs inter-modal semantic associations. Meanwhile, in order to refine each modal feature, we introduce a Coarse-to-Fine Interaction Module (CFIM) to realize the hierarchical feature interaction at different scales. Finally, in similarity fusion level, we propose a Similarity Fusion Module (SFM) to aggregate geometry and texture clues from the target. Experiments show that our method achieves state-of-the-art performance on KITTI (39% Success and 42% Precision gains against previous multi-modal method) and is also competitive on NuScenes.

Recovering an outdoor environment's surface mesh is vital for an agricultural robot during task planning and remote visualization. Our proposed solution is based on a newly-designed panoramic stereo camera along with a hybrid novel software framework that consists of three fusion modules. The panoramic stereo camera with a pentagon shape consists of 5 stereo vision camera pairs to stream synchronized panoramic stereo images for the following three fusion modules. In the disparity fusion module, rectified stereo images produce the initial disparity maps using multiple stereo vision algorithms. Then, these initial disparity maps, along with the intensity images, are input into a disparity fusion network to produce refined disparity maps. Next, the refined disparity maps are converted into full-view point clouds or single-view point clouds for the pose fusion module. The pose fusion module adopts a two-stage global-coarse-to-local-fine strategy. In the first stage, each pair of full-view point clouds is registered by a global point cloud matching algorithm to estimate the transformation for a global pose graph's edge, which effectively implements loop closure. In the second stage, a local point cloud matching algorithm is used to match single-view point clouds in different nodes. Next, we locally refine the poses of all corresponding edges in the global pose graph using three proposed rules, thus constructing a refined pose graph. The refined pose graph is optimized to produce a global pose trajectory for volumetric fusion. In the volumetric fusion module, the global poses of all the nodes are used to integrate the single-view point clouds into the volume to produce the mesh of the whole garden. The proposed framework and its three fusion modules are tested on a real outdoor garden dataset to show the superiority of the performance.

Knowledge graph completion aims to predict missing relations between entities in a knowledge graph. While many different methods have been proposed, there is a lack of a unifying framework that would lead to state-of-the-art results. Here we develop PathCon, a knowledge graph completion method that harnesses four novel insights to outperform existing methods. PathCon predicts relations between a pair of entities by: (1) Considering the Relational Context of each entity by capturing the relation types adjacent to the entity and modeled through a novel edge-based message passing scheme; (2) Considering the Relational Paths capturing all paths between the two entities; And, (3) adaptively integrating the Relational Context and Relational Path through a learnable attention mechanism. Importantly, (4) in contrast to conventional node-based representations, PathCon represents context and path only using the relation types, which makes it applicable in an inductive setting. Experimental results on knowledge graph benchmarks as well as our newly proposed dataset show that PathCon outperforms state-of-the-art knowledge graph completion methods by a large margin. Finally, PathCon is able to provide interpretable explanations by identifying relations that provide the context and paths that are important for a given predicted relation.

Knowledge graphs (KGs) serve as useful resources for various natural language processing applications. Previous KG completion approaches require a large number of training instances (i.e., head-tail entity pairs) for every relation. The real case is that for most of the relations, very few entity pairs are available. Existing work of one-shot learning limits method generalizability for few-shot scenarios and does not fully use the supervisory information; however, few-shot KG completion has not been well studied yet. In this work, we propose a novel few-shot relation learning model (FSRL) that aims at discovering facts of new relations with few-shot references. FSRL can effectively capture knowledge from heterogeneous graph structure, aggregate representations of few-shot references, and match similar entity pairs of reference set for every relation. Extensive experiments on two public datasets demonstrate that FSRL outperforms the state-of-the-art.

Object tracking is the cornerstone of many visual analytics systems. While considerable progress has been made in this area in recent years, robust, efficient, and accurate tracking in real-world video remains a challenge. In this paper, we present a hybrid tracker that leverages motion information from the compressed video stream and a general-purpose semantic object detector acting on decoded frames to construct a fast and efficient tracking engine suitable for a number of visual analytics applications. The proposed approach is compared with several well-known recent trackers on the OTB tracking dataset. The results indicate advantages of the proposed method in terms of speed and/or accuracy. Another advantage of the proposed method over most existing trackers is its simplicity and deployment efficiency, which stems from the fact that it reuses and re-purposes the resources and information that may already exist in the system for other reasons.