Papers

Multi-modal fusion is proven to be an effective method to improve the accuracy and robustness of speaker tracking, especially in complex scenarios. However, how to combine the heterogeneous information and exploit the complementarity of multi-modal signals remains a challenging issue. In this paper, we propose a novel Multi-modal Perception Tracker (MPT) for speaker tracking using both audio and visual modalities. Specifically, a novel acoustic map based on spatial-temporal Global Coherence Field (stGCF) is first constructed for heterogeneous signal fusion, which employs a camera model to map audio cues to the localization space consistent with the visual cues. Then a multi-modal perception attention network is introduced to derive the perception weights that measure the reliability and effectiveness of intermittent audio and video streams disturbed by noise. Moreover, a unique cross-modal self-supervised learning method is presented to model the confidence of audio and visual observations by leveraging the complementarity and consistency between different modalities. Experimental results show that the proposed MPT achieves 98.6% and 78.3% tracking accuracy on the standard and occluded datasets, respectively, which demonstrates its robustness under adverse conditions and outperforms the current state-of-the-art methods.

poster session 2 @ red 1, poster session 12 @ red 1, oral session 2 @ red 1, poster session 2, poster session 12, oral session 2

Vision-based autonomous urban driving in dense traffic is quite challenging due to the complicated urban environment and the dynamics of the driving behaviors. Widely-applied methods either heavily rely on hand-crafted rules or learn from limited human experience, which makes them hard to generalize to rare but critical scenarios. In this paper, we present a novel CAscade Deep REinforcement learning framework, CADRE, to achieve model-free vision-based autonomous urban driving. In CADRE, to derive representative latent features from raw observations, we first offline train a Co-attention Perception Module (CoPM) that leverages the co-attention mechanism to learn the inter-relationships between the visual and control information from a pre-collected driving dataset. Cascaded by the frozen CoPM, we then present an efficient distributed proximal policy optimization framework to online learn the driving policy under the guidance of particularly designed reward functions. We perform a comprehensive empirical study with the CARLA NoCrash benchmark as well as specific obstacle avoidance scenarios in autonomous urban driving tasks. The experimental results well justify the effectiveness of CADRE and its superiority over the state-of-the-art by a wide margin.

poster session 2 @ red 1, poster session 12 @ red 1, oral session 2 @ red 1, poster session 2, poster session 12, oral session 2

High dynamic range (HDR) illumination estimation from a single low dynamic range (LDR) image is a significant task in computer vision, graphics, and augmented reality. We present a two-stage deep learning-based method to predict an HDR environment map from a single narrow field-of-view LDR image. We first learn a hybrid parametric representation that sufficiently covers high- and low-frequency illumination components in the environment. Taking the estimated illuminations as guidance, we build a generative adversarial network to synthesize an HDR environment map that enables realistic rendering effects. We specifically consider the rendering effect by supervising the networks using rendering losses in both stages, on the predicted environment map as well as the hybrid illumination representation. Quantitative and qualitative experiments demonstrate that our approach achieves lower relighting errors for virtual object insertion and is preferred by users compared to state-of-the-art methods.

poster session 2 @ red 1, poster session 12 @ red 1, oral session 2 @ red 1, poster session 2, poster session 12, oral session 2