Research Group Daniel Cremers

Dimensionality reduction is a fundamental task that aims to simplify complex data by reducing its feature dimensionality while preserving essential patterns, with core applications in data analysis and visualisation. To preserve the underlying data structure, multi-dimensional scaling (MDS) methods focus on preserving pairwise dissimilarities, such as distances. They optimise the embedding to have pairwise distances as close as possible to the data dissimilarities. However, the current standard is limited to embedding data in Riemannian manifolds. Motivated by the lack of asymmetry in the Riemannian metric of the embedding space, this paper extends the MDS problem to a natural asymmetric generalisation of Riemannian manifolds called Finsler manifolds. Inspired by Euclidean spaces, we define a canonical Finsler space for embedding asymmetric data. Due to its simplicity with respect to geodesics, data representation in this space is both intuitive and simple to analyse. We demonstrate that our generalisation benefits from the same theoretical convergence guarantees. We reveal the effectiveness of our Finsler embedding across various types of non-symmetric data, highlighting its value in applications such as data visualisation, dimensionality reduction, directed graph embedding, and link prediction.

Open-vocabulary semantic segmentation models associate vision and text to label pixels from an undefined set of classes using textual queries, providing versatile performance on novel datasets. However, large shifts between training and test domains degrade their performance, requiring fine-tuning for effective real-world application. We introduce Semantic Library Adaptation (SemLa), a novel framework for training-free, test-time domain adaptation. SemLa leverages a library of LoRA-based adapters indexed with CLIP embeddings, dynamically merging the most relevant adapters based on proximity to the target domain in the embedding space. This approach constructs an ad-hoc model tailored to each specific input without additional training. Our method scales efficiently, enhances explainability by tracking adapter contributions, and inherently protects data privacy, making it ideal for sensitive applications. Comprehensive experiments on an 18-domain benchmark built over 10 standard datasets demonstrate SemLa’s superior adaptability and performance across diverse settings, establishing a new standard in domain adaptation for open-vocabulary semantic segmentation.

In this work we address various shape matching problems that can be cast as finding cyclic paths in a product graph. This involves for example 2D-3D shape matching, 3D shape matching, or the matching of a contour to a graph. In this context, matchings are typically obtained as the minimum cost cycle in the product graph. Instead, inspired by related works on model-based image segmentation, we consider minimum ratio cycles, which we combine with the recently introduced conjugate product graph in order to allow for higher-order matching costs. With that, on the one hand we avoid the bias of obtaining matchings that involve fewer/shorter edges, while on the other hand being able to impose powerful geometric regularisation, e.g. to avoid zig-zagging. In our experiments we demonstrate that this not only leads to improved matching accuracy in most cases, but also to significantly reduced runtimes (up to two orders of magnitude, depending on the setting). Our GPU implementation will be made publicly available upon acceptance.

We tackle the problem of automatic calibration of radially distorted cameras in challenging conditions.Accurately determining distortion parameters typically requires either 1) solving the full Structure from Motion (SfM) problem involving camera poses, 3D points, and the distortion parameters, which is only possible if many images with sufficient overlap are provided, or 2) relying heavily on learning-based methods that are comparatively less accurate.In this work, we demonstrate that distortion calibration can be decoupled from 3D reconstruction, maintaining the accuracy of SfM-based methods while avoiding many of the associated complexities. This is achieved by working in Projective Space, where the geometry is unique up to a homography, which encapsulates all camera parameters except for distortion.Our proposed method, Projective Radial Distortion Averaging, averages multiple distortion estimates in a fully projective framework without creating 3d points and full bundle adjustment. By relying on pairwise projective relations, our methods support any feature-matching approaches without constructing point tracks across multiple images.

Finding correspondences between 3D shapes is a crucial problem in computer vision and graphics. While most research has focused on finding correspondences in settings where at least one of the shapes is complete, the realm of partial-to-partial shape matching remains under-explored. Yet it is of importance since, in many applications, shapes are only observed partially due to occlusion or scanning.Finding correspondences between partial shapes comes with an additional challenge: We not only want to identify correspondences between points on either shape but also have to determine which points of each shape actually have a partner.To tackle this challenging problem, we present EchoMatch, a novel framework for partial-to-partial shape matching that incorporates the concept of correspondence reflection to enable an overlap prediction within a functional map framework.With this approach, we show that we can outperform current SOTA methods in challenging partial-to-partial shape matching problems.

Cooperative perception can increase the view field and decrease the occlusion of an ego vehicle, hence improving the perception performance and safety of autonomous driving. Despite the success of previous works on cooperative object detection, they mostly operate on dense Bird’s Eye View (BEV) feature maps, which is computationally demanding and can hardly be extended to long-range detection problems. More efficient fully sparse frameworks are rarely explored. In this work, we design a fully sparse framework, textit{SparseAlign}, with three key features: an enhanced sparse 3D backbone, a query-based temporal context learning module, and a robust detection head specially tailored for sparse features. Extensive experimental results on both OPV2V and DairV2X datasets show that our framework, despite sparsity, outperforms the state of the art with less communication bandwidth requirements. In addition, experiments on the OPV2Vt and DairV2Xt datasets for time-aligned cooperative object detection also show a significant performance gain compared to the baseline works.

Probabilistic human motion prediction aims to forecast multiple possible future movements from past observations. While current approaches report high diversity and realism, they often generate motions with undetected limb stretching and jitter. To address this, we introduce SkeletonDiffusion, a latent diffusion model that embeds an explicit inductive bias on the human body within its architecture and training. Our model is trained with a novel nonisotropic Gaussian diffusion formulation that aligns with the natural kinematic structure of the human skeleton. Results show that our approach outperforms conventional isotropic alternatives, consistently generating realistic predictions while avoiding artifacts such as limb distortion. Additionally, we identify a limitation in commonly used diversity metrics, which may inadvertently favor models that produce inconsistent limb lengths within the same sequence. SkeletonDiffusion sets a new benchmark on three real-world datasets, outperforming various baselines across multiple evaluation metrics.

Unsupervised panoptic segmentation aims to partition an image into semantically meaningful regions and distinct object instances without training on manually annotated data. In contrast to prior work on unsupervised panoptic scene understanding, we eliminate the need for object-centric training data, enabling the unsupervised understanding of complex scenes. To that end, we present the first unsupervised panoptic method that directly trains on scene-centric imagery. In particular, we propose an approach to obtain high-resolution panoptic pseudo labels on complex scene-centric data combining visual representations, depth, and motion cues. Utilizing both pseudo-label training and a panoptic self-training strategy yields a novel approach that accurately predicts panoptic segmentation of complex scenes without requiring any human annotations. Our approach significantly improves panoptic quality, e.g., surpassing the recent state of the art in unsupervised panoptic segmentation on Cityscapes by 9.4% points in PQ.

Generating realistic intermediate shapes between non-rigidly deformed shapes is a challenging task in computer vision, especially with unstructured data (e.g., point clouds) where temporal consistency across frames is lacking, and topologies are changing. Most interpolation methods are designed for structured data (i.e., meshes) and do not apply to real-world point clouds. In contrast, our approach, 4Deform, leverages neural implicit representation (NIR) to enable free topology changing shape deformation. Unlike previous mesh-based methods that learn vertex-based deformation fields, our method learns a continuous velocity field in Euclidean space. Thus, it is suitable for less structured data such as point clouds. Additionally, our method does not require intermediate-shape supervision during training; instead, we incorporate physical and geometrical constraints to regularize the velocity field. We reconstruct intermediate surfaces using a modified level-set equation, directly linking our NIR with the velocity field. Experiments show that our method significantly outperforms previous NIR approaches across various scenarios (e.g., noisy, partial, topology-changing, non-isometric shapes) and, for the first time, enables new applications like 4D Kinect sequence upsampling and real-world high-resolution mesh deformation.

The platonic representation hypothesis suggests that vision and language embeddings become more homogeneous as model and dataset sizes increase. In particular, pairwise distances within each modality become more similar. This suggests that as foundation models mature, it may become possible to match vision and language embeddings in a fully unsupervised fashion, i.e., without parallel data. We present the first study towards this prospect, and investigate conformity of existing vision and language foundation models in the context of ‘blind’ matching. First, we formulate unsupervised matching as a quadratic assignment problem and introduce a novel heuristic that outperforms previous solvers. We also develop a technique to find optimal matching problems, for which a non-trivial match is very likely. Second, we conduct an extensive study deploying a range of vision and language models on four datasets. Our analysis reveals that for many problem instances, vision and language representations can be indeed matched without supervision. This finding opens possibility for exciting applications embedding semantic knowledge into other modalities. As a showcase, we demonstrate a proof-of-concept unsupervised classifier, which achieves non-trivial classification accuracy without any image-text annotation.

Estimating camera motion and intrinsics from casual videos is a core challenge in computer vision. Traditional bundle-adjustment based methods, such as SfM and SLAM, struggle to perform reliably on arbitrary data. Although specialized SfM approaches have been developed for handling dynamic scenes, they either require intrinsics or computationally expensive test-time optimization and often fall short in performance. Recently, methods like Dust3r have reformulated the SfM problem in a more data-driven way. While such techniques show promising results, they are still 1) not robust towards dynamic objects and 2) require labeled data for supervised training.As an alternative, we propose AnyCam, a fast transformer model that directly estimates camera poses and intrinsics from a dynamic video sequence in feed-forward fashion. Our intuition is that such a network can learn strong priors over realistic camera motions. To scale up our training, we rely on an uncertainty-based loss formulation and pre-trained depth and flow networks instead of motion or trajectory supervision. This allows us to use diverse, unlabelled video datasets obtained mostly from YouTube. Additionally, we ensure that the predicted trajectory does not accumulate drift over time through a lightweight trajectory refinement step. We test AnyCam on established datasets, where it delivers accurate camera poses and intrinsics both qualitatively and quantitatively. Furthermore, even with trajectory refinement, AnyCam is significantly faster than existing works for SfM in dynamic settings. Finally, by combining camera information, uncertainty, and depth, our model can produce high-quality 4D pointclouds in a feed-forward fashion.

Video understanding is a pivotal task in the digital era, yet the dynamic and multievent nature of videos makes them labor-intensive and computationally demanding to process. Thus, localizing a specific event given a semantic query has gained importance in both user-oriented applications like video search and academic research into video foundation models. A significant limitation in current research is that semantic queries are typically in natural language that depicts the semantics of the target event. This setting overlooks the potential for multimodal semantic queries composed of images and texts. To address this gap, we introduce a new benchmark, ICQ, for localizing events in videos with multimodal queries, along with a new evaluation dataset ICQ-Highlight. Our new benchmark aims to evaluate how well models can localize an event given a multimodal semantic query that consists of a reference image, which depicts the event, and a refinement text to adjust the images’ semantics. To systematically benchmark model performance, we include 4 styles of reference images and 5 types of refinement texts, allowing us to explore model performance across different domains. We propose 3 adaptation methods that tailor existing models to our new setting and evaluate 10 SOTA models, ranging from specialized to large-scale foundation models. We believe this benchmark is an initial step toward investigating multimodal queries in video event localization.

Standard graph neural networks assign vastly different latent embeddings to graphs describing the same object at different resolution scales. This precludes consistency in applications and prevents generalization between scales as would fundamentally be needed e.g. in AI4Science. We uncover the underlying obstruction, investigate its origin and show how to overcome it by modifying the message passing paradigm.

In this work, we introduce the first unsupervised method that simultaneously predicts time-varying neural implicit surfaces and deformations between pairs of point clouds. We propose to model the point movement using an explicit velocity field and directly deform a time-varying implicit field using the modified level-set equation. This equation utilizes an iso-surface evolution with Eikonal constraints in a compact formulation, ensuring the integrity of the signed distance field. By applying a smooth, volume-preserving constraint to the velocity field, our method successfully recovers physically plausible intermediate shapes. Our method is able to handle both rigid and non-rigid deformations without any intermediate shape supervision. Our experimental results demonstrate that our method significantly outperforms existing works, delivering superior results in both quality and efficiency.

Masked transformer models for class-conditional image generation have become a compelling alternative to diffusion models. Typically comprising two stages - an initial VQGAN model for transitioning between latent space and image space, and a subsequent Transformer model for image generation within latent space - these frameworks offer promising avenues for image synthesis. In this study, we present two primary contributions: Firstly, an empirical and systematic examination of VQGANs, leading to a modernized VQGAN. Secondly, a novel embedding-free generation network operating directly on bit tokens - a binary quantized representation of tokens with rich semantics. The first contribution furnishes a transparent, reproducible, and high-performing VQGAN model, enhancing accessibility and matching the performance of current state-of-the-art methods while revealing previously undisclosed details. The second contribution demonstrates that embedding-free image generation using bit tokens achieves a new state-of-the-art FID of 1.52 on the ImageNet 256x256 benchmark, with a compact generator model of mere 305M parameters.

Standard graph neural networks assign vastly different latent embeddings to graphs describing the same physical system at different resolution scales. This precludes consistency in applications and prevents generalization between scales as would fundamentally be needed in many scientific applications. We uncover the underlying obstruction, investigate its origin and show how to overcome it.

Recent works on the global place recognition treat the task as a retrieval problem, where an off-the-shelf global descriptor is commonly designed in image-based and LiDAR-based modalities. However, it is non-trivial to perform accurate image-LiDAR global place recognition since extracting consistent and robust global descriptors from different domains (2D images and 3D point clouds) is challenging. To address this issue, we propose a novel Voxel-Cross-Pixel (VXP) approach, which establishes voxel and pixel correspondences in a self-supervised manner and brings them into a shared feature space. Specifically, VXP is trained in a two-stage manner that first explicitly exploits local feature correspondences and enforces similarity of global descriptors. Extensive experiments on the three benchmarks (Oxford RobotCar, ViViD++ and KITTI) demonstrate our method surpasses the state-of-the-art cross-modal retrieval by a large margin.

Reconstructing scenes and tracking motion are two sides of the same coin. Tracking points allow for geometric reconstruction [14], while geometric reconstruction of (dynamic) scenes allows for 3D tracking of points over time [24, 39]. The latter was recently also exploited for 2D point tracking to overcome occlusion ambiguities by lifting tracking directly into 3D [38]. However, above approaches either require offline processing or multi-view camera setups both unrealistic for real-world applications like robot navigation or mixed reality. We target the challenge of online 2D and 3D point tracking from unposed monocular camera input introducing Dynamic Online Monocular Reconstruction (DynOMo). We leverage 3D Gaussian splatting to reconstruct dynamic scenes in an online fashion. Our approach extends 3D Gaussians to capture new content and object motions while estimating camera movements from a single RGB frame. DynOMo stands out by enabling emergence of point trajectories through robust image feature reconstruction and a novel similarity-enhanced regularization term, without requiring any correspondence-level supervision. It sets the first baseline for online point tracking with monocular unposed cameras, achieving performance on par with existing methods. We aim to inspire the community to advance online point tracking and reconstruction, expanding the applicability to diverse real-world scenarios.

The interest in matching non-rigidly deformed shapes represented as raw point clouds is rising due to the proliferation of low-cost 3D sensors. Yet, the task is challenging since point clouds are irregular and there is a lack of intrinsic shape information. We propose to tackle these challenges by learning a new shape representation – a per-point high dimensional embedding, in an embedding space where semantically similar points share similar embeddings. The learned embedding has multiple beneficial properties: it is aware of the underlying shape geometry and is robust to shape deformations and various shape artefacts, such as noise and partiality. Consequently, this embedding can be directly employed to retrieve high-quality dense correspondences through a simple nearest neighbor search in the embedding space. Extensive experiments demonstrate new state-of-the-art results and robustness in numerous challenging non-rigid shape matching benchmarks and show its great potential in other shape analysis tasks, such as segmentation.

Objectives: Despite prevalent use of chemical exchange saturation transfer (CEST) MRI, standardization remains elusive. Imaging depends heavily on parameters dictating radiofrequency (RF) events, gradients, and apparent diffusion coefficient (ADC). We present the Pulseq-CEST Library, a repository of CEST preparation and simulation definitions, including example data and evaluations, that provides a common basis for reproducible research, rapid prototyping, and in silico deep learning training data generation.
Materials and methods: A Pulseq-CEST experiment requires (i) a CEST preparation sequence, (ii) a Bloch–McConnell parameter set, (iii) a Bloch–McConnell simulation, and (iv) an evaluation script. Pulseq-CEST utilizes the Bloch–McConnell equations to model in vitro and in vivo conditions. Using this model, a candidate sequence or environment can be held constant while varying other inputs, enabling robust testing.
Results: Data were compared for amide proton transfer weighted (APTw) and water shift and B1 (WASABI) protocols using a five-tube phantom and simulated environments. Real and simulated data matched anticipated spectral shapes and local peak characteristics. The Pulseq-CEST Library supports similar experiments with common sequences and environments to assess new protocols and sample data.
Discussion: The Pulseq-CEST Library provides a flexible mechanism for standardizing and prototyping CEST sequences, facilitating collaborative development. With the capability for expansion, including open-source incorporation of new sequences and environments, the library accelerates the invention and spread of novel CEST and other saturation transfer approaches, such as relayed NOEs (rNOEs) and semisolid magnetization transfer contrast (MTC) methods.

We tackle the problem of monocular 3D object detection across different sensors, environments, and camera setups. In this paper, we introduce a novel unsupervised domain adaptation approach, MonoCT, that generates highly accurate pseudo labels for self-supervision. Inspired by our observation that accurate depth estimation is critical to mitigating domain shifts, MonoCT introduces a novel Generalized Depth Enhancement (GDE) module with an ensemble concept to improve depth estimation accuracy. Moreover, we introduce a novel Pseudo Label Scoring (PLS) module by exploring inner-model consistency measurement and a Diversity Maximization (DM) strategy to further generate high-quality pseudo labels for self-training. Extensive experiments on six benchmarks show that MonoCT outperforms existing SOTA domain adaptation methods by large margins (~21% minimum for AP Mod.) and generalizes well to car, traffic camera and drone views.

We tackle the challenge of LiDAR-based place recognition, which traditionally depends on costly and time-consuming prior 3D maps. To overcome this, we first construct XA-L&RSI dataset, which encompasses approximately 110,000 remote sensing submaps and 13,000 LiDAR point cloud submaps captured in urban scenes, and propose a novel method, L2RSI, for cross-view LiDAR place recognition using high-resolution Remote Sensing Imagery. This approach enables large-scale localization capabilities at a reduced cost by leveraging readily available overhead images as map proxies. L2RSI addresses the dual challenges of cross-view and cross-modal place recognition by learning feature alignment between point cloud submaps and remote sensing submaps in the semantic domain. Additionally, we introduce a novel probability propagation method based on a dynamic Gaussian mixture model to refine position predictions, effectively leveraging temporal and spatial information. This approach enables large-scale retrieval and cross-scene generalization without fine-tuning. Extensive experiments on XA-L&RSI demonstrate that, within a 100km2 retrieval range, L2RSI accurately localizes 95.08% of point cloud submaps within a 30m radius for top-1 retrieved location. We provide a video to more vividly display the place recognition results of L2RSI at this https URL.

Current 3D stylization techniques primarily focus on static scenes, while our world is inherently dynamic, filled with moving objects and changing environments. Existing style transfer methods primarily target appearance – such as color and texture transformation – but often neglect the geometric characteristics of the style image, which are crucial for achieving a complete and coherent stylization effect. To overcome these shortcomings, we propose GAS-NeRF, a novel approach for joint appearance and geometry stylization in dynamic Radiance Fields. Our method leverages depth maps to extract and transfer geometric details into the radiance field, followed by appearance transfer. Experimental results on synthetic and real-world datasets demonstrate that our approach significantly enhances the stylization quality while maintaining temporal coherence in dynamic scenes.

Advances in Earth observation (EO) foundation models have unlocked the potential of big satellite data to learn generic representations from space, benefiting a wide range of downstream applications crucial to our planet. However, most existing efforts remain limited to fixed spectral sensors, focus solely on the Earth’s surface, and overlook valuable metadata beyond imagery. In this work, we take a step towards next-generation EO foundation models with three key components: 1) Copernicus-Pretrain, a massive-scale pretraining dataset that integrates 18.7M aligned images from all major Copernicus Sentinel missions, spanning from the Earth’s surface to its atmosphere; 2) Copernicus-FM, a unified foundation model capable of processing any spectral or non-spectral sensor modality using extended dynamic hypernetworks and flexible metadata encoding; and 3) Copernicus-Bench, a systematic evaluation benchmark with 15 hierarchical downstream tasks ranging from preprocessing to specialized applications for each Sentinel mission. Our dataset, model, and benchmark greatly improve the scalability, versatility, and multimodal adaptability of EO foundation models, while also creating new opportunities to connect EO, weather, and climate research.

The bidirectional reflectance distribution function (BRDF) is an essential tool to capture the complex interaction of light and matter. Recently, several works have employed neural methods for BRDF modeling, following various strategies, ranging from utilizing existing parametric models to purely neural parametrizations. While all methods yield impressive results, a comprehensive comparison of the different approaches is missing in the literature. In this work, we present a thorough evaluation of several approaches, including results for qualitative and quantitative reconstruction quality and an analysis of reciprocity and energy conservation. Moreover, we propose two extensions that can be added to existing approaches: A novel additive combination strategy for neural BRDFs that split the reflectance into a diffuse and a specular part, and an input mapping that ensures reciprocity exactly by construction, while previous approaches only ensure it by soft constraints.

High-detail semantic 3D building models are frequently utilized in robotics, geoinformatics, and computer vision. One key aspect of creating such models is employing 2D conflict maps that detect openings’ locations in building facades. Yet, in reality, these maps are often incomplete due to obstacles encountered during laser scanning. To address this challenge, we introduce FacaDiffy, a novel method for inpainting unseen facade parts by completing conflict maps with a personalized Stable Diffusion model. Specifically, we first propose a deterministic ray analysis approach to derive 2D conflict maps from existing 3D building models and corresponding laser scanning point clouds. Furthermore, we facilitate the inpainting of unseen facade objects into these 2D conflict maps by leveraging the potential of personalizing a Stable Diffusion model. To complement the scarcity of real-world training data, we also develop a scalable pipeline to produce synthetic conflict maps using random city model generators and annotated facade images. Extensive experiments demonstrate that FacaDiffy achieves state-of-the-art performance in conflict map completion compared to various inpainting baselines and increases the detection rate by 22% when applying the completed conflict maps for high-definition 3D semantic building reconstruction.

Stylizing a dynamic scene based on an exemplar image is critical for various real-world applications, including gaming, filmmaking, and augmented and virtual reality. However, achieving consistent stylization across both spatial and temporal dimensions remains a significant challenge. Most existing methods are designed for static scenes and often require an optimization process for each style image, limiting their adaptability. We introduce ZDySS, a zero-shot stylization framework for dynamic scenes, allowing our model to generalize to previously unseen style images at inference. Our approach employs Gaussian splatting for scene representation, linking each Gaussian to a learned feature vector that renders a feature map for any given view and timestamp. By applying style transfer on the learned feature vectors instead of the rendered feature map, we enhance spatio-temporal consistency across frames. Our method demonstrates superior performance and coherence over state-of-the-art baselines in tests on real-world dynamic scenes, making it a robust solution for practical applications.

We show that variational learning can significantly improve the accuracy and calibration of Low-Rank Adaptation (LoRA) without a substantial increase in the cost. We replace AdamW by the Improved Variational Online Newton (IVON) algorithm to finetune large language models. For Llama-2 with 7 billion parameters, IVON improves the accuracy over AdamW by 2.8% and expected calibration error by 4.6%. The accuracy is also better than the other Bayesian alternatives, yet the cost is lower and the implementation is easier. Our work provides additional evidence for the effectiveness of IVON for large language models.

Recent advances in 3D Gaussian Splatting have shown promising results. Existing methods typically assume static scenes and/or multiple images with prior poses. Dynamics, sparse views, and unknown poses significantly increase the problem complexity due to insufficient geometric constraints. To overcome this challenge, we propose a method that can use only two images without prior poses to fit Gaussians in dynamic environments. To achieve this, we introduce two technical contributions. First, we propose an object-level two-view bundle adjustment. This strategy decomposes dynamic scenes into piece-wise rigid components, and jointly estimates the camera pose and motions of dynamic objects. Second, we design an SE(3) field-driven Gaussian training method. It enables fine-grained motion modeling through learnable per-Gaussian transformations. Our method leads to high-fidelity novel view synthesis of dynamic scenes while accurately preserving temporal consistency and object motion. Experiments on both synthetic and real-world datasets demonstrate that our method significantly outperforms state-of-the-art approaches designed for the cases of static environments, multiple images, and/or known poses.

To date, most place recognition methods focus on single-modality retrieval. While they perform well in specific environments, cross-modal methods offer greater flexibility by allowing seamless switching between map and query sources. It also promises to reduce computation requirements by having a unified model, and achieving greater sample efficiency by sharing parameters. In this work, we develop a universal solution to place recognition, UniLoc, that works with any single query modality (natural language, image, or point cloud). UniLoc leverages recent advances in large-scale contrastive learning, and learns by matching hierarchically at two levels: instance-level matching and scene-level matching. Specifically, we propose a novel Self-Attention based Pooling (SAP) module to evaluate the importance of instance descriptors when aggregated into a place-level descriptor. Experiments on the KITTI-360 dataset demonstrate the benefits of cross-modality for place recognition, achieving superior performance in cross-modal settings and competitive results also for uni-modal scenarios.

We tackle the problem of localizing the traffic surveillance cameras in cooperative perception. To overcome the lack of large-scale real-world intersection datasets, we introduce Carla Intersection, a new simulated dataset with 75 urban and rural intersections in Carla. Moreover, we introduce a novel neural network, TrafficLoc, localizing traffic cameras within a 3D reference map. TrafficLoc employs a coarse-to-fine matching pipeline. For image-point cloud feature fusion, we propose a novel Geometry-guided Attention Loss to address cross-modal viewpoint inconsistencies. During coarse matching, we propose an Inter-Intra Contrastive Learning to achieve precise alignment while preserving distinctiveness among local intra-features within image patch-point group pairs. Besides, we introduce Dense Training Alignment with a soft-argmax operator to consider additional features when regressing the final position. Extensive experiments show that our TrafficLoc improves the localization accuracy over the state-of-the-art Image-to-point cloud registration methods by a large margin (up to 86%) on Carla Intersection and generalizes well to real-world data. TrafficLoc also achieves new SOTA performance on KITTI and NuScenes datasets, demonstrating strong localization ability across both in-vehicle and traffic cameras.

Stemming from traditional knowledge graphs (KGs), hyper-relational KGs (HKGs) provide additional key-value pairs (i.e., qualifiers) for each KG fact that help to better restrict the fact validity. In recent years, there has been an increasing interest in studying graph reasoning over HKGs. Meanwhile, as discussed in recent works that focus on temporal KGs (TKGs), world knowledge is ever-evolving, making it important to reason over temporal facts in KGs. Previous mainstream benchmark HKGs do not explicitly specify temporal information for each HKG fact. Therefore, almost all existing HKG reasoning approaches do not devise any module specifically for temporal reasoning. To better study temporal fact reasoning over HKGs, we propose a new type of data structure named hyper-relational TKG (HTKG). Every fact in an HTKG is coupled with a timestamp explicitly indicating its time validity. We develop two new benchmark HTKG datasets, i.e., Wiki-hy and YAGO-hy, and propose an HTKG reasoning model that efficiently models hyper-relational temporal facts. To support future research on this topic, we open-source our datasets and model.

Finding correspondences between 3D shapes is an important and long-standing problem in computer vision, graphics and beyond. While approaches based on machine learning dominate modern 3D shape matching, almost all existing (learning-based) methods require that at least one of the involved shapes is complete. In contrast, the most challenging and arguably most practically relevant setting of matching partially observed shapes, is currently underexplored. One important factor is that existing datasets contain only a small number of shapes (typically below 100), which are unable to serve data-hungry machine learning approaches, particularly in the unsupervised regime. In addition, the type of partiality present in existing datasets is often artificial and far from realistic. To address these limitations and to encourage research on these relevant settings, we provide a generic and flexible framework for the procedural generation of challenging partial shape matching scenarios. Our framework allows for a virtually infinite generation of partial shape matching instances from a finite set of shapes with complete geometry. Further, we manually create cross-dataset correspondences between seven existing (complete geometry) shape matching datasets, leading to a total of 2543 shapes. Based on this, we propose several challenging partial benchmark settings, for which we evaluate respective state-of-the-art methods as baselines.

Understanding dynamic 3D scenes is fundamental for various applications, including extended reality (XR) and autonomous driving. Effectively integrating semantic information into 3D reconstruction enables holistic representation that opens opportunities for immersive and interactive applications. We introduce SADG, Segment Any Dynamic Gaussian Without Object Trackers, a novel approach that combines dynamic Gaussian Splatting representation and semantic information without reliance on object IDs. In contrast to existing works, we do not rely on supervision based on object identities to enable consistent segmentation of dynamic 3D objects. To this end, we propose to learn semantically-aware features by leveraging masks generated from the Segment Anything Model (SAM) and utilizing our novel contrastive learning objective based on hard pixel mining. The learned Gaussian features can be effectively clustered without further post-processing. This enables fast computation for further object-level editing, such as object removal, composition, and style transfer by manipulating the Gaussians in the scene. We further extend several dynamic novel-view datasets with segmentation benchmarks to enable testing of learned feature fields from unseen viewpoints. We evaluate SADG on proposed benchmarks and demonstrate the superior performance of our approach in segmenting objects within dynamic scenes along with its effectiveness for further downstream editing tasks.

In this paper we propose MA-DV2F: Multi-Agent Dynamic Velocity Vector Field. It is a framework for simultaneously controlling a group of vehicles in challenging environments. DV2F is generated for each vehicle independently and provides a map of reference orientation and speed that a vehicle must attain at any point on the navigation grid such that it safely reaches its target. The field is dynamically updated depending on the speed and proximity of the ego-vehicle to other agents. This dynamic adaptation of the velocity vector field allows prevention of imminent collisions. Experimental results show that MA-DV2F outperforms concurrent methods in terms of safety, computational efficiency and accuracy in reaching the target when scaling to a large number of vehicles.

Facade semantic segmentation is a long-standing challenge in photogrammetry and computer vision. Although the last decades have witnessed the influx of facade segmentation methods, there is a lack of comprehensive facade classes and data covering the architectural variability. In ZAHA, we introduce Level of Facade Generalization (LoFG), novel hierarchical facade classes designed based on international urban modeling standards, ensuring compatibility with real-world challenging classes and uniform methods’ comparison. Realizing the LoFG, we present to date the largest semantic 3D facade segmentation dataset, providing 601 million annotated points at five and 15 classes of LoFG2 and LoFG3, respectively. Moreover, we analyze the performance of baseline semantic segmentation methods on our introduced LoFG classes and data, complementing it with a discussion on the unresolved challenges for facade segmentation. We firmly believe that ZAHA shall facilitate further development of 3D facade semantic segmentation methods, enabling robust segmentation indispensable in creating urban digital twins.

We present HI-SLAM2, a geometry-aware Gaussian SLAM system that achieves fast and accurate monocular scene reconstruction using only RGB input. Existing Neural SLAM or 3DGS-based SLAM methods often trade off between rendering quality and geometry accuracy, our research demonstrates that both can be achieved simultaneously with RGB input alone. The key idea of our approach is to enhance the ability for geometry estimation by combining easy-to-obtain monocular priors with learning-based dense SLAM, and then using 3D Gaussian splatting as our core map representation to efficiently model the scene. Upon loop closure, our method ensures on-the-fly global consistency through efficient pose graph bundle adjustment and instant map updates by explicitly deforming the 3D Gaussian units based on anchored keyframe updates. Furthermore, we introduce a grid-based scale alignment strategy to maintain improved scale consistency in prior depths for finer depth details. Through extensive experiments on Replica, ScanNet, and ScanNet++, we demonstrate significant improvements over existing Neural SLAM methods and even surpass RGB-D-based methods in both reconstruction and rendering quality.

Photometric bundle adjustment (PBA) is widely used in estimating the camera pose and 3D geometry by assuming a Lambertian world. However, the assumption of photometric consistency is often violated since the non-diffuse reflection is common in real-world environments. The photometric inconsistency significantly affects the reliability of existing PBA methods. To solve this problem, we propose a novel physically-based PBA method. Specifically, we introduce the physically-based weights regarding material, illumination, and light path. These weights distinguish the pixel pairs with different levels of photometric inconsistency. We also design corresponding models for material estimation based on sequential images and illumination estimation based on point clouds. In addition, we establish the first SLAM-related dataset of non-Lambertian scenes with complete ground truth of illumination and material. Extensive experiments demonstrated that our PBA method outperforms existing approaches in accuracy.

Existing techniques for monocular 3D detection have a serious restriction. They tend to perform well only on a limited set of benchmarks, faring well either on ego-centric car views or on traffic camera views, but rarely on both. To encourage progress, this work advocates for an extended evaluation of 3D detection frameworks across different camera perspectives. We make two key contributions. First, we introduce the CARLA Drone dataset, CDrone. Simulating drone views, it substantially expands the diversity of camera perspectives in existing benchmarks. Despite its synthetic nature, CDrone represents a real-world challenge. To show this, we confirm that previous techniques struggle to perform well both on CDrone and a real-world 3D drone dataset. Second, we develop an effective data augmentation pipeline called GroundMix. Its distinguishing element is the use of the ground for creating 3D-consistent augmentation of a training image. GroundMix significantly boosts the detection accuracy of a lightweight one-stage detector. In our expanded evaluation, we achieve the average precision on par with or substantially higher than the previous state of the art across all tested datasets.

3D scene stylization extends the work of neural style transfer to 3D. A vital challenge in this problem is to maintain the uniformity of the stylized appearance across multiple views. A vast majority of the previous works achieve this by training a 3D model for every stylized image and a set of multi-view images. In contrast, we propose a novel architecture trained on a collection of style images that, at test time, produces real time high-quality stylized novel views. We choose the underlying 3D scene representation for our model as 3D Gaussian splatting. We take the 3D Gaussians and process them using a multi-resolution hash grid and a tiny MLP to obtain stylized views. The MLP is conditioned on different style codes for generalization to different styles during test time. The explicit nature of 3D Gaussians gives us inherent advantages over NeRF-based methods, including geometric consistency and a fast training and rendering regime. This enables our method to be useful for various practical use cases, such as augmented or virtual reality. We demonstrate that our method achieves state-of-the-art performance with superior visual quality on various indoor and outdoor real-world data.

In frame-based vision, object detection faces substantial performance degradation under challenging conditions due to the limited sensing capability of conventional cameras. Event cameras output sparse and asynchronous events, providing a potential solution to solve these problems. However, effectively fusing two heterogeneous modalities remains an open issue. In this work, we propose a novel hierarchical feature refinement network for event-frame fusion. The core concept is the design of the coarse-to-fine fusion module, denoted as the cross-modality adaptive feature refinement (CAFR) module. In the initial phase, the bidirectional cross-modality interaction (BCI) part facilitates information bridging from two distinct sources. Subsequently, the features are further refined by aligning the channel-level mean and variance in the two-fold adaptive feature refinement (TAFR) part. We conducted extensive experiments on two benchmarks: the low-resolution PKU-DDD17-Car dataset and the high-resolution DSEC dataset. Experimental results show that our method surpasses the state-of-the-art by an impressive margin of 8% on the DSEC dataset. Besides, our method exhibits significantly better robustness (69.5% versus 38.7%) when introducing 15 different corruption types to the frame images.

Neural implicit surfaces can be used to recover accurate 3D geometry from imperfect point clouds. In this work, we show that state-of-the-art techniques work by minimizing an approximation of a one-sided Chamfer distance. This shape metric is not symmetric, as it only ensures that the point cloud is near the surface but not vice versa. As a consequence, existing methods can produce inaccurate reconstructions with spurious surfaces. Although one approach against spurious surfaces has been widely used in the literature, we theoretically and experimentally show that it is equivalent to regularizing the surface area, resulting in over-smoothing. As a more appealing alternative, we propose DiffCD, a novel loss function corresponding to the symmetric Chamfer distance. In contrast to previous work, DiffCD also assures that the surface is near the point cloud, which eliminates spurious surfaces without the need for additional regularization. We experimentally show that DiffCD reliably recovers a high degree of shape detail, substantially outperforming existing work across varying surface complexity and noise levels.

Plane adjustment (PA) is crucial for many 3D applications, involving simultaneous pose estimation and plane recovery. Despite recent advancements, it remains a challenging problem in the realm of multi-view point cloud registration. Current state-of-the-art methods can achieve globally optimal convergence only with good initialization. Furthermore, their high time complexity renders them impractical for large-scale problems. To address these challenges, we first exploit a novel optimization strategy termed Bi-Convex Relaxation, which decouples the original problem into two simpler sub-problems, reformulates each sub-problem using a convex relaxation technique, and alternately solves each one until the original problem converges. Building on this strategy, we propose two algorithmic variants for solving the plane adjustment problem, namely GlobalPointer and GlobalPointer++, based on point-to-plane and plane-to-plane errors, respectively. Extensive experiments on both synthetic and real datasets demonstrate that our method can perform large-scale plane adjustment with linear time complexity, larger convergence region, and robustness to poor initialization, while achieving similar accuracy as prior methods.

Parametric feature grid encodings have gained significant attention as an encoding approach for neural fields since they allow for much smaller MLPs, which significantly decreases the inference time of the models. In this work, we propose MeshFeat, a parametric feature encoding tailored to meshes, for which we adapt the idea of multi-resolution feature grids from Euclidean space. We start from the structure provided by the given vertex topology and use a mesh simplification algorithm to construct a multi-resolution feature representation directly on the mesh. The approach allows the usage of small MLPs for neural fields on meshes, and we show a significant speed-up compared to previous representations while maintaining comparable reconstruction quality for texture reconstruction and BRDF representation. Given its intrinsic coupling to the vertices, the method is particularly well-suited for representations on deforming meshes, making it a good fit for object animation.

Most Bundle Adjustment (BA) solvers like the Levenberg-Marquardt algorithm require a good initialization. Instead, initialization-free BA remains a largely uncharted territory. The under-explored Variable Projection algorithm (VarPro) exhibits a wide convergence basin even without initialization. Coupled with object space error formulation, recent works have shown its ability to solve small-scale initialization-free bundle adjustment problem. To make such initialization-free BA approaches scalable, we introduce Power Variable Projection (PoVar), extending a recent inverse expansion method based on power series. Importantly, we link the power series expansion to Riemannian manifold optimization. This projective framework is crucial to solve large-scale bundle adjustment problems without initialization. Using the real-world BAL dataset, we experimentally demonstrate that our solver achieves state-of-the-art results in terms of speed and accuracy. To our knowledge, this work is the first to address the scalability of BA without initialization opening new venues for initialization-free structure-from-motion.

3D single object tracking (SOT) is an essential task in autonomous driving and robotics. However, learning robust 3D SOT trackers remains challenging due to the limited category-specific point cloud data and the inherent sparsity and incompleteness of LiDAR scans. To tackle these issues, we propose a unified 3D SOT framework that leverages 3D generative pre-training and learns robust 3D matching abilities from 2D pre-trained foundation trackers. Our framework features a consistent target-matching architecture with the widely used 2D trackers, facilitating the transfer of 2D matching knowledge. Specifically, we first propose a lightweight Target-Aware Projection (TAP) module, allowing the pre-trained 2D tracker to work well on the projected point clouds without further fine-tuning. We then propose a novel IoU-guided matching-distillation framework that utilizes the powerful 2D pre-trained trackers to guide 3D matching learning in the 3D tracker, i.e., the 3D template-to-search matching should be consistent with its corresponding 2D template-to-search matching obtained from 2D pre-trained trackers. Our designs are applied to two mainstream 3D SOT frameworks: memory-less Siamese and contextual memory-based approaches, which are respectively named SiamDisst and MemDisst. Extensive experiments show that SiamDisst and MemDisst achieve state-of-the-art performance on KITTI, Waymo Open Dataset and nuScenes benchmarks, while running at above real-time speed of 25 and 90 FPS on a RTX3090 GPU.

Unsupervised Domain Adaptation (UDA) is the task of bridging the domain gap between a labeled source domain, e.g., synthetic data, and an unlabeled target domain. We observe that current UDA methods show inferior results on fine structures and tend to oversegment objects with ambiguous appearance. To address these shortcomings, we propose to leverage geometric information, i.e., depth predictions, as depth discontinuities often coincide with segmentation boundaries. We show that naively incorporating depth into current UDA methods does not fully exploit the potential of this complementary information. To this end, we present MICDrop, which learns a joint feature representation by masking image encoder features while inversely masking depth encoder features. With this simple yet effective complementary masking strategy, we enforce the use of both modalities when learning the joint feature representation. To aid this process, we propose a feature fusion module to improve both global as well as local information sharing while being robust to errors in the depth predictions. We show that our method can be plugged into various recent UDA methods and consistently improve results across standard UDA benchmarks, obtaining new state-of-the-art performances.

Historical monuments are a treasure and milestone of cultural heritage. Reconstructing the 3D models of these buildings holds significant value. The rapid development of neural rendering methods makes it possible to recover the original 3D shape exclusively based on archival photographs. However, this task presents considerable challenges due to the properties of available color images. Historical pictures are often limited in number and the scenes in these photos might have altered over time. The radiometric quality of these images is often sub-optimal for using automatic methods. To address these challenges, we introduce an approach to reconstruct the geometry of historical buildings from limited input images. We leverage dense point clouds as a geometric prior and introduce a color appearance embedding loss in volumetric rendering to recover the color of the building. We aim for our work to spark increased interest and focus on preserving historic buildings. Together with the proposed method, we introduce a new historical dataset of the Hungarian National Theater, providing a new benchmark for 3D reconstruction.

Neural implicits are a widely used surface presentation because they offer an adaptive resolution and support arbitrary topology changes. While previous works rely on ground truth point clouds or meshes, they often do not discuss the data acquisition and ignore the effect of input quality and sampling methods during reconstruction. In this paper, we introduce a sampling method with an uncertainty-augmented surface implicit representation that employs a sampling technique that considers the geometric characteristics of inputs. To this end, we introduce a strategy that efficiently computes differentiable geometric features, namely, mean curvatures, to guide the sampling phase during the training period. The uncertainty augmentation offers insights into the occupancy and reliability of the output signed distance value, thereby expanding representation capabilities into open surfaces. Finally, we demonstrate that our method improves the reconstruction of both synthetic and real-world data.

Unsupervised semantic segmentation aims to automatically partition images into semantically meaningful regions by identifying global semantic categories within an image corpus without any form of annotation. Building upon recent advances in self-supervised representation learning, we focus on how to leverage these large pre-trained models for the downstream task of unsupervised segmentation. We present PriMaPs - Principal Mask Proposals - decomposing images into semantically meaningful masks based on their feature representation. This allows us to realize unsupervised semantic segmentation by fitting class prototypes to PriMaPs with a stochastic expectation-maximization algorithm, PriMaPs-EM. Despite its conceptual simplicity, PriMaPs-EM leads to competitive results across various pre-trained backbone models, including DINO and DINOv2, and across different datasets, such as Cityscapes, COCO-Stuff, and Potsdam-3. Importantly, PriMaPs-EM is able to boost results when applied orthogonally to current state-of-the-art unsupervised semantic segmentation pipelines.

Contemporary research in autonomous driving has demonstrated tremendous potential in emulating the traits of human driving. However, they primarily cater to areas with well built road infrastructure and appropriate traffic management systems. Therefore, in the absence of traffic signals or in unstructured environments, these self-driving algorithms are expected to fail. This paper proposes a strategy for autonomously navigating multiple vehicles in close proximity to their desired destinations without traffic rules in unstructured environments. Graphical Neural Networks (GNNs) have demonstrated good utility for this task of multi-vehicle control. Among the different alternatives of training GNNs, supervised methods have proven to be most data-efficient, albeit require ground truth labels. However, these labels may not always be available, particularly in unstructured environments without traffic regulations. Therefore, a tedious optimization process may be required to determine them while ensuring that the vehicles reach their desired destination and do not collide with each other or any obstacles. Therefore, in order to expedite the training process, it is essential to reduce the optimization time and select only those samples for labeling that add most value to the training. In this paper, we propose a warm start method that first uses a pre-trained model trained on a simpler subset of data. Inference is then done on more complicated scenarios, to determine the hard samples wherein the model faces the greatest predicament. This is measured by the difficulty vehicles encounter in reaching their desired destination without collision. Experimental results demonstrate that mining for hard samples in this manner reduces the requirement for supervised training data by 10 fold.

Maximum-a-posteriori (MAP) decoding is the most widely used decoding strategy for neural machine translation (NMT) models. The underlying assumption is that model probability correlates well with human judgment, with better translations getting assigned a higher score by the model. However, research has shown that this assumption does not always hold, and generation quality can be improved by decoding to optimize a utility function backed by a metric or quality-estimation signal, as is done by Minimum Bayes Risk (MBR) or Quality-Aware decoding. The main disadvantage of these approaches is that they require an additional model to calculate the utility function during decoding, significantly increasing the computational cost. In this paper, we propose to make the NMT models themselves quality-aware by training them to estimate the quality of their own output. Using this approach for MBR decoding we can drastically reduce the size of the candidate list, resulting in a speed-up of two-orders of magnitude. When applying our method to MAP decoding we obtain quality gains similar or even superior to quality reranking approaches, but with the efficiency of single pass decoding.

We give extensive empirical evidence against the common belief that variational learning is ineffective for large neural networks. We show that an optimizer called Improved Variational Online Newton (IVON) consistently matches or outperforms Adam for training large networks such as GPT-2 and ResNets from scratch. IVON’s computational costs are nearly identical to Adam but its predictive uncertainty is better. We show several new use cases of IVON where we improve finetuning and model merging in Large Language Models, accurately predict generalization error, and faithfully estimate sensitivity to data. We find overwhelming evidence that variational learning is effective.

The field of reinforcement learning offers a large variety of concepts and methods to tackle sequential decision-making problems. This variety has become so large that choosing an algorithm for a task at hand can be challenging. In this work, we streamline the process of choosing reinforcement-learning algorithms and action-distribution families. We provide a structured overview of existing methods and their properties, as well as guidelines for when to choose which methods.

Recent advances in predicting 6D grasp poses from a single depth image have led to promising performance in robotic grasping. However, previous grasping models face challenges in cluttered environments where nearby objects impact the target object’s grasp. In this paper, we first establish a new benchmark dataset for TARget-driven Grasping under Occlusions, named TARGO. We make the following contributions: 1) We are the first to study the occlusion level of grasping. 2) We set up an evaluation benchmark consisting of large-scale synthetic data and part of real-world data, and we evaluated five grasp models and found that even the current SOTA model suffers when the occlusion level increases, leaving grasping under occlusion still a challenge. 3) We also generate a large-scale training dataset via a scalable pipeline, which can be used to boost the performance of grasping under occlusion and generalized to the real world. 4) We further propose a transformer-based grasping model involving a shape completion module, termed TARGO-Net, which performs most robustly as occlusion increases.

Neural approaches have shown a significant progress on camera-based reconstruction. But they require either a fairly dense sampling of the viewing sphere, or pre-training on an existing dataset, thereby limiting their generalizability. In contrast, photometric stereo (PS) approaches have shown great potential for achieving high-quality reconstruction under sparse viewpoints. Yet, they are impractical because they typically require tedious laboratory conditions, are restricted to dark rooms, and often multi-staged, making them subject to accumulated errors. To address these shortcomings, we propose an end-to-end uncalibrated multi-view PS frameworkfor reconstructing high-resolution shapes acquiredfrom sparse viewpoints in a real-world environment. We relax the dark room assumption, and allow a combination of static ambient lighting and dynamic near LED lighting, thereby enabling easy data capture outside the lab. Experimental validation confirms that it outperforms existing baseline approaches in the regime of sparse viewpoints by a large margin. This allows to bring high-accuracy 3D reconstruction from the dark room to the real world, while maintaining a reasonable data capture complexity.

Finding correspondences between 3D shapes is an important and long-standing problem in computer vision, graphics and beyond. A prominent challenge are partial-to-partial shape matching settings, which occur when the shapes to match are only observed incompletely (e.g. from 3D scanning). Although partial-to-partial matching is a highly relevant setting in practice, it is rarely explored. Our work bridges the gap between existing (rather artificial) 3D full shape matching and partial-to-partial real-world set-tings by exploiting geometric consistency as a strong constraint. We demonstrate that it is indeed possible to solve this challenging problem in a variety of settings. For the first time, we achieve geometric consistency for partial-to-partial matching, which is realized by a novel integer non-linear program formalism building on triangle prod-uct spaces, along with a new pruning algorithm based on linear integer programming. Further, we generate a new inter-class dataset for partial-to-partial shape-matching. We show that our method outperforms current SOTA meth-ods on both an established intra-class dataset and our novel inter-class dataset.

Inferring scene geometry from images via Structure from Motion is a long-standing and fundamental problem in computer vision. While classical approaches and, more re-cently, depth map predictions only focus on the visible parts of a scene, the task of scene completion aims to reason about geometry even in occluded regions. With the popularity of neural radiance fields (NeRFs), implicit represen-tations also became popular for scene completion by pre-dicting so-called density fields. Unlike explicit approaches e.g. voxel-based methods, density fields also allow for ac-curate depth prediction and novel-view synthesis via image-based rendering. In this work, we propose to fuse the scene reconstruction from multiple images and distill this knowl-edge into a more accurate single-view scene reconstruction. To this end, we propose Multi-View Behind the Scenes (MVBTS) to fuse density fields from multiple posed images, trained fully self-supervised only from image data. Using knowledge distillation, we use MVBTS to train a single-view scene completion network via direct supervision called KDBTS. It achieves state-of-the-art performance on occu-pancy prediction, especially in occluded regions.

In recent years, semantic segmentation has become a pivotal tool in processing and interpreting satellite imagery. Yet, a prevalent limitation of supervised learning techniques remains the need for extensive manual annotations by experts. In this work, we explore the potential of generative image diffusion to address the scarcity of annotated data in earth observation tasks. The main idea is to learn the joint data manifold of images and labels, leveraging recent ad-vancements in denoising diffusion probabilistic models. To the best of our knowledge, we are the first to generate both images and corresponding masks for satellite segmentation. We find that the obtained pairs not only display high quality in fine-scale features but also ensure a wide sampling diversity. Both aspects are crucial for earth observation data, where semantic classes can vary severely in scale and occurrence frequency. We employ the novel data instances for downstream segmentation, as a form of data augmentation. In our experiments, we provide comparisons to prior works based on discriminative diffusion models or GANs. We demonstrate that integrating generated samples yields significant quantitative improvements for satellite semantic segmentation - both compared to baselines and when training only on the original data.

The Laplace-Beltrami operator (LBO) emerges from studying manifolds equipped with a Riemannian metric. It is often called the swiss army knife of geometry processing as it allows to capture intrinsic shape information and gives rise to heat diffusion, geodesic distances, and a mul-titude of shape descriptors. It also plays a central role in geometric deep learning. In this work, we explore Finsler manifolds as a generalization of Riemannian manifolds. We revisit the Finsler heat equation and derive a Finsler heat kernel and a Finsler-Laplace-Beltrami Operator (FLBO): a novel theoretically justified anisotropic Laplace-Beltrami operator (ALBO). In experimental evaluations we demon-strate that the proposed FLBO is a valuable alternative to the traditional Riemannian-based LBO and ALBOs for spa-tialfiltering and shape correspondence estimation. We hope that the proposed Finsler heat kernel and the FLBO will inspire further exploration of Finsler geometry in the Computer vision community.

Hierarchy is a natural representation of semantic taxonomies, including the ones routinely used in image segmentation. Indeed, recent work on semantic segmentation reports improved accuracy from supervised training leveraging hierarchical label structures. Encouraged by these results, we revisit the fundamental assumptions behind that work. We postulate and then empirically verify that the reasons for the observed improvement in segmentation accuracy may be entirely unrelated to the use of the semantic hierarchy. To demonstrate this, we design a range of crossdomain experiments with a representative hierarchical approach. We find that on the new testing domains, a flat (non-hierarchical) segmentation network, in which the parents are inferred from the children, has superior segmentation accuracy to the hierarchical approach across the board. Complementing these findings and inspired by the intrinsic properties of hyperbolic spaces, we study a more principled approach to hierarchical segmentation using the Poincare ball model. The hyperbolic representation largely outperforms the previous (Euclidean) hierarchical approach as well and is on par with our flat Euclidean baseline in terms of segmentation accuracy. However, it additionally exhibits surprisingly strong calibration quality of the parent nodes in the semantic hierarchy, especially on the more challenging domains. Our combined analysis suggests that the established practice of hierarchical segmentation may be limited to in-domain settings, whereas flat classifiers generalize substantially better, especially if they are modeled in the hyperbolic space.

Diffusion models have recently revolutionized the field of image synthesis due to their ability to generate photorealistic images. However, one of the major drawbacks of diffusion models is that the image generation process is costly. A large image-to-image network has to be applied many times to iteratively refine an image from random noise. While many recent works propose techniques to reduce the number of required steps, they generally treat the underlying denoising network as a black box. In this work, we investigate the behavior of the layers within the network and find that 1) the layers’ output changes smoothly over time, 2) the layers show distinct patterns of change, and 3) the change from step to step is often very small. We hypothesize that many layer computations in the denoising network are redundant. Leveraging this, we introduce block caching, in which we reuse outputs from layer blocks of previous steps to speed up inference. Furthermore, we propose a technique to automatically determine caching schedules based on each block’s changes over timesteps. In our experiments, we show through FID, human evaluation and qualitative analysis that Block Caching allows to generate images with higher visual quality at the same computational cost. We demonstrate this for different state-of-the-art models (LDM and EMU) and solvers (DDIM and DPM).

We tackle the problem of 3D point cloud localization based on a few natural linguistic descriptions and introduce a novel neural network, Text2Loc, that fully interprets the semantic relationship between points and text. Text2Loc follows a coarse-to-fine localization pipeline: text-submap global place recognition, followed by fine localization. In global place recognition, relational dynamics among each textual hint are captured in a hierarchical transformer with max-pooling (HTM), whereas a balance between positive and negative pairs is maintained using text-submap contrastive learning. Moreover, we propose a novel matching-free fine localization method to further refine the location predictions, which completely removes the need for complicated text-instance matching and is lighter, faster, and more accurate than previous methods. Extensive experiments show that Text2Loc improves the localization accuracy by up to 2 × over the state-of-the-art on the KITTI360Pose dataset.

Standardized lossy video coding is at the core of almost all real-world video processing pipelines. Rate control is used to enable standard codecs to adapt to different network bandwidth conditions or storage constraints. However, standard video codecs (e.g., H.264) and their rate control modules aim to minimize video distortion w.r.t. human quality assessment. We demonstrate empirically that standard-coded videos vastly deteriorate the performance of deep vision models. To overcome the deterioration of vision performance, this paper presents the first end-to-end learnable deep video codec control that considers both bandwidth constraints and downstream deep vision performance, while adhering to existing standardization. We demonstrate that our approach better preserves downstream deep vision performance than traditional standard video coding.

Resource-constrained hardware, such as edge devices or cell phones, often rely on cloud servers to provide the required computational resources for inference in deep vision models. However, transferring image and video data from an edge or mobile device to a cloud server requires coding to deal with network constraints. The use of standardized codecs, such as JPEG or H.264, is prevalent and required to ensure interoperability. This paper aims to examine the implications of employing standardized codecs within deep vision pipelines. We find that using JPEG and H.264 coding significantly deteriorates the accuracy across a broad range of vision tasks and models. For instance, strong compression rates reduce semantic segmentation accuracy by more than 80% in mIoU. In contrast to previous findings, our analysis extends beyond image and action classification to localization and dense prediction tasks, thus providing a more comprehensive perspective.

Within the graph learning community, conventional wisdom dictates that spectral convolutional networks may only be deployed on undirected graphs: Only there could the existence of a well-defined graph Fourier transform be guaranteed, so that information may be translated between spatial- and spectral domains. Here we show this traditional reliance on the graph Fourier transform to be superfluous and – making use of certain advanced tools from complex analysis and spectral theory – extend spectral convolutions to directed graphs. We provide a frequency-response interpretation of newly developed filters, investigate the influence of the basis used to express filters and discuss the interplay with characteristic operators on which networks are based. In order to thoroughly test the developed theory, we conduct experiments in real world settings, showcasing that directed spectral convolutional networks provide new state of the art results for heterophilic node classification on many datasets and – as opposed to baselines – may be rendered stable to resolution-scale varying topological perturbations.

Direct image alignment is a widely used technique for relative 6DoF pose estimation between two images, but its accuracy strongly depends on pose initialization. Therefore, recent end-to-end frameworks increase the convergence basin of the learned feature descriptors with special training objectives, such as the Gauss-Newton loss. However, the training data may exhibit bias toward a specific type of motion and pose initialization, thus limiting the generalization of these methods. In this work, we derive a closed-form solution to the expected optimum of the Gauss-Newton loss. The solution is agnostic to the underlying feature representation and allows us to dynamically adjust the basin of convergence according to our assumptions about the uncertainty in the current estimates. These properties allow for effective control over the convergence in the alignment process. Despite using self-supervised feature embeddings, our solution achieves compelling accuracy w.r.t. the state-of-the-art direct image alignment methods trained end-to-end with pose supervision, and demonstrates improved robustness to pose initialization. Our analytical solution exposes some inherent limitations of end-to-end learning with the Gauss-Newton loss, and establishes an intriguing connection between direct image alignment and feature-matching approaches.

Current MRI super-resolution (SR) methods only use existing contrasts acquired from typical clinical sequences as input for the neural network (NN). In turbo spin echo sequences (TSE) the sequence parameters can have a strong influence on the actual resolution of the acquired image and have consequently a considera-ble impact on the performance of the NN. We propose a known-operator learning approach to perform an end-to-end optimization of MR sequence and neural net-work parameters for SR-TSE. This MR-physics-informed training procedure jointly optimizes the radiofrequency pulse train of a proton density- (PD-) and T2-weighted TSE and a subsequently applied convolutional neural network to predict the corresponding PDw and T2w super-resolution TSE images. The found radiofrequency pulse train designs generate an optimal signal for the NN to perform the SR task. Our method generalizes from the simulation-based optimi-zation to in vivo measurements and the acquired physics-informed SR images show higher correlation with a time-consuming segmented high-resolution TSE sequence compared to a pure network training approach.

Bilevel optimization aims to optimize an outer objective function that depends on the solution to an inner optimization problem. It is routinely used in Machine Learning, notably for hyperparameter tuning. The conventional method to compute the so-called hypergradient of the outer problem is to use the Implicit Function Theorem (IFT). As a function of the error of the inner problem resolution, we study the error of the IFT method. We analyze two strategies to reduce this error: preconditioning the IFT formula and reparameterizing the inner problem. We give a detailed account of the impact of these two modifications on the error, highlighting the role played by higher-order derivatives of the functionals at stake. Our theoretical findings explain when super efficiency, namely reaching an error on the hypergradient that depends quadratically on the error on the inner problem, is achievable and compare the two approaches when this is impossible. Numerical evaluations on hyperparameter tuning for regression problems substantiate our theoretical findings.

Finding correspondences between 3D shapes is a crucial problem in computer vision and graphics, which is for example relevant for tasks like shape interpolation, pose transfer, or texture transfer. An often neglected but essential property of matchings is geometric consistency, which means that neighboring triangles in one shape are consistently matched to neighboring triangles in the other shape. Moreover, while in practice one often has only access to partial observations of a 3D shape (e.g. due to occlusion, or scanning artifacts), there do not exist any methods that directly address geometrically consistent partial shape matching. In this work we fill this gap by proposing to integrate state-of-the-art deep shape features into a novel integer linear programming partial shape matching formulation. Our optimization yields a globally optimal solution on low resolution shapes, which we then refine using a coarse-to-fine scheme. We show that our method can find more reliable results on partial shapes in comparison to existing geometrically consistent algorithms (for which one first has to fill missing parts with a dummy geometry). Moreover, our matchings are substantially smoother than learning-based state-of-the-art shape matching methods.

3D semantic scene understanding is a fundamental challenge in computer vision. It enables mobile agents to autonomously plan and navigate arbitrary environments. SSC formalizes this challenge as jointly estimating dense geometry and semantic information from sparse observations of a scene. Current methods for SSC are generally trained on 3D ground truth based on aggregated LiDAR scans. This process relies on special sensors and annotation by hand which are costly and do not scale well. To overcome this issue, our work presents the first self-supervised approach to SSC called S4C that does not rely on 3D ground truth data. Our proposed method can reconstruct a scene from a single image and only relies on videos and pseudo segmentation ground truth generated from off-the-shelf image segmentation network during training. Unlike existing methods, which use discrete voxel grids, we represent scenes as implicit semantic fields. This formulation allows querying any point within the camera frustum for occupancy and semantic class. Our architecture is trained through rendering-based self-supervised losses. Nonetheless, our method achieves performance close to fully supervised state-of-the-art methods. Additionally, our method demonstrates strong generalization capabilities and can synthesize accurate segmentation maps for far away viewpoints.

Event cameras offer the exciting possibility of tracking the camera’s pose during high-speed motion and in adverse lighting conditions. Despite this promise, existing event-based monocular visual odometry (VO) approaches demonstrate limited performance on recent benchmarks. To address this limitation, some methods resort to additional sensors such as IMUs, stereo event cameras, or frame-based cameras. Nonetheless, these additional sensors limit the application of event cameras in real-world devices since they increase cost and complicate system requirements. Moreover, relying on a frame-based camera makes the system susceptible to motion blur and HDR. To remove the dependency on additional sensors and to push the limits of using only a single event camera, we present Deep Event VO (DEVO), the first monocular event-only system with strong performance on a large number of real-world benchmarks. DEVO sparsely tracks selected event patches over time. A key component of DEVO is a novel deep patch selection mechanism tailored to event data. We significantly decrease the state-of-the-art pose tracking error on seven real-world benchmarks by up to 97% compared to event-only methods and often surpass or are close to stereo or inertial methods.

In this study, we explore the potential of generative pre-trained transformer (GPT), as a coding assistant for MRI sequence programming using the Pulseq framework. The programming of MRI sequences is traditionally a complex and time-consuming task, and the Pulseq standard has recently simplified this process. It allows researchers to define and generate complex pulse sequences used in MRI experiments. Leveraging GPT-4’s capabilities in natural language generation, we adapted it for MRI sequence programming, creating a specialized assistant named GPT4MR. Our tests involved generating various MRI sequences, revealing that GPT-4, guided by a tailored prompt, outperformed GPT-3.5, producing fewer errors and demonstrating improved reasoning. Despite limitations in handling complex sequences, GPT4MR corrected its own errors and successfully generated code with step-by-step instructions. The study showcases GPT4MR’s ability to accelerate MRI sequence development, even for novel ideas absent in its training set. While further research and improvement are needed to address complexity limitations, a well-designed prompt enhances performance. The findings propose GPT4MR as a valuable MRI sequence programming assistant, streamlining prototyping and development. The future prospect involves integrating a PyPulseq plugin into lightweight, open-source LLMs, potentially revolutionizing MRI sequence development and prototyping.

We propose an end-to-end inverse rendering pipeline called SupeRVol that allows us to recover 3D shape and material parameters from a set of color images in a superresolution manner. To this end, we represent both the bidirectional reflectance distribution function’s (BRDF) parameters and the signed distance function (SDF) by multi-layer perceptrons (MLPs). In order to obtain both the surface shape and its reflectance properties, we revert to a differentiable volume renderer with a physically based illumination model that allows us to decouple reflectance and lighting. This physical model takes into account the effect of the camera’s point spread function thereby enabling a reconstruction of shape and material in a super-resolution quality. Experimental validation confirms that SupeRVol achieves state of the art performance in terms of inverse rendering quality. It generates reconstructions that are sharper than the individual input images, making this method ideally suited for 3D modeling from low-resolution imagery.

Event cameras asynchronously capture brightness changes with low latency, high temporal resolution, and high dynamic range. However, annotation of event data is a costly and laborious process, which limits the use of deep learning methods for classification and other semantic tasks with the event modality. To reduce the dependency on labeled event data, we introduce Masked Event Modeling (MEM), a self-supervised framework for events. Our method pretrains a neural network on unlabeled events, which can originate from any event camera recording. Subsequently, the pretrained model is finetuned on a downstream task, leading to a consistent improvement of the task accuracy. For example, our method reaches state-of-the-art classification accuracy across three datasets, N-ImageNet, N-Cars, and N-Caltech101, increasing the top-1 accuracy of previous work by significant margins. When tested on real-world event data, MEM is even superior to supervised RGB-based pretraining. The models pretrained with MEM are also label-efficient and generalize well to the dense task of semantic image segmentation.

Contemporary large-scale visual language models (VLMs) exhibit strong representation capacities, making them ubiquitous for enhancing image and text understanding tasks. They are often trained in a contrastive manner on a large and diverse corpus of images and corresponding text captions scraped from the internet. Despite this, VLMs often struggle with compositional reasoning tasks which require a fine-grained understanding of the complex interactions of objects and their attributes. This failure can be attributed to two main factors: 1) Contrastive approaches have traditionally focused on mining negative examples from existing datasets. However, the mined negative examples might not be difficult for the model to discriminate from the positive. An alternative to mining would be negative sample generation 2) But existing generative approaches primarily focus on generating hard negative texts associated with a given image. Mining in the other direction, i.e., generating negative image samples associated with a given text has been ignored. To overcome both these limitations, we propose a framework that not only mines in both directions but also generates challenging negative samples in both modalities, i.e., images and texts. Leveraging these generative hard negative samples, we significantly enhance VLMs’ performance in tasks involving multimodal compositional reasoning.

Neural 3D implicit representations learn priors that are useful for diverse applications, such as single- or multiple-view 3D reconstruction. A major downside of existing approaches while rendering an image is that they require evaluating the network multiple times per camera ray so that the high computational time forms a bottleneck for downstream applications. We address this problem by introducing a novel neural scene representation that we call the directional distance function (DDF). To this end, we learn a signed distance function (SDF) along with our DDF model to represent a class of shapes. Specifically, our DDF is defined on the unit sphere and predicts the distance to the surface along any given direction. Therefore, our DDF allows rendering images with just a single network evaluation per camera ray. Based on our DDF, we present a novel fast algorithm (FIRe) to reconstruct 3D shapes given a posed depth map. We evaluate our proposed method on 3D reconstruction from single-view depth images, where we empirically show that our algorithm reconstructs 3D shapes more accurately and it is more than 15 times faster (per iteration) than competing methods.

Traditional deep learning approaches for prediction of future trajectory of multiple road agents rely on knowing information about their past trajectory. In contrast, this work utilizes information of only the current state and intended direction to predict the future trajectory of multiple vehicles at intersections. Incorporating intention information has two distinct advantages: (1) It allows to not just predict the future trajectory but also control the multiple vehicles. (2) By manipulating the intention, the interaction among the vehicles is adapted accordingly to achieve desired behavior. Both these advantages would otherwise not be possible using only past trajectory information Our model utilizes message passing of information between the vehicle nodes for a more holistic overview of the environment, resulting in better trajectory prediction and control of the vehicles. This work also provides a thorough investigation and discussion into the disparity between offline and online metrics for the task of multi-agent control. We particularly show why conducting only offline evaluation would not suffice, thereby necessitating online evaluation. We demonstrate the superiority of utilizing intention information rather than past trajectory in online scenarios. Lastly, we show the capability of our method in adapting to different domains through experiments conducted on two distinct simulation platforms i.e. SUMO and CARLA.

We introduce Neural Poisson Surface Reconstruction (nPSR), an architecture for shape reconstruction that addresses the challenge of recovering 3D shapes from points. Traditional deep neural networks face challenges with common 3D shape discretization techniques due to their computational complexity at higher resolutions. To overcome this, we leverage Fourier Neural Operators to solve the Poisson equation and reconstruct a mesh from oriented point cloud measurements. nPSR exhibits two main advantages: First, it enables efficient training on low-resolution data while achieving comparable performance at high-resolution evaluation, thanks to the resolution-agnostic nature of FNOs. This feature allows for one-shot super-resolution. Second, our method surpasses existing approaches in reconstruction quality while being differentiable and robust with respect to point sampling rates. Overall, the neural Poisson surface reconstruction not only improves upon the limitations of classical deep neural networks in shape reconstruction but also achieves superior results in terms of reconstruction quality, running time, and resolution agnosticism.

In this study, we explore the potential of generative pre-trained transformer (GPT), as a coding assistant for MRI sequence programming using the Pulseq framework. The programming of MRI sequences is traditionally a complex and time-consuming task, and the Pulseq standard has recently simplified this process. It allows researchers to define and generate complex pulse sequences used in MRI experiments. Leveraging GPT-4’s capabilities in natural language generation, we adapted it for MRI sequence programming, creating a specialized assistant named GPT4MR. Our tests involved generating various MRI sequences, revealing that GPT-4, guided by a tailored prompt, outperformed GPT-3.5, producing fewer errors and demonstrating improved reasoning. Despite limitations in handling complex sequences, GPT4MR corrected its own errors and successfully generated code with step-by-step instructions. The study showcases GPT4MR’s ability to accelerate MRI sequence development, even for novel ideas absent in its training set. While further research and improvement are needed to address complexity limitations, a well-designed prompt enhances performance. The findings propose GPT4MR as a valuable MRI sequence programming assistant, streamlining prototyping and development. The future prospect involves integrating a PyPulseq plugin into lightweight, open-source LLMs, potentially revolutionizing MRI sequence development and prototyping.

The goal of Online Domain Adaptation for semantic segmentation is to handle unforeseeable domain changes that occur during deployment, like sudden weather events. However, the high computational costs associated with brute-force adaptation make this paradigm unfeasible for real-world applications. In this paper we propose HAMLET, a Hardware-Aware Modular Least Expensive Training framework for real-time domain adaptation. Our approach includes a hardware-aware back-propagation orchestration agent (HAMT) and a dedicated domain-shift detector that enables active control over when and how the model is adapted (LT). Thanks to these advancements, our approach is capable of performing semantic segmentation while simultaneously adapting at more than 29FPS on a single consumer-grade GPU. Our framework’s encouraging accuracy and speed trade-off is demonstrated on OnDA and SHIFT benchmarks through experimental results.

We propose a novel mixed-integer programming (MIP) formulation for generating precise sparse correspondences for highly non-rigid shapes. To this end, we introduce a projected Laplace-Beltrami operator (PLBO) which combines intrinsic and extrinsic geometric information to measure the deformation quality induced by predicted correspondences. We integrate the PLBO, together with an orientation-aware regulariser, into a novel MIP formulation that can be solved to global optimality for many practical problems. In contrast to previous methods, our approach is provably invariant to rigid transformations and global scaling, initialisation-free, has optimality guarantees, and scales to high resolution meshes with (empirically observed) linear time. We show state-of-the-art results for sparse non-rigid matching on several challenging 3D datasets, including data with inconsistent meshing, as well as applications in mesh-to-point-cloud matching.

Scene reconstructions are often incomplete due to occlusions and limited viewpoints. There have been efforts to use semantic information for scene completion. However, the completed shapes may be rough and imprecise since respective methods rely on 3D convolution and/or lack effective shape constraints. To overcome these limitations, we propose a semantic scene completion method based on deformable deep implicit templates (DDIT). Specifically, we complete each segmented instance in a scene by deforming a template with a latent code. Such a template is expressed by a deep implicit function in the canonical frame. It abstracts the shape prior of a category, and thus can provide constraints on the overall shape of an instance. Latent code controls the deformation of template to guarantee fine details of an instance. For code prediction, we design a neural network that leverages both intra-and inter-instance information. We also introduce an algorithm to transform instances between the world and canonical frames based on geometric constraints and a hierarchical tree. To further improve accuracy, we jointly optimize the latent code and transformation by enforcing the zero-valued isosurface constraint. In addition, we establish a new dataset to solve different problems of existing datasets. Experiments showed that our DDIT outperforms state-of-the-art approaches.

Place recognition based on point clouds (LiDAR) is an important component for autonomous robots or self-driving vehicles. Current SOTA performance is achieved on accumulated LiDAR submaps using either point-based or voxel-based structures. While voxel-based approaches nicely integrate spatial context across multiple scales, they do not exhibit the local precision of point-based methods. As a result, existing methods struggle with fine-grained matching of subtle geometric features in sparse single-shot Li-DAR scans. To overcome these limitations, we propose CASSPR as a method to fuse point-based and voxel-based approaches using cross attention transformers. CASSPR leverages a sparse voxel branch for extracting and aggregating information at lower resolution and a point-wise branch for obtaining fine-grained local information. CASSPR uses queries from one branch to try to match structures in the other branch, ensuring that both extract self-contained descriptors of the point cloud (rather than one branch dominating), but using both to inform the out-put global descriptor of the point cloud. Extensive experiments show that CASSPR surpasses the state-of-the-art by a large margin on several datasets (Oxford RobotCar, TUM, USyd). For instance, it achieves AR@1 of 85.6% on the TUM dataset, surpassing the strongest prior model by ~15%. Our code is publicly available.

In this work, we present a learning method for both lateral and longitudinal motion control of an ego-vehicle for the task of vehicle pursuit. The car being controlled does not have a pre-defined route, rather it reactively adapts to follow a target vehicle while maintaining a safety distance. To train our model, we do not rely on steering labels recorded from an expert driver, but effectively leverage a classical controller as an offline label generation tool. In addition, we account for the errors in the predicted control values, which can lead to a loss of tracking and catastrophic crashes of the controlled vehicle. To this end, we propose an effective data augmentation approach, which allows to train a network that is capable of handling different views of the target vehicle. During the pursuit, the target vehicle is firstly localized using a Convolutional Neural Network. The network takes a single RGB image along with cars’ velocities and estimates target vehicle’s pose with respect to the ego-vehicle. This information is then fed to a Multi-Layer Perceptron, which regresses the control commands for the ego-vehicle, namely throttle and steering angle. We extensively validate our approach using the CARLA simulator on a wide range of terrains. Our method demonstrates real-time performance, robustness to different scenarios including unseen trajectories and high route completion.

In this work, we propose a learning based neural model that provides both the longitudinal and lateral control commands to simultaneously navigate multiple vehicles. The goal is to ensure that each vehicle reaches a desired target state without colliding with any other vehicle or obstacle in an unconstrained environment. The model utilizes an attention based Graphical Neural Network paradigm that takes into consideration the state of all the surrounding vehicles to make an informed decision. This allows each vehicle to smoothly reach its destination while also evading collision with the other agents. The data and corresponding labels for training such a network is obtained using an optimization based procedure. Experimental results demonstrate that our model is powerful enough to generalize even to situations with more vehicles than in the training data. Our method also outperforms comparable graphical neural network architectures.

Deep learning models for self-driving cars require a diverse training dataset to manage critical driving scenarios on public roads safely. This includes having data from divergent trajectories, such as the oncoming traffic lane or sidewalks. Such data would be too dangerous to collect in the real world. Data augmentation approaches have been proposed to tackle this issue using RGB images. However, solutions based on LiDAR sensors are scarce. Therefore, we propose synthesizing additional LiDAR point clouds from novel viewpoints without physically driving at dangerous positions. The LiDAR view synthesis is done using mesh reconstruction and ray casting. We train a deep learning model, which takes a LiDAR scan as input and predicts the future trajectory as output. A waypoint controller is then applied to this predicted trajectory to determine the throttle and steering labels of the ego-vehicle. Our method neither requires expert driving labels for the original nor the synthesized LiDAR sequence. Instead, we infer labels from LiDAR odometry. We demonstrate the effectiveness of our approach in a comprehensive online evaluation and with a comparison to concurrent work. Our results show the importance of synthesizing additional LiDAR point clouds, particularly in terms of model robustness.

3D object detection using LiDAR point clouds is a fundamental task in the fields of computer vision, robotics, and autonomous driving. However, existing 3D detectors heavily rely on annotated datasets, which are both time-consuming and prone to errors during the process of labeling 3D bounding boxes. In this paper, we propose a Scene Completion Pre-training (SCP) method to enhance the performance of 3D object detectors with less labeled data. SCP offers three key advantages: (1) Improved initialization of the point cloud model. By completing the scene point clouds, SCP effectively captures the spatial and semantic relationships among objects within urban environments. (2) Elimination of the need for additional datasets. SCP serves as a valuable auxiliary network that does not impose any additional efforts or data requirements on the 3D detectors. (3) Reduction of the amount of labeled data for detection. With the help of SCP, the existing state-of-the-art 3D detectors can achieve comparable performance while only relying on 20% labeled data.

Calibrating deep learning models to yield uncertainty-aware predictions is crucial as deep neural networks get increasingly deployed in safety-critical applications. While existing post-hoc calibration methods achieve impressive results on in-domain test datasets, they are limited by their inability to yield reliable uncertainty estimates in domain-shift and out-of-domain (OOD) scenarios. We aim to bridge this gap by proposing DAC, an accuracy-preserving as well as Density-Aware Calibration method based on k-nearest-neighbors (KNN). In contrast to existing post-hoc methods, we utilize hidden layers of classifiers as a source for uncertainty-related information and study their importance. We show that DAC is a generic method that can readily be combined with state-of-the-art post-hoc methods. DAC boosts the robustness of calibration performance in domain-shift and OOD, while maintaining excellent in-domain predictive uncertainty estimates. We demonstrate that DAC leads to consistently better calibration across a large number of model architectures, datasets, and metrics. Additionally, we show that DAC improves calibration substantially on recent large-scale neural networks pre-trained on vast amounts of data.

We present G-MSM (Graph-based Multi-Shape Matching), a novel unsupervised learning approach for non-rigid shape correspondence. Rather than treating a collection of input poses as an unordered set of samples, we explicitly model the underlying shape data manifold. To this end, we propose an adaptive multi-shape matching architecture that constructs an affinity graph on a given set of training shapes in a self-supervised manner. The key idea is to combine putative, pairwise correspondences by propagating maps along shortest paths in the underlying shape graph. During training, we enforce cycle-consistency between such optimal paths and the pairwise matches which enables our model to learn topology-aware shape priors. We explore different classes of shape graphs and recover specific settings, like template-based matching (star graph) or learnable ranking/sorting (TSP graph), as special cases in our framework. Finally, we demonstrate state-of-the-art performance on several recent shape correspondence benchmarks, including realworld 3D scan meshes with topological noise and challenging inter-class pairs.

We propose an approach based on convex relaxations for certifiably optimal robust multiview triangulation. To this end, we extend existing relaxation approaches to non-robust multiview triangulation by incorporating a least squares cost function. We propose two formulations, one based on epipolar constraints and one based on fractional reprojection constraints. The first is lower dimensional and remains tight under moderate noise and outlier levels, while the second is higher dimensional and therefore slower but remains tight even under extreme noise and outlier levels. We demonstrate through extensive experiments that the proposed approaches allow us to compute provably optimal re-constructions even under significant noise and a large percentage of outliers.

We propose a differentiable nonlinear least squares framework to account for uncertainty in relative pose estimation from feature correspondences. Specifically, we introduce a symmetric version of the probabilistic normal epipolar constraint, and an approach to estimate the co-variance of feature positions by differentiating through the camera pose estimation procedure. We evaluate our approach on synthetic, as well as the KITTI and EuRoC real-world datasets. On the synthetic dataset, we confirm that our learned covariances accurately approximate the true noise distribution. In real world experiments, we find that our approach consistently outperforms state-of-the-art non-probabilistic and probabilistic approaches, regardless of the feature extraction algorithm of choice.

For a long time, the most common paradigm in Multi-Object Tracking was tracking-by-detection (TbD), where objects are first detected and then associated over video frames. For association, most models resourced to motion and appearance cues, e.g., re-identification networks. Recent approaches based on attention propose to learn the cues in a data-driven manner, showing impressive results. In this paper, we ask ourselves whether simple good old TbD methods are also capable of achieving the performance of end-to-end models. To this end, we propose two key ingredients that allow a standard re-identification network to excel at appearance-based tracking. We extensively analyse its failure cases, and show that a combination of our appearance features with a simple motion model leads to strong tracking results. Our tracker generalizes to four public datasets, namely MOT17, MOT20, BDD100k, and DanceTrack, achieving state-of-the-art performance.

We introduce Power Bundle Adjustment as an expansion type algorithm for solving large-scale bundle adjustment problems. It is based on the power series expansion of the inverse Schur complement and constitutes a new family of solvers that we call inverse expansion methods. We theoretically justify the use of power series and we prove the convergence of our approach. Using the real-world BAL dataset we show that the proposed solver challenges the state-of-the-art iterative methods and significantly accelerates the solution of the normal equation, even for reaching a very high accuracy. This easy-to-implement solver can also complement a recently presented distributed bundle adjustment framework. We demonstrate that employing the proposed Power Bundle Adjustment as a subproblem solver significantly improves speed and accuracy of the distributed optimization.

Inferring a meaningful geometric scene representation from a single image is a fundamental problem in computer vision. Approaches based on traditional depth map prediction can only reason about areas that are visible in the image. Currently, neural radiance fields (NeRFs) can capture true 3D including color, but are too complex to be generated from a single image. As an alternative, we propose to predict an implicit density field from a single image. It maps every location in the frustum of the image to volumetric density. By directly sampling color from the available views instead of storing color in the density field, our scene representation becomes significantly less complex compared to NeRFs, and a neural network can predict it in a single forward pass. The network is trained through self-supervision from only video data. Our formulation allows volume rendering to perform both depth prediction and novel view synthesis. Through experiments, we show that our method is able to predict meaningful geometry for regions that are occluded in the input image. Additionally, we demonstrate the potential of our approach on three datasets for depth prediction and novel-view synthesis.

Flows in networks (or graphs) play a significant role in numerous computer vision tasks. The scalar-valued edges in these graphs often lead to a loss of information and thereby to limitations in terms of expressiveness. For example, oftentimes highdimensional data (e.g. feature descriptors) are mapped to a single scalar value (e.g. the similarity between two feature descriptors). To overcome this limitation, we propose a novel formalism for non-separable multi-dimensional network flows. By doing so, we enable an automatic and adaptive feature selection strategy - since the flow is defined on a per-dimension basis, the maximizing flow automatically chooses the best matching feature dimensions. As a proof of concept, we apply our formalism to the multi-object tracking problem and demonstrate that our approach outperforms scalar formulations on the MOT16 benchmark in terms of robustness to noise.

Current MRI super-resolution (SR) methods only use existing contrasts acquired from typical clinical sequences as input for the neural network (NN). In turbo spin echo sequences (TSE) the sequence parameters can have a strong influence on the actual resolution of the acquired image and have consequently a considera-ble impact on the performance of the NN. We propose a known-operator learning approach to perform an end-to-end optimization of MR sequence and neural net-work parameters for SR-TSE. This MR-physics-informed training procedure jointly optimizes the radiofrequency pulse train of a proton density- (PD-) and T2-weighted TSE and a subsequently applied convolutional neural network to predict the corresponding PDw and T2w super-resolution TSE images. The found radiofrequency pulse train designs generate an optimal signal for the NN to perform the SR task. Our method generalizes from the simulation-based optimi-zation to in vivo measurements and the acquired physics-informed SR images show higher correlation with a time-consuming segmented high-resolution TSE sequence compared to a pure network training approach.

The ability of convolutional neural networks (CNNs) to recognize objects regardless of their position in the image is due to the translation-equivariance of the convolutional operation. Group-equivariant CNNs transfer this equivariance to other transformations of the input. Dealing appropriately with objects and object parts of different scale is challenging, and scale can vary for multiple reasons such as the underlying object size or the resolution of the imaging modality. In this paper, we propose a scale-equivariant convolutional network layer for three-dimensional data that guarantees scale-equivariance in 3D CNNs. Scale-equivariance lifts the burden of having to learn each possible scale separately, allowing the neural network to focus on higher-level learning goals, which leads to better results and better data-efficiency. We provide an overview of the theoretical foundations and scientific work on scale-equivariant neural networks in the two-dimensional domain. We then transfer the concepts from 2D to the three-dimensional space and create a scale-equivariant convolutional layer for 3D data. Using the proposed scale-equivariant layer, we create a scale-equivariant U-Net for medical image segmentation and compare it with a non-scale-equivariant baseline method. Our experiments demonstrate the effectiveness of the proposed method in achieving scale-equivariance for 3D medical image analysis.

Supervised deep learning methods using image data as input have shown promising results in the context of vehicle control. However, these supervised methods have two main disadvantages: 1) They require a copious amount of labeled training data, which is difficult and expensive to collect. 2) Such models do not perform well, when situations that are not in the distribution of the training set are encountered. This includes deviations from the designated driving behavior. We therefore provide a framework to mitigate these problems from merely an unlabeled sequence of images. Visual Odometry is first used to determine the vehicle trajectory. Model Predictive Control (MPC) then uses this trajectory to implicitly infer the steering labels. Meanwhile, synthesized images at deviated trajectories are included in the training distribution for enhanced robustness of the neural network model. Experimental results demonstrate that the performance of our network is at par with methods requiring additional data collection or supervision.

Estimating neural radiance fields (NeRFs) from “ideal” images has been extensively studied in the computer vision community. Most approaches assume optimal illumination and slow camera motion. These assumptions are often violated in robotic applications, where images may contain motion blur, and the scene may not have suitable illumination. This can cause significant problems for downstream tasks such as navigation, inspection, or visualization of the scene. To alleviate these problems, we present E-NeRF, the first method which estimates a volumetric scene representation in the form of a NeRF from a fast-moving event camera. Our method can recover NeRFs during very fast motion and in high-dynamic-range conditions where frame-based approaches fail. We show that rendering high-quality frames is possible by only providing an event stream as input. Furthermore, by combining events and frames, we can estimate NeRFs of higher quality than state-of-the-art approaches under severe motion blur. We also show that combining events and frames can overcome failure cases of NeRF estimation in scenarios where only a few input views are available without requiring additional regularization.

Fine-detailed reconstructions are in high demand in many applications. However, most of the existing RGB-D reconstruction methods rely on pre-calculated accurate camera poses to recover the detailed surface geometry, where the representation of a surface needs to be adapted when optimizing different quantities. In this paper, we present a novel multi-view RGB-D based reconstruction method that tackles camera pose, lighting, albedo, and surface normal estimation via the utilization of a gradient signed distance field (gradient-SDF). The proposed method formulates the image rendering process using specific physically-based model(s) and optimizes the surface’s quantities on the actual surface using its volumetric representation, as opposed to other works which estimate surface quantities only near the actual surface. To validate our method, we investigate two physically-based image formation models for natural light and point light source applications. The experimental results on synthetic and real-world datasets demonstrate that the proposed method can recover high-quality geometry of the surface more faithfully than the state-of-the-art and further improves the accuracy of estimated camera poses

Given the importance of getting calibrated predictions and reliable uncertainty estimations, various post-hoc calibration methods have been developed for neural networks on standard multi-class classification tasks. However, these methods are not well suited for calibrating graph neural networks (GNNs), which presents unique challenges such as accounting for the graph structure and the graph-induced correlations between the nodes. In this work, we conduct a systematic study on the calibration qualities of GNN node predictions. In particular, we identify five factors which influence the calibration of GNNs: general under-confident tendency, diversity of nodewise predictive distributions, distance to training nodes, relative confidence level, and neighborhood similarity. Furthermore, based on the insights from this study, we design a novel calibration method named Graph Attention Temperature Scaling (GATS), which is tailored for calibrating graph neural networks. GATS incorporates designs that address all the identified influential factors and produces nodewise temperature scaling using an attention-based architecture. GATS is accuracy-preserving, data-efficient, and expressive at the same time. Our experiments empirically verify the effectiveness of GATS, demonstrating that it can consistently achieve state-of-the-art calibration results on various graph datasets for different GNN backbones.

This work develops a flexible and mathematically sound framework for the design and analysis of graph scattering networks with variable branching ratios and generic functional calculus filters.Spectrally-agnostic stability guarantees for node- and graph-level perturbations are derived; the vertex-set non-preserving case is treated by utilizing recently developed mathematical-physics based tools. Energy propagation through the network layers is investigated and related to truncation stability. New methods of graph-level feature aggregation are introduced and stability of the resulting composite scattering architectures is established. Finally, scattering transforms are extended to edge- and higher order tensorial input. Theoretical results are complemented by numerical investigations: Suitably chosen scattering networks conforming to the developed theory perform better than traditional graph-wavelet based scattering approaches in social network graph classification tasks andsignificantly outperform other graph-based learning approaches to regression of quantum-chemical energies on QM7.

Neural networks are known to produce poor uncertainty estimations, and a variety of approaches have been proposed to remedy this issue. This includes deep ensemble, a simple and effective method that achieves state-of-the-art results for uncertainty-aware learning tasks. In this work, we explore a combinatorial generalization of deep ensemble called deep combinatorial aggregation (DCA). DCA creates multiple instances of network components and aggregates their combinations to produce diversified model proposals and predictions. DCA components can be defined at different levels of granularity. And we discovered that coarse-grain DCAs can outperform deep ensemble for uncertainty-aware learning both in terms of predictive performance and uncertainty estimation. For fine-grain DCAs, we discover that an average parameterization approach named deep combinatorial weight averaging (DCWA) can improve the baseline training. It is on par with stochastic weight averaging (SWA) but does not require any custom training schedule or adaptation of BatchNorm layers. Furthermore, we propose a consistency enforcing loss that helps the training of DCWA and modelwise DCA. We experiment on in-domain, distributional shift, and out-of-distribution image classification tasks, and empirically confirm the effectiveness of DCWA and DCA approaches.

Current graph neural networks (GNNs) that tackle node classification on graphs tend to only focus on nodewise scores and are solely evaluated by nodewise metrics. This limits uncertainty estimation on graphs since nodewise marginals do not fully characterize the joint distribution given the graph structure. In this work, we propose novel edgewise metrics, namely the edgewise expected calibration error (ECE) and the agree/disagree ECEs, which provide criteria for uncertainty estimation on graphs beyond the nodewise setting. Our experiments demonstrate that the proposed edgewise metrics can complement the nodewise results and yield additional insights. Moreover, we show that GNN models which consider the structured prediction problem on graphs tend to have better uncertainty estimations, which illustrates the benefit of going beyond the nodewise setting.