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Semantic understanding plays a crucial role in Dense Simultaneous Localization and Mapping (SLAM). Recent advancements that integrate Gaussian Splatting into SLAM systems have demonstrated its effectiveness in generating high-quality renderings. Building on this progress, we propose SGS-SLAM which provides precise 3D semantic segmentation alongside high-fidelity reconstructions. Specifically, we propose to employ multi-channel optimization during the mapping process, integrating appearance, geometric, and semantic constraints with key-frame optimization to enhance reconstruction quality. Extensive experiments demonstrate that SGS-SLAM delivers state-of-the-art performance in camera pose estimation, map reconstruction, and semantic segmentation. It outperforms existing methods by a large margin meanwhile preserving real-time rendering ability.

相關內容

即時定位與地圖構建(SLAM或Simultaneouslocalizationandmapping)是這樣一種技術:使得機器人和自動駕駛汽車等設備能在未知環境(沒有先驗知識的前提下)建立地圖,或者在已知環境(已給出該地圖的先驗知識)中能更新地圖,并保證這些設備能在同時追蹤它們的當前位置。

Face Image Quality Assessment (FIQA) techniques have seen steady improvements over recent years, but their performance still deteriorates if the input face samples are not properly aligned. This alignment sensitivity comes from the fact that most FIQA techniques are trained or designed using a specific face alignment procedure. If the alignment technique changes, the performance of most existing FIQA techniques quickly becomes suboptimal. To address this problem, we present in this paper a novel knowledge distillation approach, termed AI-KD that can extend on any existing FIQA technique, improving its robustness to alignment variations and, in turn, performance with different alignment procedures. To validate the proposed distillation approach, we conduct comprehensive experiments on 6 face datasets with 4 recent face recognition models and in comparison to 7 state-of-the-art FIQA techniques. Our results show that AI-KD consistently improves performance of the initial FIQA techniques not only with misaligned samples, but also with properly aligned facial images. Furthermore, it leads to a new state-of-the-art, when used with a competitive initial FIQA approach. The code for AI-KD is made publicly available from: //github.com/LSIbabnikz/AI-KD.

Data assimilation (DA), as an indispensable component within contemporary Numerical Weather Prediction (NWP) systems, plays a crucial role in generating the analysis that significantly impacts forecast performance. Nevertheless, the development of an efficient DA system poses significant challenges, particularly in establishing intricate relationships between the background data and the vast amount of multi-source observation data within limited time windows in operational settings. To address these challenges, researchers design complex pre-processing methods for each observation type, leveraging approximate modeling and the power of super-computing clusters to expedite solutions. The emergence of deep learning (DL) models has been a game-changer, offering unified multi-modal modeling, enhanced nonlinear representation capabilities, and superior parallelization. These advantages have spurred efforts to integrate DL models into various domains of weather modeling. Remarkably, DL models have shown promise in matching, even surpassing, the forecast accuracy of leading operational NWP models worldwide. This success motivates the exploration of DL-based DA frameworks tailored for weather forecasting models. In this study, we introduces FuxiDA, a generalized DL-based DA framework for assimilating satellite observations. By assimilating data from Advanced Geosynchronous Radiation Imager (AGRI) aboard Fengyun-4B, FuXi-DA consistently mitigates analysis errors and significantly improves forecast performance. Furthermore, through a series of single-observation experiments, Fuxi-DA has been validated against established atmospheric physics, demonstrating its consistency and reliability.

We introduce an approach that creates animatable human avatars from monocular videos using 3D Gaussian Splatting (3DGS). Existing methods based on neural radiance fields (NeRFs) achieve high-quality novel-view/novel-pose image synthesis but often require days of training, and are extremely slow at inference time. Recently, the community has explored fast grid structures for efficient training of clothed avatars. Albeit being extremely fast at training, these methods can barely achieve an interactive rendering frame rate with around 15 FPS. In this paper, we use 3D Gaussian Splatting and learn a non-rigid deformation network to reconstruct animatable clothed human avatars that can be trained within 30 minutes and rendered at real-time frame rates (50+ FPS). Given the explicit nature of our representation, we further introduce as-isometric-as-possible regularizations on both the Gaussian mean vectors and the covariance matrices, enhancing the generalization of our model on highly articulated unseen poses. Experimental results show that our method achieves comparable and even better performance compared to state-of-the-art approaches on animatable avatar creation from a monocular input, while being 400x and 250x faster in training and inference, respectively.

We present iSeg, a new interactive technique for segmenting 3D shapes. Previous works have focused mainly on leveraging pre-trained 2D foundation models for 3D segmentation based on text. However, text may be insufficient for accurately describing fine-grained spatial segmentations. Moreover, achieving a consistent 3D segmentation using a 2D model is challenging since occluded areas of the same semantic region may not be visible together from any 2D view. Thus, we design a segmentation method conditioned on fine user clicks, which operates entirely in 3D. Our system accepts user clicks directly on the shape's surface, indicating the inclusion or exclusion of regions from the desired shape partition. To accommodate various click settings, we propose a novel interactive attention module capable of processing different numbers and types of clicks, enabling the training of a single unified interactive segmentation model. We apply iSeg to a myriad of shapes from different domains, demonstrating its versatility and faithfulness to the user's specifications. Our project page is at //threedle.github.io/iSeg/.

Object State Changes (OSCs) are pivotal for video understanding. While humans can effortlessly generalize OSC understanding from familiar to unknown objects, current approaches are confined to a closed vocabulary. Addressing this gap, we introduce a novel open-world formulation for the video OSC problem. The goal is to temporally localize the three stages of an OSC -- the object's initial state, its transitioning state, and its end state -- whether or not the object has been observed during training. Towards this end, we develop VidOSC, a holistic learning approach that: (1) leverages text and vision-language models for supervisory signals to obviate manually labeling OSC training data, and (2) abstracts fine-grained shared state representations from objects to enhance generalization. Furthermore, we present HowToChange, the first open-world benchmark for video OSC localization, which offers an order of magnitude increase in the label space and annotation volume compared to the best existing benchmark. Experimental results demonstrate the efficacy of our approach, in both traditional closed-world and open-world scenarios.

Controllability plays a crucial role in video generation since it allows users to create desired content. However, existing models largely overlooked the precise control of camera pose that serves as a cinematic language to express deeper narrative nuances. To alleviate this issue, we introduce CameraCtrl, enabling accurate camera pose control for text-to-video(T2V) models. After precisely parameterizing the camera trajectory, a plug-and-play camera module is then trained on a T2V model, leaving others untouched. Additionally, a comprehensive study on the effect of various datasets is also conducted, suggesting that videos with diverse camera distribution and similar appearances indeed enhance controllability and generalization. Experimental results demonstrate the effectiveness of CameraCtrl in achieving precise and domain-adaptive camera control, marking a step forward in the pursuit of dynamic and customized video storytelling from textual and camera pose inputs. Our project website is at: //hehao13.github.io/projects-CameraCtrl/.

Temporal video grounding (TVG) is a critical task in video content understanding. Despite significant advancements, existing methods often limit in capturing the fine-grained relationships between multimodal inputs and the high computational costs with processing long video sequences. To address these limitations, we introduce a novel SpikeMba: multi-modal spiking saliency mamba for temporal video grounding. In our work, we integrate the Spiking Neural Networks (SNNs) and state space models (SSMs) to capture the fine-grained relationships of multimodal features effectively. Specifically, we introduce the relevant slots to enhance the model's memory capabilities, enabling a deeper contextual understanding of video sequences. The contextual moment reasoner leverages these slots to maintain a balance between contextual information preservation and semantic relevance exploration. Simultaneously, the spiking saliency detector capitalizes on the unique properties of SNNs to accurately locate salient proposals. Our experiments demonstrate the effectiveness of SpikeMba, which consistently outperforms state-of-the-art methods across mainstream benchmarks.

We introduce Open3DIS, a novel solution designed to tackle the problem of Open-Vocabulary Instance Segmentation within 3D scenes. Objects within 3D environments exhibit diverse shapes, scales, and colors, making precise instance-level identification a challenging task. Recent advancements in Open-Vocabulary scene understanding have made significant strides in this area by employing class-agnostic 3D instance proposal networks for object localization and learning queryable features for each 3D mask. While these methods produce high-quality instance proposals, they struggle with identifying small-scale and geometrically ambiguous objects. The key idea of our method is a new module that aggregates 2D instance masks across frames and maps them to geometrically coherent point cloud regions as high-quality object proposals addressing the above limitations. These are then combined with 3D class-agnostic instance proposals to include a wide range of objects in the real world. To validate our approach, we conducted experiments on three prominent datasets, including ScanNet200, S3DIS, and Replica, demonstrating significant performance gains in segmenting objects with diverse categories over the state-of-the-art approaches.

Although the advancements of pre-trained Large Language Models have significantly accelerated recent progress in NLP, their ever-increasing size poses significant challenges for conventional fine-tuning, especially in memory-intensive tasks. We investigate the potential of Parameter-Efficient Fine-Tuning, focusing on Low-Rank Adaptation (LoRA), in the domain of multilingual summarization, a task that is both challenging (due to typically long inputs), and relatively unexplored. We conduct an extensive study across different data availability scenarios, including high- and low-data settings, and cross-lingual transfer, leveraging models of different sizes. Our findings reveal that LoRA is competitive with full fine-tuning when trained with high quantities of data, and excels in low-data scenarios and cross-lingual transfer. We also study different strategies for few-shot cross-lingual transfer, finding that continued LoRA tuning outperforms full fine-tuning and the dynamic composition of language-specific LoRA modules.

Data plays a fundamental role in the training of Large Language Models (LLMs). Effective data management, particularly in the formulation of a well-suited training dataset, holds significance for enhancing model performance and improving training efficiency during pretraining and supervised fine-tuning phases. Despite the considerable importance of data management, the current research community still falls short in providing a systematic analysis of the rationale behind management strategy selection, its consequential effects, methodologies for evaluating curated datasets, and the ongoing pursuit of improved strategies. Consequently, the exploration of data management has attracted more and more attention among the research community. This survey provides a comprehensive overview of current research in data management within both the pretraining and supervised fine-tuning stages of LLMs, covering various noteworthy aspects of data management strategy design: data quantity, data quality, domain/task composition, etc. Looking toward the future, we extrapolate existing challenges and outline promising directions for development in this field. Therefore, this survey serves as a guiding resource for practitioners aspiring to construct powerful LLMs through effective data management practices. The collection of the latest papers is available at //github.com/ZigeW/data_management_LLM.

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