New architecture tracks objects in cluttered scenes without supervision.
problem Learning to track objects in large scenes with many objects.
method Spatially invariant computations and representations.
result Outperforms competing methods in tracking objects in cluttered scenes.
PiVoT improves real-time multi-object detection and tracking in clutter.
problem Challenges in multi-object detection and tracking from noisy point clouds.
method Variational inference for fast, clutter-resilient multi-object tracking.
result Substantial performance improvement over existing Bayesian trackers.
Improved RL for grasping in cluttered scenes using state representation learning.
problem Poor performance of RL methods in grasping diverse objects from raw images.
method Employed state representation learning (SRL) with disentanglement of raw input images.
result Deep RL can learn grasping skills from varied visual inputs.
Video prediction models combined with planning algorithms have shown promise in enabling robots to learn to perform many vision-based tasks through only self-supervision, reaching novel goals in cluttered scenes with unseen objects. However, due to the compounding uncertainty in long horizon video prediction and poor s…
MIRO learns robust latent spaces by maximizing mutual information with future information.
problem Robust perception in complex, unstructured environments with low sample complexity.
method MIRO maximizes mutual information in a latent space for model-based reinforcement learning.
result MIRO outperforms reconstruction objectives in cluttered scenes.
Object tracking is an ubiquitous problem that appears in many applications such as remote sensing, audio processing, computer vision, human-machine interfaces, human-robot interaction, etc. Although thoroughly investigated in computer vision, tracking a time-varying number of persons remains a challenging open problem.…
Hybrid approach combines transformer and Bayesian filtering for robust multiple particle tracking.
problem Challenges in tracking multiple particles in noisy scenes due to combinatorial explosion of hypotheses.
method Attention-Bayesian hybrid framework using transformer for association and Bayesian filtering for pruning hypotheses.
result Improved tracking accuracy and robustness against spurious detections.
Bayesian nonparametric models improve tracking in cluttered environments.
problem Robust tracking of moving targets in high clutter environments.
method Employing Bayesian nonparametric models to estimate target and clutter measurements.
result Improved tracking performance and effectiveness in high clutter environments.
We have developed an efficient algorithm for the maximum likelihood joint tracking and association problem in a strong clutter for GMTI data. By using an iterative procedure of the dynamic logic process "from vague-to-crisp," the new tracker overcomes combinatorial complexity of tracking in highly-cluttered scenarios a…
Robust STAP with coprime arrays reduces clutter using sparse modeling.
problem Limited performance due to training samples support in practical applications.
method Two-stage approach: 1) RD virtual snapshot, 2) RD sparse measurement modeling with OMP-like recovery.
result Robust to prior knowledge errors, good clutter suppression performance.
Traditional recognition methods typically require large, artificially-balanced training classes, while few-shot learning methods are tested on artificially small ones. In contrast to both extremes, real world recognition problems exhibit heavy-tailed class distributions, with cluttered scenes and a mix of coarse and fi…
Discrete return (DR) Laser Detection and Ranging (Ladar) systems provide a series of echoes that reflect from objects in a scene. These can be first, last or multi-echo returns. In contrast, Full-Waveform (FW)-Ladar systems measure the intensity of light reflected from objects continuously over a period of time. In a c…
The Long Short-Term Memory (LSTM) neural network based data association algorithm named as DeepDA for multi-target tracking in clutters is proposed to deal with the NP-hard combinatorial optimization problem in this paper. Different from the classical data association methods involving complex models and accurate prior…
Analytical method approximates ELBO gradient in clutter problem.
problem Clutter problem in Bayesian networks with Gaussian likelihood.
method Reparameterization trick, local approximation of likelihood factors.
result Good accuracy and linear computational complexity compared to classical methods.
SVDD and Deep SVDD improve radar target detection in clutter.
problem Clutter and thermal noise degrade classical radar detection methods.
method Support Vector Data Description (SVDD) and Deep SVDD for one-class learning.
result SVDD and Deep SVDD outperform traditional methods on simulated radar data.
Paper uses VAEs to detect radar targets in complex noise.
problem Detecting radar targets in compound clutter and thermal noise.
method Proposes a VAE architecture to distinguish radar targets from various noise types.
result The VAE outperforms classical detectors in challenging noise conditions.
Best performing nuclear segmentation methods are based on deep learning algorithms that require a large amount of annotated data. However, collecting annotations for nuclear segmentation is a very labor-intensive and time-consuming task. Thereby, providing a tool that can facilitate and speed up this procedure is very …
Robotic grasping system learns to target objects from a single image.
problem Robotic grasping in unstructured environments.
method Distributed reinforcement learning, active vision, synchronous SGD.
result System learns to grasp unseen objects without retraining.
Contrast enhanced ultrasound is a radiation-free imaging modality which uses encapsulated gas microbubbles for improved visualization of the vascular bed deep within the tissue. It has recently been used to enable imaging with unprecedented subwavelength spatial resolution by relying on super-resolution techniques. A t…
Novel unsupervised MIG detectors improve signal detection in cluttered environments.
problem Signal detection in nonhomogeneous clutter environments.
method Developed novel discriminative MIG detectors using HPD matrices and geometric measures.
result Improved signal detection performance compared to conventional methods.
CVAE detects weak complex signals in maritime radar, improving detection over classical methods.
problem Detecting weak complex-valued signals in non-Gaussian, range-varying interference.
method Complex-valued Variational AutoEncoder (CVAE) trained on clutter-plus-noise, whitening, ANMF fusion.
result CVAE yields higher detection probability Pd at matched false-alarm rate Pfa, especially with whitening.
Using low-frequency (UHF to L-band) ultra-wideband (UWB) synthetic aperture radar (SAR) technology for detecting buried and obscured targets, e.g. bomb or mine, has been successfully demonstrated recently. Despite promising recent progress, a significant open challenge is to distinguish obscured targets from other (nat…
FPI methods compute barycenters of Gaussian sets for various dissimilarity measures.
problem Efficiently compute barycenters of Gaussian sets for multiple dissimilarity measures.
method Fixed-Point Iterations (FPI) for several dissimilarity measures.
result FPI provides a useful toolbox for fusion/reduction of Gaussian sets.
A neural scene representation framework enforcing 3D transformations.
problem Learning 3D scene representations from images without 3D supervision.
method Introducing a loss enforcing equivariance of the scene representation with 3D transformations.
result Real-time neural rendering with comparable results to models requiring minutes for inference.
3D filament plots visualize curves in datasets, avoiding visual clutter.
problem Visualizing high-dimensional data relationships in scatterplots of points.
method Construct 3D filament plots using linear isometries and Frenet-Serret systems.
result 3D filament plots preserve Euclidean distances and avoid visual clutter.
New model separates objects in scenes, enabling novel arrangements and depth.
problem Lack of modular, compositional scene modeling in generative models.
method Ensemble of generative models (experts) compete for explaining different parts of a scene.
result Model generates scenes with novel object arrangement and depth ordering.
Generative latent-variable models are emerging as promising tools in robotics and reinforcement learning. Yet, even though tasks in these domains typically involve distinct objects, most state-of-the-art generative models do not explicitly capture the compositional nature of visual scenes. Two recent exceptions, MONet …
Joint scene understanding and segmentation for automotive applications is a challenging problem in two key aspects:- (1) classifying every pixel in the entire scene and (2) performing this task under unstable weather and illumination changes (e.g. foggy weather), which results in poor outdoor scene visibility. This poo…
ROOTS learns to represent and render 3D scenes with object-centric models.
problem Learning to represent and render 3D scenes with object-centric compositionality.
method Probabilistic generative model for learning object representations and scene rendering from partial observations.
result The model can infer 3D object representations and render scenes from arbitrary viewpoints.
Despite enormous progress in object detection and classification, the problem of incorporating expected contextual relationships among object instances into modern recognition systems remains a key challenge. In this work we propose Information Pursuit, a Bayesian framework for scene parsing that combines prior models …
SPACE models complex scenes by decomposing objects and backgrounds.
problem Scalability and unsupervised object-oriented scene representation learning.
method Generative latent variable model combining spatial-attention and scene-mixture approaches.
result SPACE achieves factorized object representations and decomposes complex scenes.
NeRF-VAE generates 3D scenes with geometric structure from few images.
problem Generating 3D scenes from few images with geometric consistency.
method Combines NeRF and VAE, incorporating shared geometric structure.
result NeRF-VAE can infer and render geometrically-consistent scenes from unseen environments.
Scene text magnifier aims to magnify text in natural scene images without recognition. It could help the special groups, who have myopia or dyslexia to better understand the scene. In this paper, we design the scene text magnifier through interacted four CNN-based networks: character erasing, character extraction, char…
Improved acoustic scene classification with factorized CNN.
problem Acoustic scene classification in varying environments.
method Large-margin factorized CNN with triplet loss.
result Improved performance and better generalization on unseen data.
A new method for estimating joint value functions in multi-scene reinforcement learning.
problem High variance in samples for policy gradient computations in multi-scene environments.
method Sparse attention mechanism over multiple value function hypotheses to approximate the true joint value function.
result Significant improvements in reward scores and enhanced navigation efficiency across OpenAI ProcGen environments.
Generative models learn from unlabeled videos via object segmentation and scene modeling.
problem Learning generative models from unlabelled videos.
method Decomposed into three subtasks: motion segmentation, background and foreground modeling, and scene sampling.
result Approach allows learning models that generalize beyond occlusions and represent scenes in a modular fashion.
Generative Multisensory Network learns 3D scene representations from multiple modalities.
problem Learning robust 3D scene representations from multiple sensory modalities.
method Amortized Product-of-Experts for efficient inference and cross-modal generation.
result The model can infer modality-invariant 3D scene representations efficiently from various sensory modalities.
Pix2Shape learns 3D scene representations from single images without supervision.
problem Learning 3D scene information from a single image without supervision.
method Pix2Shape uses an encoder, decoder, and critic network to generate 2.5D surfel-based reconstructions.
result Pix2Shape can generate complex 3D scenes from a single image, scaling with on-screen resolution.
Paper improves reinforcement learning in multi-scene tasks.
problem Reducing sample variance in multi-scene reinforcement learning.
method Sparse dynamic value estimation using Gaussian mixture models.
result Significant improvements in reward scores and navigation efficiency.
RICH models scenes as hierarchical tree to learn and generate complex compositions.
problem Learning compositional structures between parts and objects in natural scenes.
method RICH uses a latent scene graph to organize entities into a tree structure and employs a top-down inference approach.
result RICH learns and generates complex scene hierarchies from unlabeled data.
A network removes irrelevant structures from chest radiographs for better analysis.
problem Clutter in chest radiographs hinders visual inspection and analysis.
method Fully Convolutional Network to suppress undesired visual structure.
result Improved classifier performance with limited training data.
Improves reinforcement learning agent's scene-specific value function.
problem High variance in samples for policy gradient computations in multi-scene environments.
method Proposes dynamic value estimation (DVE) for multiple MDPs, clustering value functions across scenes.
result Lower sample variance and more accurate scene-specific value function estimates.
A novel method for visual question answering using scene graphs and reinforcement learning.
problem Answering free-form questions about images with deep linguistic and visual understanding.
method Context-driven, sequential reasoning based on scene graphs and reinforcement learning.
result Our method almost reaches human performance on the GQA dataset.
We propose a systematic learning-based approach to the generation of massive quantities of synthetic 3D scenes and arbitrary numbers of photorealistic 2D images thereof, with associated ground truth information, for the purposes of training, benchmarking, and diagnosing learning-based computer vision and robotics algor…
Acoustic scene classification is the task of identifying the scene from which the audio signal is recorded. Convolutional neural network (CNN) models are widely adopted with proven successes in acoustic scene classification. However, there is little insight on how an audio scene is perceived in CNN, as what have been d…
Generative model creates realistic scenes from pixel-wise labels.
problem Creating photo-realistic scenes from pixel-wise labels.
method Semantic bottleneck GAN model combining conditional and unconditional generation networks.
result Model outperforms state-of-the-art models in unsupervised image synthesis.
P3I learns holistic scene representations from a single image.
problem Inferring camera poses, object locations, and global scene structures from a single image.
method Combines search-based and gradient-based algorithms.
result P3I outperforms baselines on various image manipulation tasks.
This work considers an estimation task in compressive sensing, where the goal is to estimate an unknown signal from compressive measurements that are corrupted by additive pre-measurement noise (interference, or clutter) as well as post-measurement noise, in the specific setting where some (perhaps limited) prior knowl…