We present GigaPose, a fast, robust, and accurate method for CAD-based novel object pose estimation in RGB images. GigaPose first leverages discriminative "templates", rendered images of the CAD models, to recover the out-of-plane rotation and then uses patch correspondences to estimate the four remaining parameters. Our approach samples templates in only a two-degrees-of-freedom space instead of the usual three and matches the input image to the templates using fast nearest-neighbor search in feature space, results in a speedup factor of 35x compared to the state of the art. Moreover, GigaPose is significantly more robust to segmentation errors. Our extensive evaluation on the seven core datasets of the BOP challenge demonstrates that it achieves state-of-the-art accuracy and can be seamlessly integrated with existing refinement methods. Additionally, we show the potential of GigaPose with 3D models predicted by recent work on 3D reconstruction from a single image, relaxing the need for CAD models and making 6D pose object estimation much more convenient. Our source code and trained models are publicly available at //github.com/nv-nguyen/gigaPose
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The advent of Large Language Models (LLM) provides new insights to validate Automated Driving Systems (ADS). In the herein-introduced work, a novel approach to extracting scenarios from naturalistic driving datasets is presented. A framework called Chat2Scenario is proposed leveraging the advanced Natural Language Processing (NLP) capabilities of LLM to understand and identify different driving scenarios. By inputting descriptive texts of driving conditions and specifying the criticality metric thresholds, the framework efficiently searches for desired scenarios and converts them into ASAM OpenSCENARIO and IPG CarMaker text files. This methodology streamlines the scenario extraction process and enhances efficiency. Simulations are executed to validate the efficiency of the approach. The framework is presented based on a user-friendly web app and is accessible via the following link: //github.com/ftgTUGraz/Chat2Scenario.
Recent advancements in subject-driven image generation have made significant strides. However, current methods still fall short in diverse application scenarios, as they require test-time tuning and cannot accept interleaved multi-image and text input. These limitations keep them far from the ultimate goal of "image as a foreign language in image generation." This paper presents Kosmos-G, a model that leverages the advanced multimodal perception capabilities of Multimodal Large Language Models (MLLMs) to tackle the aforementioned challenge. Our approach aligns the output space of MLLM with CLIP using the textual modality as an anchor and performs compositional instruction tuning on curated data. Kosmos-G demonstrates an impressive capability of zero-shot subject-driven generation with interleaved multi-image and text input. Notably, the score distillation instruction tuning requires no modifications to the image decoder. This allows for a seamless substitution of CLIP and effortless integration with a myriad of U-Net techniques ranging from fine-grained controls to personalized image decoder variants. We posit Kosmos-G as an initial attempt towards the goal of "image as a foreign language in image generation." The code can be found at //aka.ms/Kosmos-G
We present a novel multimodal dataset for Cognitive Load Assessment in REaltime (CLARE). The dataset contains physiological and gaze data from 24 participants with self-reported cognitive load scores as ground-truth labels. The dataset consists of four modalities, namely, Electrocardiography (ECG), Electrodermal Activity (EDA), Electroencephalogram (EEG), and Gaze tracking. To map diverse levels of mental load on participants during experiments, each participant completed four nine-minutes sessions on a computer-based operator performance and mental workload task (the MATB-II software) with varying levels of complexity in one minute segments. During the experiment, participants reported their cognitive load every 10 seconds. For the dataset, we also provide benchmark binary classification results with machine learning and deep learning models on two different evaluation schemes, namely, 10-fold and leave-one-subject-out (LOSO) cross-validation. Benchmark results show that for 10-fold evaluation, the convolutional neural network (CNN) based deep learning model achieves the best classification performance with ECG, EDA, and Gaze. In contrast, for LOSO, the best performance is achieved by the deep learning model with ECG, EDA, and EEG.
State-of-the-art models on contemporary 3D segmentation benchmarks like ScanNet consume and label dataset-provided 3D point clouds, obtained through post processing of sensed multiview RGB-D images. They are typically trained in-domain, forego large-scale 2D pre-training and outperform alternatives that featurize the posed RGB-D multiview images instead. The gap in performance between methods that consume posed images versus post-processed 3D point clouds has fueled the belief that 2D and 3D perception require distinct model architectures. In this paper, we challenge this view and propose ODIN (Omni-Dimensional INstance segmentation), a model that can segment and label both 2D RGB images and 3D point clouds, using a transformer architecture that alternates between 2D within-view and 3D cross-view information fusion. Our model differentiates 2D and 3D feature operations through the positional encodings of the tokens involved, which capture pixel coordinates for 2D patch tokens and 3D coordinates for 3D feature tokens. ODIN achieves state-of-the-art performance on ScanNet200, Matterport3D and AI2THOR 3D instance segmentation benchmarks, and competitive performance on ScanNet, S3DIS and COCO. It outperforms all previous works by a wide margin when the sensed 3D point cloud is used in place of the point cloud sampled from 3D mesh. When used as the 3D perception engine in an instructable embodied agent architecture, it sets a new state-of-the-art on the TEACh action-from-dialogue benchmark. Our code and checkpoints can be found at the project website (//odin-seg.github.io).
We propose GaussCtrl, a text-driven method to edit a 3D scene reconstructed by the 3D Gaussian Splatting (3DGS). Our method first renders a collection of images by using the 3DGS and edits them by using a pre-trained 2D diffusion model (ControlNet) based on the input prompt, which is then used to optimise the 3D model. Our key contribution is multi-view consistent editing, which enables editing all images together instead of iteratively editing one image while updating the 3D model as in previous works. It leads to faster editing as well as higher visual quality. This is achieved by the two terms: (a) depth-conditioned editing that enforces geometric consistency across multi-view images by leveraging naturally consistent depth maps. (b) attention-based latent code alignment that unifies the appearance of edited images by conditioning their editing to several reference views through self and cross-view attention between images' latent representations. Experiments demonstrate that our method achieves faster editing and better visual results than previous state-of-the-art methods.
We propose GaussianTalker, a novel framework for real-time generation of pose-controllable talking heads. It leverages the fast rendering capabilities of 3D Gaussian Splatting (3DGS) while addressing the challenges of directly controlling 3DGS with speech audio. GaussianTalker constructs a canonical 3DGS representation of the head and deforms it in sync with the audio. A key insight is to encode the 3D Gaussian attributes into a shared implicit feature representation, where it is merged with audio features to manipulate each Gaussian attribute. This design exploits the spatial-aware features and enforces interactions between neighboring points. The feature embeddings are then fed to a spatial-audio attention module, which predicts frame-wise offsets for the attributes of each Gaussian. It is more stable than previous concatenation or multiplication approaches for manipulating the numerous Gaussians and their intricate parameters. Experimental results showcase GaussianTalker's superiority in facial fidelity, lip synchronization accuracy, and rendering speed compared to previous methods. Specifically, GaussianTalker achieves a remarkable rendering speed up to 120 FPS, surpassing previous benchmarks. Our code is made available at //github.com/KU-CVLAB/GaussianTalker/ .
We introduce the RetinaRegNet model, which can achieve state-of-the-art performance across various retinal image registration tasks. RetinaRegNet does not require training on any retinal images. It begins by establishing point correspondences between two retinal images using image features derived from diffusion models. This process involves the selection of feature points from the moving image using the SIFT algorithm alongside random point sampling. For each selected feature point, a 2D correlation map is computed by assessing the similarity between the feature vector at that point and the feature vectors of all pixels in the fixed image. The pixel with the highest similarity score in the correlation map corresponds to the feature point in the moving image. To remove outliers in the estimated point correspondences, we first applied an inverse consistency constraint, followed by a transformation-based outlier detector. This method proved to outperform the widely used random sample consensus (RANSAC) outlier detector by a significant margin. To handle large deformations, we utilized a two-stage image registration framework. A homography transformation was used in the first stage and a more accurate third-order polynomial transformation was used in the second stage. The model's effectiveness was demonstrated across three retinal image datasets: color fundus images, fluorescein angiography images, and laser speckle flowgraphy images. RetinaRegNet outperformed current state-of-the-art methods in all three datasets. It was especially effective for registering image pairs with large displacement and scaling deformations. This innovation holds promise for various applications in retinal image analysis. Our code is publicly available at //github.com/mirthAI/RetinaRegNet.
We introduce a 3D-aware diffusion model, ZeroNVS, for single-image novel view synthesis for in-the-wild scenes. While existing methods are designed for single objects with masked backgrounds, we propose new techniques to address challenges introduced by in-the-wild multi-object scenes with complex backgrounds. Specifically, we train a generative prior on a mixture of data sources that capture object-centric, indoor, and outdoor scenes. To address issues from data mixture such as depth-scale ambiguity, we propose a novel camera conditioning parameterization and normalization scheme. Further, we observe that Score Distillation Sampling (SDS) tends to truncate the distribution of complex backgrounds during distillation of 360-degree scenes, and propose "SDS anchoring" to improve the diversity of synthesized novel views. Our model sets a new state-of-the-art result in LPIPS on the DTU dataset in the zero-shot setting, even outperforming methods specifically trained on DTU. We further adapt the challenging Mip-NeRF 360 dataset as a new benchmark for single-image novel view synthesis, and demonstrate strong performance in this setting. Our code and data are at //kylesargent.github.io/zeronvs/
Phishing, a prevalent cybercrime tactic for decades, remains a significant threat in today's digital world. By leveraging clever social engineering elements and modern technology, cybercrime targets many individuals, businesses, and organizations to exploit trust and security. These cyber-attackers are often disguised in many trustworthy forms to appear as legitimate sources. By cleverly using psychological elements like urgency, fear, social proof, and other manipulative strategies, phishers can lure individuals into revealing sensitive and personalized information. Building on this pervasive issue within modern technology, this paper aims to analyze the effectiveness of 15 Large Language Models (LLMs) in detecting phishing attempts, specifically focusing on a randomized set of "419 Scam" emails. The objective is to determine which LLMs can accurately detect phishing emails by analyzing a text file containing email metadata based on predefined criteria. The experiment concluded that the following models, ChatGPT 3.5, GPT-3.5-Turbo-Instruct, and ChatGPT, were the most effective in detecting phishing emails.
We propose a novel single shot object detection network named Detection with Enriched Semantics (DES). Our motivation is to enrich the semantics of object detection features within a typical deep detector, by a semantic segmentation branch and a global activation module. The segmentation branch is supervised by weak segmentation ground-truth, i.e., no extra annotation is required. In conjunction with that, we employ a global activation module which learns relationship between channels and object classes in a self-supervised manner. Comprehensive experimental results on both PASCAL VOC and MS COCO detection datasets demonstrate the effectiveness of the proposed method. In particular, with a VGG16 based DES, we achieve an mAP of 81.7 on VOC2007 test and an mAP of 32.8 on COCO test-dev with an inference speed of 31.5 milliseconds per image on a Titan Xp GPU. With a lower resolution version, we achieve an mAP of 79.7 on VOC2007 with an inference speed of 13.0 milliseconds per image.
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