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Recent learning-based approaches have achieved impressive results in the field of single-shot camera localization. However, how best to fuse multiple modalities (e.g., image and depth) and to deal with degraded or missing input are less well studied. In particular, we note that previous approaches towards deep fusion do not perform significantly better than models employing a single modality. We conjecture that this is because of the naive approaches to feature space fusion through summation or concatenation which do not take into account the different strengths of each modality. To address this, we propose an end-to-end framework, termed VMLoc, to fuse different sensor inputs into a common latent space through a variational Product-of-Experts (PoE) followed by attention-based fusion. Unlike previous multimodal variational works directly adapting the objective function of vanilla variational auto-encoder, we show how camera localization can be accurately estimated through an unbiased objective function based on importance weighting. Our model is extensively evaluated on RGB-D datasets and the results prove the efficacy of our model. The source code is available at https://github.com/Zalex97/VMLoc.

AAAI 2021

VMLoc: Variational Fusion for Learning-Based Multimodal Camera Localization

The purpose of the AAAI conference series is to promote research in Artificial Intelligence (AI) and foster scientific exchange between researchers, practitioners, scientists, students, and engineers across the entirety of AI and its affiliated disciplines. AAAI-23 is the Thirty-Seventh AAAI Conference on Artificial Intelligence. The theme of this conference is to create collaborative bridges within and beyond AI. Like previous AAAI conferences, AAAI-23 will feature technical paper presentations, special tracks, invited speakers, workshops, tutorials, poster sessions, senior member presentations, competitions, and exhibit programs, and two new activities: a Bridge Program and a Lab Program. Many of these activities are tailored to the theme of bridges and all are selected according to the highest standards, with additional programs for students and young researchers. 
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AAAI 2023

The purpose of the AAAI conference series is to promote research in Artificial Intelligence (AI) and foster scientific exchange between researchers, practitioners, scientists, students, and engineers across the entirety of AI and its affiliated disciplines.

technical paper

The purpose of the AAAI conference is to promote research in artificial intelligence (AI) and scientific exchange among AI researchers, practitioners, scientists, and engineers in affiliated disciplines. 

The goal of person search is to localize and match query persons from scene images. For high efficiency, one-step methods have been developed to jointly handle the pedestrian detection and identification sub-tasks using a single network. There are two major challenges in the current one-step approaches. One is the mutual interference between the optimization objectives of multiple sub-tasks. The other is the sub-optimal identification feature learning caused by small batch size when end-to-end training. To overcome these problems, we propose a decoupled and memory-reinforced network (DMRNet). Specifically, to reconcile the conflicts of multiple objectives, we simplify the standard tightly coupled pipelines and establish a deeply decoupled multi-task learning framework. Further, we build a memory-reinforced mechanism to boost the identification feature learning. By queuing the identification features of recently accessed instances into a memory bank, the mechanism augments the similarity pair construction for pairwise metric learning. For better encoding consistency of the stored features, a slow-moving average of the network is applied for extracting these features. In this way, the dual networks reinforce each other and converge to robust solution states. Experimentally, the proposed method obtains 93.2% and 46.9% mAP on CUHK-SYSU and PRW datasets, which exceeds all the existing one-step methods.

Decoupled and Memory-Reinforced Networks: Towards Effective Feature Learning for One-Step Person Search

The aim of this paper is to offer the first systematic exploration and definition of equivalent causal models in the context where both models are not made up of the same variables. The idea is that two models are equivalent when they agree on all "essential" causal information that can be expressed using their common variables. I do so by focussing on the two main features of causal models, namely their structural relations and their functional relations. In particular, I define several relations of causal ancestry and several relations of causal sufficiency, and require that the most general of these relations are preserved across equivalent models.

Equivalent Causal Models

Although the recent image-based 3D object detection methods using Pseudo-LiDAR representation have shown great capabilities, a notable gap in efficiency and accuracy still exist compared with LiDAR-based methods. Besides, over-reliance on the stand-alone depth estimator, requiring a large number of pixel-wise annotations in the training stage and more computation in the inferencing stage, limits the scaling application in the real world.
In this paper, we propose an efficient and accurate 3D object detection method from stereo images, named RTS3D. Different from the 3D occupancy space in the Pseudo-LiDAR similar methods, we design a novel 4D feature-consistent embedding (FCE) space as the intermediate representation of the 3D scene without depth supervision. The FCE space encodes the object's structural and semantic information by exploring the multi-scale feature consistency warped from stereo pair. Furthermore, a semantic-guided RBF (Radial Basis Function) and a structure-aware attention module are devised to reduce the influence of FCE space noise without instance mask supervision. Experiments on KITTI benchmark show that RTS3D is the first true real-time system (FPS>24) for stereo image 3D detection meanwhile achieves 10% improvement in average precision comparing with the previous state-of-the-art method.

RTS3D: Real-Time Stereo 3D Detection From 4D Feature-Consistency Embedding Space for Autonomous Driving

Beckers & Vennekens recently proposed a definition of actual causation that is based on certain plausible principles, thereby allowing the debate on causation to shift away from its heavy focus on examples towards a more systematic analysis. This paper contributes to that analysis in two ways. First, I show that their definition is in fact a formalization of Wrightâ€™s famous NESS definition of causation combined with a counterfactual difference-making condition. This means that their definition integrates two highly influential approaches to causation that are claimed to stand in opposition to each other. Second, I modify their definition to offer a substantial improvement: I weaken their difference-making condition in such a way that it avoids their problematic analysis of cases of preemption. The resulting Counterfactual NESS definition of causation forms a natural compromise between counterfactual approaches and the NESS approach.

The Counterfactual NESS Definition of Causation

Building a good feature space is essential for the metric-based few-shot algorithms to recognize a novel class with only a few samples. The feature space is often built by Convolutional Neural Networks (CNNs). However, CNNs primarily focus on local information with the limited receptive field, and the global information generated by distant pixels is not well used. Meanwhile, having a global understanding of the current task and focusing on distinct regions of the same sample for different queries are important for the few-shot classification. To tackle these problems, we propose the Cross Non-Local Neural Network (CNL) for capturing the long-range dependency of the samples and the current task. CNL extracts the task-specific and context-aware features dynamically by strengthening the features of the sample at a position via aggregating information from all positions of itself and the current task. To reduce losing important information, we maximize the mutual information between the original and refined features as a constraint. Moreover, we add a task-specific scaling to deal with multi-scale and task-specific features extracted by CNL. We conduct extensive experiments for validating our proposed algorithm, which achieves new state-of-the-art performances on two public benchmarks.

Looking Wider for Better Adaptive Representation in Few-Shot Learning

Recent years, human-object interaction (HOI) detection has achieved impressive advances. However, conventional two-stage methods are usually slow in inference. On the other hand, existing one-stage methods mainly focus on the union regions of interactions, which introduce unnecessary visual information as disturbances to HOI detection. To tackle the problems above, we propose a novel one-stage HOI detection approach DIRV in this paper, based on a new concept called interaction region for the HOI problem. Unlike previous methods, our approach concentrates on the densely sampled interaction regions across different scales for each human-object pair, so as to capture the subtle visual features that is most essential to the interaction. Moreover, in order to compensate for the detection flaws of a single interaction region, we introduce a novel voting strategy that makes full use of those overlapped interaction regions in place of conventional Non-Maximal Suppression (NMS). Extensive experiments on two popular benchmarks: V-COCO and HICO-DET show that our approach outperforms existing state-of-the-arts by a large margin with the highest inference speed and lightest network architecture. Our code 
is publicly available at www.github.com/MVIG-SJTU/DIRV.

DIRV: Dense Interaction Region Voting for End-to-End Human-Object Interaction Detection

Thermal infrared detection systems play an important role in many areas such as night security, autonomous driving, and body temperature detection. They have the unique advantages of passive imaging, temperature sensitivity and penetration. But the security of these systems themselves has not been fully explored, which poses risks in applying these systems. We propose a physical attack method with small bulbs on a board against the state of-the-art pedestrian detectors. Our goal is to make infrared pedestrian detectors unable to detect real-world pedestrians. Towards this goal, we ï¬rst showed that it is possible to use two kinds of patches to attack the infrared pedestrian detector based on YOLOv3. The average precision (AP) dropped by 64.12% in the digital world, while a blank board with the same size caused the AP to drop by 29.69% only. After that, we designed and manufactured a physical board and successfully attacked YOLOv3 in the real world. In recorded videos, the physical board caused AP of the target detector to drop by 34.48%, while a blank board with the same size caused the AP to drop by 14.91% only. With the ensemble attack techniques, the designed physical board had good transferability to unseen detectors.

Fooling Thermal Infrared Pedestrian Detector in Real World Using Small Bulbs

Explaining the predictions of AI models is paramount in safety-critical applications, such as in legal or medical domains.
One form of explanation for a prediction is an extractive rationale, i.e., a subset of features of an instance that lead the model to give its prediction on the instance. Previous works on generating extractive rationales usually employ a two-phase model: a selector that selects the most important features (i.e., the rationale) followed by a predictor that makes the prediction based exclusively on the selected features. One disadvantage of these works is that the main signal for learning to select features comes from the comparison of the final answers given by the predictor and the ground-truth answers. In this work, we propose to squeeze more information from the predictor via an information calibration method. More precisely, we train two models jointly: one is a typical neural model that solves the task at hand in an accurate but black-box manner, and the other is a selector-predictor model that additionally produces a rationale for its prediction. The first model is used as a guide to the second model. We use an adversarial-based technique to calibrate the information extracted by the two models such that the difference between them is an indicator of the missed or over-selected features. In addition, for natural language tasks, we propose to use a language-model-based regularizer to encourage the extraction of fluent rationales. Experimental results on a sentiment analysis task as well as on three tasks from the legal domain show the effectiveness of our approach to rationale extraction.

Learning from the Best: Rationalizing Predictions by Adversarial information Calibration

Most weakly supervised fine-grained image recognition (WFGIR) approaches predominantly focus on learning the discriminative details which contain the visual variances and position clues. The position clues can be indirectly learnt by utilizing context information of discriminative visual content. However, this will cause the selected discriminative regions containing some non-discriminative information introduced by the position clues. These analysis motivate us to directly introduce position clues into visual content to only focus on the visual variances, achieving more precise discriminative region localization. Though important, position modelling usually requires significant pixel/region annotations and therefore is labor-intensive. To address this issue, we propose an end-to-end Dynamic Position-aware Network (DP-Net) to directly incorporate the position clues into visual content and dynamically align them without extra annotations, which eliminates the effect of position information for visual variances of subcategories. In particular, the DP-Net consists of: 1) Position Encoding Module, which learns a set of position-aware parts by directly adding the learnable position information into the horizontal/vertical visual content of images; 2) Position-vision Aligning Module, which dynamically aligns both visual content and learnable position information via performing graph convolution on position-aware parts; 3) Position-vision Reorganization Module, which projects the aligned position clues and visual content into the Euclidean space to construct a position-aware feature maps. Finally, the position-aware feature maps are used which is implicitly applied the aligned visual content and position clues for more accurate discriminative regions localization. Extensive experiments verify that DP-Net yields the best performance under the same settings with most competitive approaches, on CUB Bird, Stanford-Cars, and FGVC Aircraft datasets.

Dynamic Position-Aware Network for Fine-Grained Image Recognition

In this paper, we focus on the challenging few-shot class incremental learning (FSCIL) problem, which requires to transfer knowledge from old tasks to new ones and solves catastrophic forgetting. We propose the exemplar relation distillation incremental learning framework to balance the tasks of old-knowledge preserving and new-knowledge adaptation. First, we construct an exemplar relation graph to represent the knowledge learned by the original network and update gradually for new tasks learning. Then an exemplar relation loss function for discovering the relation knowledge between
different classes is introduced to learn and transfer the structural information in relation graph. A large number of experiments demonstrate that relation knowledge does exist in the exemplars and our approach outperforms other state-of-the-art class-incremental learning methods on the CIFAR100, miniImageNet, and CUB200 datasets.

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Decoupled and Memory-Reinforced Networks: Towards Effective Feature Learning for One-Step Person Search

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CRAFT: Camera-Radar 3D Object Detection with Spatio-Contextual Fusion Transformer

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