Papers

Category-level 6D pose estimation can be better generalized to unseen objects in a category compared with instancelevel 6D pose estimation. However, existing category-level 6D pose estimation methods usually require supervised training with a sufficient number of 6D pose annotations of objects which makes them difficult to be applied in real scenarios. To address this problem, we propose a self-supervised framework for category-level 6D pose estimation in this paper.We leverage DeepSDF as a 3D object representation and design several novel loss functions based on DeepSDF to help the self-supervised model predict unseen object poses without any 6D object pose labels and explicit 3D models in real scenarios.Experiments demonstrate that our method achieves comparable performance with the state-of-the-art fully supervised methods on the category-level NOCS benchmark.

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Understanding an articulated 3D object with its movable parts is an essential skill for an intelligent agent. This paper presents a novel approach to parse 3D part mobility from point cloud sequences. The key innovation is learning explicit point correspondence from a raw unordered point cloud sequence. We propose a novel deep network called P^3-Net to parallelize trajectory feature extraction and point correspondence establishment, performing joint optimization between them. Specifically, we design a Match-LSTM module to reaggregate point features among different frames by a point correspondence matrix, a.k.a. the matching matrix. To obtain this matrix, an attention module is proposed to calculate the point correspondence. Moreover, we implement a Gumbel-Sinkhorn module to reduce the many-to-one relationship for better point correspondence. We conduct comprehensive evaluations on public benchmarks, including the motion dataset and the PartNet dataset. Results demonstrate that our approach outperforms SOTA methods on various 3D parsing tasks of part mobility, including motion flow prediction, motion part segmentation, and motion attribute (i.e. axis & range) estimation. Moreover, we integrate our approach into a robot perception module to validate its robustness.

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Simultaneous Localization and Mapping (SLAM) and Autonomous Driving are becoming increasingly more important in recent years. Point cloud-based large scale place recognition is the spine of them. While many models have been proposed and have achieved acceptable performance by learning short-range local features, they always skip long-range contextual properties. Moreover, the model size also becomes a serious shackle for their wide applications. To overcome these challenges, we propose a super light-weight network model termed SVT-Net. On top of the highly efficient 3D Sparse Convolution (SP-Conv), an Atom-based Sparse Voxel Transformer (ASVT) and a Cluster-based Sparse Voxel Transformer (CSVT) are proposed respectively to learn both short-range local features and long-range contextual features. Consisting of ASVT and CSVT, SVT-Net can achieve state-of-the-art performance in terms of both recognition accuracy and running speed with a super-light model size (0.9M parameters). Meanwhile, for the purpose of further boosting efficiency, we introduce two simplified versions, which also achieve state-of-the-art performance and further reduce the model size to 0.8M and 0.4M respectively.

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Data association is important in the point cloud registration. In this work, we propose to solve the partial-to-partial registration from a new perspective, by introducing multi-level feature interactions between the source and the reference clouds at the feature extraction stage, such that the registration can be realized without the attention or explicit mask estimation for the overlapping detection as adopted previously. Specifically, we present FINet, a feature interaction-based structure with the capability to enable and strengthen the information associating between the inputs at multiple stages. To achieve this, we first split the features into two components, one for rotation and one for translation, based on the fact that they belong to different solution spaces, yielding a dual branches structure. Second, we insert several interaction modules at the feature extractor for the data association. Third, we propose a transformation sensitivity loss to obtain rotation-attentive and translation-attentive features. Experiments demonstrate that our method performs higher precision and robustness compared to the state-of-the-art traditional and learning-based methods. Code is available at https://github.com/megvii-research/FINet.

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In this paper, we propose the first self-distillation framework for general object detection, termed LGD (Label-Guided self-Distillation). Previous studies rely on a strong pretrained teacher to provide instructive knowledge that could be unavailable in real-world scenarios. Instead, we generate an instructive knowledge by inter-and-intra relation modeling among objects, requiring only student representations and regular labels. Concretely, our framework involves sparse label-appearance encoding, inter-object relation adaptation and intra-object knowledge mapping to obtain the instructive knowledge. They jointly form an implicit teacher at training phase, dynamically dependent on labels and evolving student representations. Modules in LGD are trained end-to-end with student detector and are discarded in inference. Experimentally, LGD obtains decent results on various detectors, datasets, and extensive tasks like instance segmentation. For example in MS-COCO dataset, LGD improves RetinaNet with ResNet-50 under 2x single-scale training from 36.2% to 39.0% mAP (+ 2.8%). It boosts much stronger detectors like FCOS with ResNeXt-101 DCN v2 under 2x multi-scale training from 46.1% to 47.9% (+ 1.8%).

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Unsupervised point cloud registration algorithm usually suffers from the unsatisfied registration precision in the partially overlapping problem due to the lack of effective inlier evaluation. In this paper, we propose a neighborhood consensus based reliable inlier evaluation method for robust unsupervised point cloud registration. It is expected to capture the discriminative geometric difference between the source neighborhood and the corresponding pseudo target neighborhood for effective inlier distinction. Specifically, our model consists of a matching map refinement module and an inlier evaluation module. In our matching map refinement module, we improve the point-wise matching map estimation by integrating the matching scores of neighbors into it. The aggregated neighborhood information potentially facilitates the discriminative map construction so that high-quality correspondences can be provided for generating the pseudo target point cloud. Based on the observation that the outlier has the significant structure-wise difference between its source neighborhood and corresponding pseudo target neighborhood while this difference for inlier is small, the inlier evaluation module exploits this difference to score the inlier confidence for each estimated correspondence. In particular, we construct an effective graph representation for capturing this geometric difference between the neighborhoods. Finally, with the learned correspondences and the corresponding inlier confidence, we use the weighted SVD algorithm for transformation estimation.Under the unsupervised setting, we exploit the Huber function based global alignment loss, the local neighborhood consensus loss and spatial consistency loss for model optimization. The experimental results on extensive datasets demonstrate that our unsupervised point cloud registration method can yield comparable performance.

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Accurate 3D object detection from point clouds has become a crucial component in autonomous driving. However, the volumetric representations and the projection methods in previous works fail to establish the relationships between the local point sets. In this paper, we propose Sparse Voxel-Graph Attention Network (SVGA-Net), a novel end-to-end trainable network which mainly contains voxel-graph module and sparse-to-dense regression module to achieve comparable 3D detection tasks from raw LIDAR data. Specifically, SVGA-Net constructs the local complete graph within each divided 3D spherical voxel and global KNN graph through all voxels. The local and global graphs serve as the attention mechanism to enhance the extracted features. In addition, the novel sparse-to-dense regression module enhances the 3D box estimation accuracy through feature maps aggregation at different levels. Experiments on KITTI detection benchmark and Waymo Open dataset demonstrate the efficiency of extending the graph representation to 3D object detection and the proposed SVGA-Net can achieve decent detection accuracy.

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Sketch-based 3D shape retrieval is a challenging task due to the large domain discrepancy between sketches and 3D shapes. Since existing methods are trained and evaluated on the same categories, they cannot effectively recognize the categories that have not been used during training. In this paper, we propose a novel domain disentangled generative adversarial network (DD-GAN) for zero-shot sketch-based 3D retrieval, which can retrieve the unseen categories that are not accessed during training. Specifically, we first generate domain-invariant features and domain-specific features by disentangling the learned features of sketches and 3D shapes, where the domain-invariant features are used to align with the corresponding word embeddings. Then, we develop a generative adversarial network that combines the domain-specific features of the seen categories with the aligned domain-invariant features to synthesize samples, where the synthesized samples of the unseen categories are generated by using the corresponding word embeddings. Finally, we use the synthesized samples of the unseen categories combined with the real samples of the seen categories to train the network for retrieval, so that the unseen categories can be recognized. In order to reduce the domain shift between the synthesized domain and the real domain, we adopt the transductive setting to reduce the gap between the distributions of the synthesized unseen categories and real unseen categories. Extensive experiments on the SHREC'13 and SHREC'14 datasets show that our method significantly improves the retrieval performance of the unseen categories.

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Depth estimation is a crucial step for 3D reconstruction with panorama images in recent years. Panorama images maintain the complete spatial information but introduce distortion with equirectangular projection. In this paper, we propose an ACDNet based on the adaptively combined dilated convolution to predict the dense depth map for a monocular panoramic image. Specifically, we combine the convolution kernels with different dilations to extend the receptive field in the equirectangular projection. Meanwhile, we introduce an adaptive channel-wise fusion module to summarize the feature maps and get diverse attention areas in the receptive field along the channels. Due to the utilization of channel-wise attention in constructing the adaptive channel-wise fusion module, the network can capture and leverage the cross-channel contextual information efficiently. Finally, we conduct depth estimation experiments on three datasets (both virtual and real-world) and the experimental results demonstrate that our proposed ACDNet substantially outperforms the current state-of-the-art (SOTA) methods.

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Knowledge transfer from synthetic to real data has been widely studied to mitigate data annotation constraints in various computer vision tasks such as semantic segmentation. However, the study focused on 2D images and its counterpart in 3D point clouds segmentation lags far behind due to the lack of large-scale synthetic datasets and effective transfer methods. We address this issue by collecting SynLiDAR, a synthetic LiDAR dataset that contains large-scale point-wise annotated point cloud with accurate geometric shapes and comprehensive semantic classes. Leveraging graphic tools and professionals, SynLiDAR are collected from multiple virtual environments with rich types of scenes and layouts. In addition, we design PCT, a novel point cloud translator that effectively mitigates the gap between synthetic and real point clouds. Specifically, we decompose the synthetic-to-real gap into an appearance component and a sparsity component and handle them separately which improves the point cloud translation greatly. We conducted extensive experiments over three transfer learning setups including data augmentation, semi-supervised domain adaptation and unsupervised domain adaptation. Extensive experiments show that SynLiDAR provides a high-quality data source for studying 3D transfer and the proposed PCT achieves superior point cloud translation consistently across the three setups.

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Recovering detailed facial geometry from a set of calibrated multi-view images is valuable for its wide range of applications. Traditional multi-view stereo (MVS) methods adopt optimization methods to regularize the matching cost. Recently, learning-based methods integrate all these into an end-to-end neural network and show superiority of efficiency. In this paper, we propose a novel architecture to recover extremely detailed 3D faces in roughly 10 seconds. Unlike previous learning-based methods that regularize the cost volume via 3D CNN, we propose to learn an implicit function for regressing the matching cost. By fitting a 3D morphable model from multi-view images, the features of multiple images are extracted and aggregated in the mesh-attached UV space, which makes the implicit function more effective in recovering detailed facial shape. Our method outperforms SOTA learning-based MVS in accuracy by a large margin on the FaceScape dataset. The code and data are released in https://github.com/zhuhao-nju/mvfr.

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Although convolution neural network based stereo matching architectures have made impressive achievements, there are still some limitations: 1) Convolutional Feature (CF) tends to capture appearance information, which is inadequate for accurate matching. 2) Due to the static filters, current convolution based disparity refinement modules often produce over-smooth results. In this paper, we present two schemes to address these issues, where some traditional wisdoms are integrated. Firstly, we introduce a pairwise feature for deep stereo matching networks, named LSP (Local Similarity Pattern). Through explicitly revealing the neighbor relationships, LSP contains rich structural information, which can be leveraged to aid CF for more discriminative feature description. Secondly, we design a dynamic self-reassembling refinement strategy and apply it to the cost distribution and the disparity map respectively. The former could be equipped with the unimodal distribution constraint to alleviate the over-smoothing problem, and the latter is more practical. The effectiveness of the proposed methods is demonstrated via incorporating them into two well-known basic architectures, GwcNet and GANet-deep. Experimental results on the SceneFlow and KITTI benchmarks show that our modules significantly improve the performance of the model.

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Existing permutation-invariant methods can be divided into two categories according to the aggregation scope, i.e. global aggregation and local one. Although the global aggregation methods, e. g., PointNet and Deep Sets, get involved in simpler structures, their performance is poorer than the local aggregation ones like PointNet++ and Point Transformer. It remains an open problem whether there exists a global aggregation method with a simple structure, competitive performance, and even much fewer parameters. In this paper, we propose a novel global aggregation permutation-invariant network based on dual MLP dot-product, called DuMLP-Pin, which is capable of being employed to extract features for set inputs, including unordered or unstructured pixel, attribute, and point cloud data sets. We strictly prove that any permutation-invariant function implemented by DuMLP-Pin can be decomposed into two or more permutation-equivariant ones in a dot-product way as the cardinality of the given input set is greater than a threshold. We also show that the DuMLP-Pin can be viewed as Deep Sets with strong constraints under certain conditions. The performance of DuMLP-Pin is evaluated on several different tasks with diverse data sets. The experimental results demonstrate that our DuMLP-Pin achieves the best results on the two classification problems for pixel sets and attribute sets. On both the point cloud classification and the part segmentation, the accuracy of DuMLP-Pin is very close to the so-far best-performing local aggregation method with only a 1-2% difference, while the number of required parameters is significantly reduced by more than 85% in classification and 69% in segmentation, respectively.

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3D meshes are widely employed to represent geometry structure of 3D shapes. Due to limitation of scanning sensor precision and other issues, meshes are inevitably affected by noise, which hampers the subsequent applications. Convolultional neural networks (CNNs) achieve great success in image processing tasks, including 2D image denoising, and have been proven to own the capacity of modeling complex features at different scales, which is also particularly useful for mesh denoising. However, due to the nature of irregular structure, CNNs-based denosing strategies cannot be trivially applied for meshes. To circumvent this limitation, in the paper, we propose the local surface descriptor (LSD), which is able to transform the local deformable surface around a face into 2D grid representation and thus facilitates the deployment of CNNs to generate denoised face normals. To verify the superiority of LSD, we directly feed LSD into the classical Resnet without any complicated network design. The extensive experimental results show that, compared to the state-of-the-arts, our method achieves encouraging performance with respect to both objective and subjective evaluations.

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Deep learning-based approaches have shown remarkable performance in the 3D object detection task. However, they suffer from a catastrophic performance drop on the originally trained classes when incrementally learning new classes without revisiting the old data. This "catastrophic forgetting" phenomenon impedes the deployment of 3D object detection approaches in real-world scenarios, where continuous learning systems are needed. In this paper, we study the unexplored yet important class-incremental 3D object detection problem and present the first solution - SDCoT, a novel static-dynamic co-teaching method. Our SDCoT alleviates the catastrophic forgetting of old classes via a static teacher, which provides pseudo annotations for old classes in the new samples and regularizes the current model by extracting previous knowledge with a distillation loss. At the same time, SDCoT consistently learns the underlying knowledge from new data via a dynamic teacher. We conduct extensive experiments on two benchmark datasets and demonstrate the superior performance of our SDCoT over baseline approaches in several incremental learning scenarios.

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We address cross-species 3D face morphing (i.e., 3D face morphing from human to animal), a novel problem with promising applications in social media and movie industry. It remains challenging how to preserve target structural information and source fine-grained facial details simultaneously. To this end, we propose an Alignment-aware 3D Face Morphing (AFM) framework, which builds semantic-adaptive correspondence between source and target faces across species, via an alignment-aware controller mesh (Explicit Controller, EC) with explicit source/target mesh binding. Based on EC, we introduce Controller-Based Mapping (CBM), which builds semantic consistency between source and target faces according to the semantic importance of different face regions. Additionally, an inference-stage coarse-to-fine strategy is exploited to produce fine-grained meshes with rich facial details from rough meshes. Extensive experimental results in multiple people and animals demonstrate that our method produces high-quality deformation results.

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In point cloud generation and completion, previous methods for transforming latent features to point clouds are generally based on fully connected layers (FC-based) or folding operations (Folding-based). However, point clouds generated by FC-based methods are usually troubled by outliers and rough surfaces. For folding-based methods, their data flow is large, convergence speed is slow, and they are also hard to handle the generation of non-smooth surfaces. In this work, we propose AXform, an attention-based method to transform latent features to point clouds. AXform first generates points in an interim space, using a fully connected layer. These interim points are then aggregated to generate the target point cloud. AXform takes both parameter sharing and data flow into account, which makes it has fewer outliers, fewer network parameters, and a faster convergence speed. The points generated by AXform do not have the strong 2-manifold constraint, which improves the generation of non-smooth surfaces. When AXform is expanded to multiple branches for local generations, the centripetal constraint makes it has properties of self-clustering and space consistency, which further enables unsupervised semantic segmentation. We also adopt this scheme and design AXformNet for point cloud completion. Considerable experiments on different datasets show that our methods achieve state-of-the-art results.

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3D object detection from point clouds data has become an indispensable part in autonomous driving. Previous works for processing point clouds lie in either projection or voxelization. However, projection-based methods suffer from information loss while voxelization-based methods bring huge computation. In this paper, we propose to encode point clouds into structured color image representation (SCIR) and utilize 2D CNN to fulfill the 3D detection task. Specifically, we use the structured color image encoding module to convert the irregular 3D point clouds into a squared 2D tensor image, where each point corresponds to a spatial point in the 3D space. Furthermore, in order to fit for the Euclidean structure, we apply feature normalization to parameterize the 2D tensor image onto a regular dense color image. Then, we conduct repeated multi-scale fusion with different levels so as to augment the initial features and learn scale-aware feature representations for box prediction. Extensive experiments on KITTI benchmark, Waymo Open Dataset and more challenging nuScenes dataset show that our proposed method yields decent results and demonstrate the effectiveness of such representations for point clouds.

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Point cloud registration is a fundamental step for many tasks. In this paper, we propose a neural network named DetarNet to decouple the translation $t$ and rotation $R$, so as to overcome the performance degradation due to their mutual interference in point cloud registration. First, a Siamese Network based Progressive and Coherent Feature Drift (PCFD) module is proposed to align the source and target points in high-dimensional feature space, and accurately recover translation from the alignment process. Then we propose a Consensus Encoding Unit (CEU) to construct more distinguishable features for a set of putative correspondences. After that, a Spatial and Channel Attention (SCA) block is adopted to build a classification network for finding good correspondences. Finally, the rotation is obtained by Singular Value Decomposition (SVD). In this way, the proposed network decouples the estimation of translation and rotation, resulting in better performance for both of them. Experimental results demonstrate that the proposed DetarNet improves registration performance on both indoor and outdoor scenes. Our code will be available in \url{https://github.com/ZhiChen902/DetarNet}.

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Detecting 3D lanes from the camera is a rising problem for autonomous vehicles. In this task, the correct camera pose is the key to generating accurate lanes, which can transform an image from perspective-view to the top-view. With this transformation, we can get rid of the perspective effects so that 3D lanes would look similar and can accurately be fitted by low-order polynomials. However, mainstream 3D lane detectors rely on perfect camera poses provided by other sensors, which is expensive and encounters multi-sensor calibration issues. To overcome this problem, we propose to predict 3D lanes by estimating camera pose from a single image with a two-stage framework. The first stage aims at the camera pose task from perspective-view images. To improve pose estimation, we introduce an auxiliary 3D lane task and geometry constraints to benefit from multi-task learning, which enhances consistencies between 3D and 2D, as well as compatibility in the above two tasks. The second stage targets the 3D lane task. It uses previously estimated pose to generate top-view images containing distance-invariant lane appearances for predicting accurate 3D lanes. Experiments demonstrate that, without ground truth camera pose, our method outperforms the state-of-the-art perfect-camera-pose-based methods and has the fewest parameters and computations. Codes are available at https://github.com/liuruijin17/CLGo.

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Recovering a dense depth image from sparse LiDAR scans is a challenging task. Despite the popularity of color-guided methods for sparse-to-dense depth completion, they treated pixels equally during optimization, ignoring the uneven distribution characteristics in the sparse depth map and the accumulated outliers in the synthesized ground truth. In this work, we introduce uncertainty-driven loss functions to improve the robustness of depth completion and handle the uncertainty in depth completion. Specifically, we propose an explicit uncertainty formulation for robust depth completion with Jeffrey's prior. A parametric uncertain-driven loss is introduced and translated to new loss functions that are robust to noisy or missing data. Meanwhile, we propose a multiscale joint prediction model that can simultaneously predict depth and uncertainty maps. The estimated uncertainty map is also used to perform adaptive prediction on the pixels with high uncertainty, leading to a residual map for refining the completion results. Our method has been tested on KITTI Depth Completion Benchmark and achieved the state-of-the-art robustness performance in terms of MAE, IMAE, and IRMSE metrics.

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Local image feature matching under large appearance, viewpoint, and distance changes is challenging yet important. Conventional methods detect and match tentative local features across the whole images, with heuristic consistency checks to guarantee reliable matches. In this paper, we introduce a novel Overlap Estimation method conditioned on image pairs with TRansformer, named OETR, to constrain local feature matching in the commonly visible region. OETR performs overlap estimation in a two-step process of feature correlation and then overlap regression. As a preprocessing module, OETR can be plugged into any existing local feature detection and matching pipeline, to mitigate potential view angle or scale variance. Intensive experiments show that OETR can boost state-of-the-art local feature matching performance substantially, especially for image pairs with small shared regions. Code will be available upon publication.

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In order to fully perceive the surrounding environment, many intelligent robots and self-driving cars are equipped with a multi-camera system. Based on this system, the structure-from-motion (SfM) technology is used to realize scene reconstruction, but the fixed relative poses between cameras in the multi-camera system are usually not considered. This paper presents a tailor-made multi-camera based motion averaging system, where the fixed relative poses are utilized to improve the accuracy and robustness of SfM. Our approach starts by dividing the images into reference images and non-reference images, and edges in view-graph are divided into four categories accordingly. Then, a multi-camera based rotating averaging problem is formulated and solved in two stages, where an iterative re-weighted least squares scheme is used to deal with outliers. Finally, a multi-camera based translation averaging problem is formulated and a l1-norm based optimization scheme is proposed to compute the relative translations of multi-camera system and reference camera positions simultaneously. Experiments demonstrate that our algorithm achieves superior accuracy and robustness on various data sets compared to the state-of-the-art methods.

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Advances in LiDAR sensors provide rich 3D data that supports 3D scene understanding. However, due to occlusion and signal miss, LiDAR point clouds are in practice 2.5D as they cover only partial underlying shapes, which poses a fundamental challenge to 3D perception. To tackle the challenge, we present a novel LiDAR-based 3D object detection model, dubbed Behind the Curtain Detector (BtcDet), which learns the object shape priors and estimates the complete object shapes that are partially occluded (curtained) in point clouds. BtcDet first identifies the regions that are affected by occlusion and signal miss. In these regions, our model predicts the probability of occupancy that indicates if a region contains object shapes and integrates this probability map with detection features and generates high-quality 3D proposals. Finally, the occupancy estimation is integrated into the proposal refinement module to generate accurate bounding boxes. Extensive experiments on the KITTI Dataset and the Waymo Open Dataset demonstrate the effectiveness of BtcDet. Particularly for the 3D detection of both cars and cyclists on the KITTI benchmark, BtcDet surpasses all of the published state-of-the-art methods by remarkable margins. Code is released (https://github.com/Xharlie/BtcDet).

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