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Depth super-resolution (DSR) aims to restore high-resolution (HR) depth from low-resolution (LR) one, where RGB image is often used to promote this task. Recent image guided DSR approaches mainly focus on spatial domain to rebuild depth structure. However, since the structure of LR depth is usually blurry, only considering spatial domain is not very sufficient to acquire satisfactory results. In this paper, we propose structure guided network (SGNet), a method that pays more attention to gradient and frequency domains, both of which have the inherent ability to capture high-frequency structure. Specifically, we first introduce the gradient calibration module (GCM), which employs the accurate gradient prior of RGB to sharpen the LR depth structure. Then we present the Frequency Awareness Module (FAM) that recursively conducts multiple spectrum differencing blocks (SDB), each of which propagates the precise high-frequency components of RGB into the LR depth. Extensive experimental results on both real and synthetic datasets demonstrate the superiority of our SGNet, reaching the state-of-the-art (see Fig. 1). Codes and pre-trained models are available at https://github.com/yanzq95/SGNet.

AAAI 2024

SGNet: Structure Guided Network via Gradient-Frequency Awareness for Depth Map Super-resolution

low level & physics-based vision

image and video retrieval

multi-modal vision

technical paper

We are pleased to announce the Thirty-Eighth AAAI Conference on Artificial Intelligence (AAAI-24), which will be held in Vancouver, British Columbia at the Vancouver Convention Centre – West Building from 20-27 February, 2024.

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-24 will feature technical paper presentations, special tracks, invited speakers, workshops, tutorials, poster sessions, senior member presentations, competitions, and exhibit programs, and a range of other activities to be announced.

We expect for AAAI-24 to be an in-person conference – one author of all accepted papers will be expected to present work in person unless there are exceptional circumstances that prevent this.<br><br><br><br>

In order to access the AAAI-24 event page you need to register [here](https://aaai.org/aaai-conference/registration/)

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. 

Nowadays sample selection is drawing increasing attention. By extracting and training only on the most informative subset, sample selection can effectively reduce the training cost. Although sample selection is effective in conventional supervised learning, applying it to Masked Image Modeling (MIM) still poses challenges due to the gap between sample-level selection and patch-level pre-training. In this paper, we inspect the sample selection in MIM pre-training and find the basic selection suffers from performance degradation. We attribute this degradation primarily to 2 factors: the random mask strategy and the simple averaging function. We then propose Patch-Aware Sample Selection~(PASS), including a low-cost Dynamic Trained Mask Predictor (DTMP) and Weighted Selection Score (WSS). DTMP consistently masks the informative patches in samples, ensuring a relatively accurate representation of selection score. WSS enhances the selection score using patch-level disparity. Extensive experiments show the effectiveness of PASS in selecting the most informative subset and accelerating pretraining. PASS exhibits superior performance across various datasets, MIM methods, and downstream tasks. Particularly, PASS improves MAE by 0.7\% on ImageNet-1K while utilizing only 37\% data budget and achieves $\sim$1.7$\times$ speedup.

Patch-Aware Sample Selection for Efficient Masked Image Modeling

Self-supervised monocular depth estimation is of significant importance with applications spanning across autonomous driving and robotics. However, the reliance on self-supervision introduces a strong static-scene assumption, thereby posing challenges in achieving optimal performance in dynamic scenes, which are prevalent in most real-world situations.
To address these issues, we propose PPEA-Depth, a Progressive Parameter-Efficient Adaptation approach to transfer a pre-trained image model for self-supervised depth estimation. The training comprises two sequential stages: an initial phase trained on a dataset primarily composed of static scenes, succeeded by an expansion to more intricate datasets involving dynamic scenes. To facilitate this process, we design compact encoder and decoder adapters to enable parameter-efficient tuning, allowing the network to adapt effectively. They not only uphold generalized patterns from pre-trained image models but also retain knowledge gained from the preceding phase into the subsequent one. Extensive experiments demonstrate that PPEA-Depth achieves state-of-the-art performance on KITTI, CityScapes and DDAD datasets.

PPEA-Depth: Progressive Parameter-Efficient Adaptation for Self-Supervised Monocular Depth Estimation

Free-hand sketches are appealing for humans as a universal tool to depict the visual world. Humans can recognize varied sketches of a category easily by identifying the concurrence and layout of the intrinsic semantic components of the category, since humans draw free-hand sketches based a common consensus that which types of semantic components constitute each sketch category. For example, an airplane should at least have a fuselage and wings. Based on this analysis, a semantic component-level memory module is constructed and embedded in the proposed structured sketch recognition network in this paper. The memory keys representing semantic components of each sketch category can be self-learned and enhance the recognition network's explainability. Our proposed networks can deal with different situations of sketch recognition, i.e., with or without semantic components labels of strokes. Experiments on the SPG and SketchIME datasets demonstrate the memory module's flexibility and the recognition network's explainability. The code and data are available at https://github.com/GuangmingZhu/SketchESC.

Enhance Sketch Recognition’s Explainability via Semantic Component-Level Parsing | VIDEO

Semi-supervised 3D object detection is a promising yet under-explored direction to reduce data annotation costs, especially for cluttered indoor scenes. A few prior works, such as SESS and 3DIoUMatch, attempt to solve this task by utilizing a teacher model to generate pseudo-labels for unlabeled samples. However, the availability of unlabeled samples in the 3D domain is relatively limited compared to its 2D counterpart due to the greater effort required to collect 3D data. Moreover, the loose consistency regularization in SESS and restricted pseudo-label selection strategy in 3DIoUMatch lead to either low-quality supervision or a limited amount of pseudo labels. To address these issues, we present a novel Dual-Perspective Knowledge Enrichment approach named DPKE for semi-supervised 3D object detection. Our DPKE enriches the knowledge of limited training data, particularly unlabeled data, from two perspectives: data-perspective and feature-perspective. Specifically, from the data-perspective, we propose a class-probabilistic data augmentation method that augments the input data with additional instances based on the varying distribution of class probabilities. Our DPKE achieves feature-perspective knowledge enrichment by designing a geometry-aware feature matching method that regularizes feature-level similarity between object proposals from the student and teacher models. Extensive experiments on the two benchmark datasets demonstrate that our DPKE achieves superior performance over existing state-of-the-art approaches under various label ratio conditions. The source code and models will be made available to the public.

Dual-Perspective Knowledge Enrichment for Semi-supervised 3D Object Detection

Multi-object tracking (MOT) in video sequences remains a challenging task, especially in scenarios with significant camera movements. This is because targets can drift considerably on the image plane, leading to erroneous tracking outcomes. Addressing such challenges typically requires supplementary appearance cues or Camera Motion Compensation (CMC). While these strategies are effective, they also introduce a considerable computational burden, posing challenges for real-time MOT. In response to this, we introduce UCMCTrack, a novel motion model-based tracker robust to camera movements. Unlike conventional CMC that computes compensation parameters frame-by-frame, UCMCTrack consistently applies the same compensation parameters throughout a video sequence. It employs a Kalman filter on the ground plane and introduces the Mapped Mahalanobis Distance (MMD) as an alternative to the traditional Intersection over Union (IoU) distance measure. By leveraging projected probability distributions on the ground plane, our approach efficiently captures motion patterns and adeptly manages uncertainties introduced by homography projections. Remarkably, UCMCTrack, relying solely on motion cues, achieves state-of-the-art performance across a variety of challenging datasets, including MOT17, MOT20, DanceTrack and KITTI. More details and code are available at https://github.com/corfyi/UCMCTrack.

UCMCTrack: Multi-Object Tracking with Uniform Camera Motion Compensation | VIDEO

With the great success of text-conditioned diffusion models in creative text-to-image generation, various text-driven image editing approaches have attracted the attentions of many researchers. However, previous works mainly focus on discreteness-sensitive instructions such as adding, removing or replacing specific objects, background elements or global styles (i.e., “hard editing”), while generally ignoring subject-binding but semantically fine-changing continuity-sensitive instructions such as actions, poses or adjectives, and so on (i.e., “soft editing”), which hampers generative AI from generating user-customized visual contents. To mitigate this predicament, we propose a spatio-temporal guided adaptive editing algorithm AdapEdit, which realizes adaptive image editing by introducing a soft-attention strategy to dynamically vary the guiding degree from the editing conditions to visual pixels from both temporal and spatial perspectives. Note our approach has a significant advantage in preserving model priors and does not require model training, fine-tuning, extra data, or optimization. We present our results over a wide variety of raw images and editing instructions, demonstrating competitive performance and showing it significantly outperforms the previous approaches. Code is available: https://github.com/AnonymousPony/adap-edit.

AdapEdit: Spatio-Temporal Guided Adaptive Editing Algorithm for Text-Based Continuity-Sensitive Image Editing

Graph contrastive learning (GCL) has demonstrated remarkable efficacy in graph representation learning. However, previous studies have overlooked the inherent conflict that arises when employing graph neural networks (GNNs) as encoders for node-level contrastive learning. This conflict pertains to the partial incongruity between the feature aggregation mechanism of graph neural networks and the embedding distinction characteristic of contrastive learning. Theoretically, to investigate the location and extent of the conflict, we analyze the participation of message-passing from the gradient perspective of InfoNCE loss. Different from contrastive learning in other domains, the conflict in GCL arises due to the presence of certain samples that contribute to both the gradients of positive and negative simultaneously under the manner of message passing, which are opposite optimization directions. To further address the conflict issue, we propose a practical framework called ReGCL, which utilizes theoretical findings of GCL gradients to effectively improve graph contrastive learning. Specifically, two gradient-based strategies are devised in terms of both message passing and loss function to mitigate the conflict. Firstly, a gradient-guided structure learning method is proposed in order to acquire a structure that is adapted to contrastive learning principles. Secondly, a gradient-weighted InfoNCE loss function is designed to reduce the impact of false negative samples with high probabilities, specifically from the standpoint of the graph encoder. Extensive experiments demonstrate the superiority of the proposed method in comparison to state-of-the-art baselines across various node classification benchmarks.

ReGCL: Rethinking Message Passing in Graph Contrastive Learning

AlphaZero and MuZero have achieved state-of-the-art (SOTA) performance in a wide range of domains, including board games and robotics, with discrete and continuous action spaces. However, to obtain an improved policy, they often require an excessively large number of simulations, especially for domains with large action spaces. As the simulation budget decreases, their performance drops significantly. In addition, many important real-world applications have combinatorial (or exponential) action spaces, making it infeasible to search directly over all possible actions. In this paper, we extend AlphaZero and MuZero to learn and plan in more complex multiagent (MA) Markov decision processes, where the action spaces increase exponentially with the number of agents. Our new algorithms, MA Gumbel AlphaZero and MA Gumbel MuZero, respectively without and with model learning, achieve superior performance on cooperative multiagent control problems, while reducing the number of environmental interactions by up to an order of magnitude compared to model-free approaches. In particular, we significantly improve prior performance when planning with much fewer simulation budgets. The code and appendix are available at https://github.com/tjuHaoXiaotian/MA-MuZero.

Multiagent Gumbel MuZero: Efficient Planning in Combinatorial Action Spaces

Open-set graph learning is a practical task that aims to classify the known class nodes and to identify unknown class samples as unknowns. Conventional node classification methods usually perform unsatisfactorily in open-set scenarios due to the complex data they encounter, such as out-of-distribution (OOD) data and in-distribution (IND) noise. OOD data are samples that do not belong to any known classes. They are outliers if they occur in training (OOD noise), and open-set samples if they occur in testing. IND noise are training samples which are assigned incorrect labels. The existence of IND noise and OOD noise is prevalent, which usually cause the ambiguity problem, including the intra-class variety problem and the inter-class confusion problem. Thus, to explore robust open-set learning methods is necessary and difficult, and it becomes even more difficult for non-IID graph data. To this end, we propose a unified framework named ROG_PL to achieve robust open-set learning on complex noisy graph data, by introducing prototype learning into open-set node classification. In specific, ROG_PL consists of two modules, i.e., denoising via label propagation and open-set prototype learning via regions. The first module corrects noisy labels through similarity-based label propagation and removes low-confidence samples, to solve the intraclass variety problem caused by noise. The second module learns open-set prototypes for each known class via non-overlapped regions and remains both interior and border prototypes to remedy the inter-class confusion problem. The two modules are iteratively updated under the constraints of both classification loss and prototype diversity loss. To the best of our knowledge, the proposed ROG_PL is the first robust open-set node classification method for graph data with complex noise. Experimental evaluations of ROG_PL on several benchmark graph datasets demonstrates that it has good performance.

ROG_PL: Robust Open-Set Graph Learning via Region-Based Prototype Learning | VIDEO

Moving object segmentation (MOS) and Ego velocity estimation (EVE) are vital capabilities for mobile systems to achieve full autonomy. Several approaches have attempted to achieve MOSEVE using a LiDAR sensor. However, LiDAR sensors are typically expensive and susceptible to adverse weather conditions. Instead, millimeter-wave radar (MWR) has gained popularity in robotics and autonomous driving for real applications due to its cost-effectiveness and resilience to bad weather. Nonetheless, publicly available MOSEVE datasets and approaches using radar data are limited. Some existing methods adopt point convolutional networks from LiDAR-based approaches, ignoring the specific artifacts and the valuable radial velocity information of radar measurements, leading to suboptimal performance. In this paper, we propose a novel transformer network that effectively addresses the sparsity and noise issues and leverages the radial velocity measurements of radar points using our devised radar self- and cross-attention mechanisms. Based on that, our method achieves accurate EVE of the robot and performs MOS using only radar data simultaneously. To thoroughly evaluate the MOSEVE performance of our method, we annotated the radar points in the public View-of-Delft (VoD) dataset and additionally constructed a new radar dataset in various environments. The experimental results demonstrate the superiority of our approach over existing state-of-the-art methods. The code is available at https://github.com/ORCAUboat/RadarMOSEVE.

SGNet: Structure Guided Network via Gradient-Frequency Awareness for Depth Map Super-resolution

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SGNet: Structure Guided Network via Gradient-Frequency Awareness for Depth Map Super-resolution

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Patch-Aware Sample Selection for Efficient Masked Image Modeling

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