Daily Papers

Domain-adaptive thermal object detection plays a key role in facilitating visible (RGB)-to-thermal (IR) adaptation by reducing the need for co-registered image pairs and minimizing reliance on large annotated IR datasets. However, inherent limitations of IR images, such as the lack of color and texture cues, pose challenges for RGB-trained models, leading to increased false positives and poor-quality pseudo-labels. To address this, we propose Semantic-Aware Gray color Augmentation (SAGA), a novel strategy for mitigating color bias and bridging the domain gap by extracting object-level features relevant to IR images. Additionally, to validate the proposed SAGA for drone imagery, we introduce the IndraEye, a multi-sensor (RGB-IR) dataset designed for diverse applications. The dataset contains 5,612 images with 145,666 instances, captured from diverse angles, altitudes, backgrounds, and times of day, offering valuable opportunities for multimodal learning, domain adaptation for object detection and segmentation, and exploration of sensor-specific strengths and weaknesses. IndraEye aims to enhance the development of more robust and accurate aerial perception systems, especially in challenging environments. Experimental results show that SAGA significantly improves RGB-to-IR adaptation for autonomous driving and IndraEye dataset, achieving consistent performance gains of +0.4% to +7.6% (mAP) when integrated with state-of-the-art domain adaptation techniques. The dataset and codes are available at https://github.com/airliisc/IndraEye.

Despite increasing efforts on universal representations for visual recognition, few have addressed object detection. In this paper, we develop an effective and efficient universal object detection system that is capable of working on various image domains, from human faces and traffic signs to medical CT images. Unlike multi-domain models, this universal model does not require prior knowledge of the domain of interest. This is achieved by the introduction of a new family of adaptation layers, based on the principles of squeeze and excitation, and a new domain-attention mechanism. In the proposed universal detector, all parameters and computations are shared across domains, and a single network processes all domains all the time. Experiments, on a newly established universal object detection benchmark of 11 diverse datasets, show that the proposed detector outperforms a bank of individual detectors, a multi-domain detector, and a baseline universal detector, with a 1.3x parameter increase over a single-domain baseline detector. The code and benchmark will be released at http://www.svcl.ucsd.edu/projects/universal-detection/.

Unsupervised domain adaptive (UDA) algorithms can markedly enhance the performance of object detectors under conditions of domain shifts, thereby reducing the necessity for extensive labeling and retraining. Current domain adaptive object detection algorithms primarily cater to two-stage detectors, which tend to offer minimal improvements when directly applied to single-stage detectors such as YOLO. Intending to benefit the YOLO detector from UDA, we build a comprehensive domain adaptive architecture using a teacher-student cooperative system for the YOLO detector. In this process, we propose uncertainty learning to cope with pseudo-labeling generated by the teacher model with extreme uncertainty and leverage dynamic data augmentation to asymptotically adapt the teacher-student system to the environment. To address the inability of single-stage object detectors to align at multiple stages, we utilize a unified visual contrastive learning paradigm that aligns instance at backbone and head respectively, which steadily improves the robustness of the detectors in cross-domain tasks. In summary, we present an unsupervised domain adaptive YOLO detector based on visual contrastive learning (CLDA-YOLO), which achieves highly competitive results across multiple domain adaptive datasets without any reduction in inference speed.

In the field of object detection, domain generalisation (DG) aims to ensure robust performance across diverse and unseen target domains by learning the robust domain-invariant features corresponding to the objects of interest across multiple source domains. While there are many approaches established for performing DG for the task of classification, there has been a very little focus on object detection. In this paper, we propose a domain penalisation (DP) framework for the task of object detection, where the data is assumed to be sampled from multiple source domains and tested on completely unseen test domains. We assign penalisation weights to each domain, with the values updated based on the detection networks performance on the respective source domains. By prioritising the domains that needs more attention, our approach effectively balances the training process. We evaluate our solution on the GWHD 2021 dataset, a component of the WiLDS benchmark and we compare against ERM and GroupDRO as these are primarily loss function based. Our extensive experimental results reveals that the proposed approach improves the accuracy by 0.3 percent and 0.5 percent on validation and test out-of-distribution (OOD) sets, respectively for FasterRCNN. We also compare the performance of our approach on FCOS detector and show that our approach improves the baseline OOD performance over the existing approaches by 1.3 percent and 1.4 percent on validation and test sets, respectively. This study underscores the potential of performance based domain penalisation in enhancing the generalisation ability of object detection models across diverse environments.

Single-source domain generalization (SDG) in object detection aims to develop a detector using only source domain data that generalizes well to unseen target domains. Existing methods are primarily CNN-based and improve robustness through data augmentation combined with feature alignment. However, these methods are limited, as augmentation is only effective when the synthetic distribution approximates that of unseen domains, thus failing to ensure generalization across diverse scenarios. While DEtection TRansformer (DETR) has shown strong generalization in domain adaptation due to global context modeling, its potential for SDG remains underexplored. To this end, we propose Style-Adaptive DEtection TRansformer (SA-DETR), a DETR-based detector tailored for SDG. SA-DETR introduces an online domain style adapter that projects the style representation of unseen domains into the source domain via a dynamic memory bank. This bank self-organizes into diverse style prototypes and is continuously updated under a test-time adaptation framework, enabling effective style rectification. Additionally, we design an object-aware contrastive learning module to promote extraction of domain-invariant features. By applying gating masks that constrain contrastive learning in both spatial and semantic dimensions, this module facilitates instance-level cross-domain contrast and enhances generalization. Extensive experiments across five distinct weather scenarios demonstrate that SA-DETR consistently outperforms existing methods in both detection accuracy and domain generalization capability.

Despite their success in various vision tasks, deep neural network architectures often underperform in out-of-distribution scenarios due to the difference between training and target domain style. To address this limitation, we introduce One-Shot Style Adaptation (OSSA), a novel unsupervised domain adaptation method for object detection that utilizes a single, unlabeled target image to approximate the target domain style. Specifically, OSSA generates diverse target styles by perturbing the style statistics derived from a single target image and then applies these styles to a labeled source dataset at the feature level using Adaptive Instance Normalization (AdaIN). Extensive experiments show that OSSA establishes a new state-of-the-art among one-shot domain adaptation methods by a significant margin, and in some cases, even outperforms strong baselines that use thousands of unlabeled target images. By applying OSSA in various scenarios, including weather, simulated-to-real (sim2real), and visual-to-thermal adaptations, our study explores the overarching significance of the style gap in these contexts. OSSA's simplicity and efficiency allow easy integration into existing frameworks, providing a potentially viable solution for practical applications with limited data availability. Code is available at https://github.com/RobinGerster7/OSSA

We focus on the source-free domain adaptive object detection (SF-DAOD) problem when source data is unavailable during adaptation and the model must adapt to an unlabeled target domain. The majority of approaches for the problem employ a self-supervised approach using a student-teacher (ST) framework where pseudo-labels are generated via a source-pretrained model for further fine-tuning. We observe that the performance of a student model often degrades drastically, due to the collapse of the teacher model, primarily caused by high noise in pseudo-labels, resulting from domain bias, discrepancies, and a significant domain shift across domains. To obtain reliable pseudo-labels, we propose a Target-based Iterative Query-Token Adversarial Network (TITAN), which separates the target images into two subsets: those similar to the source (easy) and those dissimilar (hard). We propose a strategy to estimate variance to partition the target domain. This approach leverages the insight that higher detection variances correspond to higher recall and greater similarity to the source domain. Also, we incorporate query-token-based adversarial modules into a student-teacher baseline framework to reduce the domain gaps between two feature representations. Experiments conducted on four natural imaging datasets and two challenging medical datasets have substantiated the superior performance of TITAN compared to existing state-of-the-art (SOTA) methodologies. We report an mAP improvement of +22.7, +22.2, +21.1, and +3.7 percent over the current SOTA on C2F, C2B, S2C, and K2C benchmarks, respectively.

Object detection algorithms allow to enable many interesting applications which can be implemented in different devices, such as smartphones and wearable devices. In the context of a cultural site, implementing these algorithms in a wearable device, such as a pair of smart glasses, allow to enable the use of augmented reality (AR) to show extra information about the artworks and enrich the visitors' experience during their tour. However, object detection algorithms require to be trained on many well annotated examples to achieve reasonable results. This brings a major limitation since the annotation process requires human supervision which makes it expensive in terms of time and costs. A possible solution to reduce these costs consist in exploiting tools to automatically generate synthetic labeled images from a 3D model of the site. However, models trained with synthetic data do not generalize on real images acquired in the target scenario in which they are supposed to be used. Furthermore, object detectors should be able to work with different wearable devices or different mobile devices, which makes generalization even harder. In this paper, we present a new dataset collected in a cultural site to study the problem of domain adaptation for object detection in the presence of multiple unlabeled target domains corresponding to different cameras and a labeled source domain obtained considering synthetic images for training purposes. We present a new domain adaptation method which outperforms current state-of-the-art approaches combining the benefits of aligning the domains at the feature and pixel level with a self-training process. We release the dataset at the following link https://iplab.dmi.unict.it/OBJ-MDA/ and the code of the proposed architecture at https://github.com/fpv-iplab/STMDA-RetinaNet.

The insufficient number of annotated thermal infrared (TIR) image datasets not only hinders TIR image-based deep learning networks to have comparable performances to that of RGB but it also limits the supervised learning of TIR image-based tasks with challenging labels. As a remedy, we propose a modified multidomain RGB to TIR image translation model focused on edge preservation to employ annotated RGB images with challenging labels. Our proposed method not only preserves key details in the original image but also leverages the optimal TIR style code to portray accurate TIR characteristics in the translated image, when applied on both synthetic and real world RGB images. Using our translation model, we have enabled the supervised learning of deep TIR image-based optical flow estimation and object detection that ameliorated in deep TIR optical flow estimation by reduction in end point error by 56.5\% on average and the best object detection mAP of 23.9\% respectively. Our code and supplementary materials are available at https://github.com/rpmsnu/sRGB-TIR.

The widespread use of various chemical gases in industrial processes necessitates effective measures to prevent their leakage during transportation and storage, given their high toxicity. Thermal infrared-based computer vision detection techniques provide a straightforward approach to identify gas leakage areas. However, the development of high-quality algorithms has been challenging due to the low texture in thermal images and the lack of open-source datasets. In this paper, we present the RGB-Thermal Cross Attention Network (RT-CAN), which employs an RGB-assisted two-stream network architecture to integrate texture information from RGB images and gas area information from thermal images. Additionally, to facilitate the research of invisible gas detection, we introduce Gas-DB, an extensive open-source gas detection database including about 1.3K well-annotated RGB-thermal images with eight variant collection scenes. Experimental results demonstrate that our method successfully leverages the advantages of both modalities, achieving state-of-the-art (SOTA) performance among RGB-thermal methods, surpassing single-stream SOTA models in terms of accuracy, Intersection of Union (IoU), and F2 metrics by 4.86%, 5.65%, and 4.88%, respectively. The code and data can be found at https://github.com/logic112358/RT-CAN.

We present the HIT-UAV dataset, a high-altitude infrared thermal dataset for object detection applications on Unmanned Aerial Vehicles (UAVs). The dataset comprises 2,898 infrared thermal images extracted from 43,470 frames in hundreds of videos captured by UAVs in various scenarios including schools, parking lots, roads, and playgrounds. Moreover, the HIT-UAV provides essential flight data for each image, such as flight altitude, camera perspective, date, and daylight intensity. For each image, we have manually annotated object instances with bounding boxes of two types (oriented and standard) to tackle the challenge of significant overlap of object instances in aerial images. To the best of our knowledge, the HIT-UAV is the first publicly available high-altitude UAV-based infrared thermal dataset for detecting persons and vehicles. We have trained and evaluated well-established object detection algorithms on the HIT-UAV. Our results demonstrate that the detection algorithms perform exceptionally well on the HIT-UAV compared to visual light datasets since infrared thermal images do not contain significant irrelevant information about objects. We believe that the HIT-UAV will contribute to various UAV-based applications and researches. The dataset is freely available at https://github.com/suojiashun/HIT-UAV-Infrared-Thermal-Dataset.

Source-Free domain adaptive Object Detection (SFOD) is a promising strategy for deploying trained detectors to new, unlabeled domains without accessing source data, addressing significant concerns around data privacy and efficiency. Most SFOD methods leverage a Mean-Teacher (MT) self-training paradigm relying heavily on High-confidence Pseudo Labels (HPL). However, these HPL often overlook small instances that undergo significant appearance changes with domain shifts. Additionally, HPL ignore instances with low confidence due to the scarcity of training samples, resulting in biased adaptation toward familiar instances from the source domain. To address this limitation, we introduce the Low-confidence Pseudo Label Distillation (LPLD) loss within the Mean-Teacher based SFOD framework. This novel approach is designed to leverage the proposals from Region Proposal Network (RPN), which potentially encompasses hard-to-detect objects in unfamiliar domains. Initially, we extract HPL using a standard pseudo-labeling technique and mine a set of Low-confidence Pseudo Labels (LPL) from proposals generated by RPN, leaving those that do not overlap significantly with HPL. These LPL are further refined by leveraging class-relation information and reducing the effect of inherent noise for the LPLD loss calculation. Furthermore, we use feature distance to adaptively weight the LPLD loss to focus on LPL containing a larger foreground area. Our method outperforms previous SFOD methods on four cross-domain object detection benchmarks. Extensive experiments demonstrate that our LPLD loss leads to effective adaptation by reducing false negatives and facilitating the use of domain-invariant knowledge from the source model. Code is available at https://github.com/junia3/LPLD.

Domain adaptive detection aims to improve the generality of a detector, learned from the labeled source domain, on the unlabeled target domain. In this work, drawing inspiration from the concept of stability from the control theory that a robust system requires to remain consistent both externally and internally regardless of disturbances, we propose a novel framework that achieves unsupervised domain adaptive detection through stability analysis. In specific, we treat discrepancies between images and regions from different domains as disturbances, and introduce a novel simple but effective Network Stability Analysis (NSA) framework that considers various disturbances for domain adaptation. Particularly, we explore three types of perturbations including heavy and light image-level disturbances and instancelevel disturbance. For each type, NSA performs external consistency analysis on the outputs from raw and perturbed images and/or internal consistency analysis on their features, using teacher-student models. By integrating NSA into Faster R-CNN, we immediately achieve state-of-the-art results. In particular, we set a new record of 52.7% mAP on Cityscapes-to-FoggyCityscapes, showing the potential of NSA for domain adaptive detection. It is worth noticing, our NSA is designed for general purpose, and thus applicable to one-stage detection model (e.g., FCOS) besides the adopted one, as shown by experiments. https://github.com/tiankongzhang/NSA.

We present the Wildland-fire Infrared Thermal (WIT-UAS) dataset for long-wave infrared sensing of crew and vehicle assets amidst prescribed wildland fire environments. While such a dataset is crucial for safety monitoring in wildland fire applications, to the authors' awareness, no such dataset focusing on assets near fire is publicly available. Presumably, this is due to the barrier to entry of collaborating with fire management personnel. We present two related data subsets: WIT-UAS-ROS consists of full ROS bag files containing sensor and robot data of UAS flight over the fire, and WIT-UAS-Image contains hand-labeled long-wave infrared (LWIR) images extracted from WIT-UAS-ROS. Our dataset is the first to focus on asset detection in a wildland fire environment. We show that thermal detection models trained without fire data frequently detect false positives by classifying fire as people. By adding our dataset to training, we show that the false positive rate is reduced significantly. Yet asset detection in wildland fire environments is still significantly more challenging than detection in urban environments, due to dense obscuring trees, greater heat variation, and overbearing thermal signal of the fire. We publicize this dataset to encourage the community to study more advanced models to tackle this challenging environment. The dataset, code and pretrained models are available at https://github.com/castacks/WIT-UAS-Dataset.

Object detectors have achieved remarkable performance in many applications; however, these deep learning models are typically designed under the i.i.d. assumption, meaning they are trained and evaluated on data sampled from the same (source) distribution. In real-world deployment, however, target distributions often differ from source data, leading to substantial performance degradation. Domain Generalisation (DG) seeks to bridge this gap by enabling models to generalise to Out-Of-Distribution (OOD) data without access to target distributions during training, enhancing robustness to unseen conditions. In this work, we examine the generalisability and robustness of state-of-the-art object detectors under real-world distribution shifts, focusing particularly on spatial domain shifts. Despite the need, a standardised benchmark dataset specifically designed for assessing object detection under realistic DG scenarios is currently lacking. To address this, we introduce Real-World Distribution Shifts (RWDS), a suite of three novel DG benchmarking datasets that focus on humanitarian and climate change applications. These datasets enable the investigation of domain shifts across (i) climate zones and (ii) various disasters and geographic regions. To our knowledge, these are the first DG benchmarking datasets tailored for object detection in real-world, high-impact contexts. We aim for these datasets to serve as valuable resources for evaluating the robustness and generalisation of future object detection models. Our datasets and code are available at https://github.com/RWGAI/RWDS.

We introduce Constellation, a dataset of 13K images suitable for research on detection of objects in dense urban streetscapes observed from high-elevation cameras, collected for a variety of temporal conditions. The dataset addresses the need for curated data to explore problems in small object detection exemplified by the limited pixel footprint of pedestrians observed tens of meters from above. It enables the testing of object detection models for variations in lighting, building shadows, weather, and scene dynamics. We evaluate contemporary object detection architectures on the dataset, observing that state-of-the-art methods have lower performance in detecting small pedestrians compared to vehicles, corresponding to a 10% difference in average precision (AP). Using structurally similar datasets for pretraining the models results in an increase of 1.8% mean AP (mAP). We further find that incorporating domain-specific data augmentations helps improve model performance. Using pseudo-labeled data, obtained from inference outcomes of the best-performing models, improves the performance of the models. Finally, comparing the models trained using the data collected in two different time intervals, we find a performance drift in models due to the changes in intersection conditions over time. The best-performing model achieves a pedestrian AP of 92.0% with 11.5 ms inference time on NVIDIA A100 GPUs, and an mAP of 95.4%.

Current Transformer-based methods for small object detection continue emerging, yet they have still exhibited significant shortcomings. This paper introduces HeatMap Position Embedding (HMPE), a novel Transformer Optimization technique that enhances object detection performance by dynamically integrating positional encoding with semantic detection information through heatmap-guided adaptive learning.We also innovatively visualize the HMPE method, offering clear visualization of embedded information for parameter fine-tuning.We then create Multi-Scale ObjectBox-Heatmap Fusion Encoder (MOHFE) and HeatMap Induced High-Quality Queries for Decoder (HIDQ) modules. These are designed for the encoder and decoder, respectively, to generate high-quality queries and reduce background noise queries.Using both heatmap embedding and Linear-Snake Conv(LSConv) feature engineering, we enhance the embedding of massively diverse small object categories and reduced the decoder multihead layers, thereby accelerating both inference and training.In the generalization experiments, our approach outperforme the baseline mAP by 1.9% on the small object dataset (NWPU VHR-10) and by 1.2% on the general dataset (PASCAL VOC). By employing HMPE-enhanced embedding, we are able to reduce the number of decoder layers from eight to a minimum of three, significantly decreasing both inference and training costs.

Source-Free domain adaptive Object Detection (SFOD) aims to transfer a detector (pre-trained on source domain) to new unlabelled target domains. Current SFOD methods typically follow the Mean Teacher framework, where weak-to-strong augmentation provides diverse and sharp contrast for self-supervised learning. However, this augmentation strategy suffers from an inherent problem called crucial semantics loss: Due to random, strong disturbance, strong augmentation is prone to losing typical visual components, hindering cross-domain feature extraction. To address this thus-far ignored limitation, this paper introduces a novel Weak-to-Strong Contrastive Learning (WSCoL) approach. The core idea is to distill semantics lossless knowledge in the weak features (from the weak/teacher branch) to guide the representation learning upon the strong features (from the strong/student branch). To achieve this, we project the original features into a shared space using a mapping network, thereby reducing the bias between the weak and strong features. Meanwhile, a weak features-guided contrastive learning is performed in a weak-to-strong manner alternatively. Specifically, we first conduct an adaptation-aware prototype-guided clustering on the weak features to generate pseudo labels for corresponding strong features matched through proposals. Sequentially, we identify positive-negative samples based on the pseudo labels and perform cross-category contrastive learning on the strong features where an uncertainty estimator encourages adaptive background contrast. Extensive experiments demonstrate that WSCoL yields new state-of-the-art performance, offering a built-in mechanism mitigating crucial semantics loss for traditional Mean Teacher framework. The code and data will be released soon.

In this paper, we present a regression-based pose recognition method using cascade Transformers. One way to categorize the existing approaches in this domain is to separate them into 1). heatmap-based and 2). regression-based. In general, heatmap-based methods achieve higher accuracy but are subject to various heuristic designs (not end-to-end mostly), whereas regression-based approaches attain relatively lower accuracy but they have less intermediate non-differentiable steps. Here we utilize the encoder-decoder structure in Transformers to perform regression-based person and keypoint detection that is general-purpose and requires less heuristic design compared with the existing approaches. We demonstrate the keypoint hypothesis (query) refinement process across different self-attention layers to reveal the recursive self-attention mechanism in Transformers. In the experiments, we report competitive results for pose recognition when compared with the competing regression-based methods.

Current state-of-the-art methods for object detection rely on annotated bounding boxes of large data sets for training. However, obtaining such annotations is expensive and can require up to hundreds of hours of manual labor. This poses a challenge, especially since such annotations can only be provided by experts, as they require knowledge about the scientific domain. To tackle this challenge, we propose a domain-specific weakly supervised object detection algorithm that only relies on image-level annotations, which are significantly easier to acquire. Our method distills the knowledge of a pre-trained model, on the task of predicting the presence or absence of a virus in an image, to obtain a set of pseudo-labels that can be used to later train a state-of-the-art object detection model. To do so, we use an optimization approach with a shrinking receptive field to extract virus particles directly without specific network architectures. Through a set of extensive studies, we show how the proposed pseudo-labels are easier to obtain, and, more importantly, are able to outperform other existing weak labeling methods, and even ground truth labels, in cases where the time to obtain the annotation is limited.

Recently, many arbitrary-oriented object detection (AOOD) methods have been proposed and attracted widespread attention in many fields. However, most of them are based on anchor-boxes or standard Gaussian heatmaps. Such label assignment strategy may not only fail to reflect the shape and direction characteristics of arbitrary-oriented objects, but also have high parameter-tuning efforts. In this paper, a novel AOOD method called General Gaussian Heatmap Label Assignment (GGHL) is proposed. Specifically, an anchor-free object-adaptation label assignment (OLA) strategy is presented to define the positive candidates based on two-dimensional (2-D) oriented Gaussian heatmaps, which reflect the shape and direction features of arbitrary-oriented objects. Based on OLA, an oriented-bounding-box (OBB) representation component (ORC) is developed to indicate OBBs and adjust the Gaussian center prior weights to fit the characteristics of different objects adaptively through neural network learning. Moreover, a joint-optimization loss (JOL) with area normalization and dynamic confidence weighting is designed to refine the misalign optimal results of different subtasks. Extensive experiments on public datasets demonstrate that the proposed GGHL improves the AOOD performance with low parameter-tuning and time costs. Furthermore, it is generally applicable to most AOOD methods to improve their performance including lightweight models on embedded platforms.

A fundamental problem in learning robust and expressive visual representations lies in efficiently estimating the spatial relationships of visual semantics throughout the entire image. In this study, we propose vHeat, a novel vision backbone model that simultaneously achieves both high computational efficiency and global receptive field. The essential idea, inspired by the physical principle of heat conduction, is to conceptualize image patches as heat sources and model the calculation of their correlations as the diffusion of thermal energy. This mechanism is incorporated into deep models through the newly proposed module, the Heat Conduction Operator (HCO), which is physically plausible and can be efficiently implemented using DCT and IDCT operations with a complexity of O(N^{1.5}). Extensive experiments demonstrate that vHeat surpasses Vision Transformers (ViTs) across various vision tasks, while also providing higher inference speeds, reduced FLOPs, and lower GPU memory usage for high-resolution images. The code will be released at https://github.com/MzeroMiko/vHeat.

We consider the problem of cross-sensor domain adaptation in the context of LiDAR-based 3D object detection and propose Stationary Object Aggregation Pseudo-labelling (SOAP) to generate high quality pseudo-labels for stationary objects. In contrast to the current state-of-the-art in-domain practice of aggregating just a few input scans, SOAP aggregates entire sequences of point clouds at the input level to reduce the sensor domain gap. Then, by means of what we call quasi-stationary training and spatial consistency post-processing, the SOAP model generates accurate pseudo-labels for stationary objects, closing a minimum of 30.3% domain gap compared to few-frame detectors. Our results also show that state-of-the-art domain adaptation approaches can achieve even greater performance in combination with SOAP, in both the unsupervised and semi-supervised settings.

In nighttime conditions, high noise levels and bright illumination sources degrade image quality, making low-light image enhancement challenging. Thermal images provide complementary information, offering richer textures and structural details. We propose RT-X Net, a cross-attention network that fuses RGB and thermal images for nighttime image enhancement. We leverage self-attention networks for feature extraction and a cross-attention mechanism for fusion to effectively integrate information from both modalities. To support research in this domain, we introduce the Visible-Thermal Image Enhancement Evaluation (V-TIEE) dataset, comprising 50 co-located visible and thermal images captured under diverse nighttime conditions. Extensive evaluations on the publicly available LLVIP dataset and our V-TIEE dataset demonstrate that RT-X Net outperforms state-of-the-art methods in low-light image enhancement. The code and the V-TIEE can be found here https://github.com/jhakrraman/rt-xnet.

Domain adaptive semantic segmentation aims to transfer knowledge from a labeled source domain to an unlabeled target domain. However, existing methods primarily focus on directly learning qualified target features, making it challenging to guarantee their discrimination in the absence of target labels. This work provides a new perspective. We observe that the features learned with source data manage to keep categorically discriminative during training, thereby enabling us to implicitly learn adequate target representations by simply pulling target features close to source features for each category. To this end, we propose T2S-DA, which we interpret as a form of pulling Target to Source for Domain Adaptation, encouraging the model in learning similar cross-domain features. Also, considering the pixel categories are heavily imbalanced for segmentation datasets, we come up with a dynamic re-weighting strategy to help the model concentrate on those underperforming classes. Extensive experiments confirm that T2S-DA learns a more discriminative and generalizable representation, significantly surpassing the state-of-the-art. We further show that our method is quite qualified for the domain generalization task, verifying its domain-invariant property.

Pre-training techniques significantly enhance the performance of semantic segmentation tasks with limited training data. However, the efficacy under a large domain gap between pre-training (e.g. RGB) and fine-tuning (e.g. infrared) remains underexplored. In this study, we first benchmark the infrared semantic segmentation performance of various pre-training methods and reveal several phenomena distinct from the RGB domain. Next, our layerwise analysis of pre-trained attention maps uncovers that: (1) There are three typical attention patterns (local, hybrid, and global); (2) Pre-training tasks notably influence the pattern distribution across layers; (3) The hybrid pattern is crucial for semantic segmentation as it attends to both nearby and foreground elements; (4) The texture bias impedes model generalization in infrared tasks. Building on these insights, we propose UNIP, a UNified Infrared Pre-training framework, to enhance the pre-trained model performance. This framework uses the hybrid-attention distillation NMI-HAD as the pre-training target, a large-scale mixed dataset InfMix for pre-training, and a last-layer feature pyramid network LL-FPN for fine-tuning. Experimental results show that UNIP outperforms various pre-training methods by up to 13.5\% in average mIoU on three infrared segmentation tasks, evaluated using fine-tuning and linear probing metrics. UNIP-S achieves performance on par with MAE-L while requiring only 1/10 of the computational cost. Furthermore, UNIP significantly surpasses state-of-the-art (SOTA) infrared or RGB segmentation methods and demonstrates broad potential for application in other modalities, such as RGB and depth. Our code is available at https://github.com/casiatao/UNIP.

Modern diffusion-based image generative models have made significant progress and become promising to enrich training data for the object detection task. However, the generation quality and the controllability for complex scenes containing multi-class objects and dense objects with occlusions remain limited. This paper presents ODGEN, a novel method to generate high-quality images conditioned on bounding boxes, thereby facilitating data synthesis for object detection. Given a domain-specific object detection dataset, we first fine-tune a pre-trained diffusion model on both cropped foreground objects and entire images to fit target distributions. Then we propose to control the diffusion model using synthesized visual prompts with spatial constraints and object-wise textual descriptions. ODGEN exhibits robustness in handling complex scenes and specific domains. Further, we design a dataset synthesis pipeline to evaluate ODGEN on 7 domain-specific benchmarks to demonstrate its effectiveness. Adding training data generated by ODGEN improves up to 25.3% [email protected]:.95 with object detectors like YOLOv5 and YOLOv7, outperforming prior controllable generative methods. In addition, we design an evaluation protocol based on COCO-2014 to validate ODGEN in general domains and observe an advantage up to 5.6% in [email protected]:.95 against existing methods.

We present a new method that views object detection as a direct set prediction problem. Our approach streamlines the detection pipeline, effectively removing the need for many hand-designed components like a non-maximum suppression procedure or anchor generation that explicitly encode our prior knowledge about the task. The main ingredients of the new framework, called DEtection TRansformer or DETR, are a set-based global loss that forces unique predictions via bipartite matching, and a transformer encoder-decoder architecture. Given a fixed small set of learned object queries, DETR reasons about the relations of the objects and the global image context to directly output the final set of predictions in parallel. The new model is conceptually simple and does not require a specialized library, unlike many other modern detectors. DETR demonstrates accuracy and run-time performance on par with the well-established and highly-optimized Faster RCNN baseline on the challenging COCO object detection dataset. Moreover, DETR can be easily generalized to produce panoptic segmentation in a unified manner. We show that it significantly outperforms competitive baselines. Training code and pretrained models are available at https://github.com/facebookresearch/detr.

Reliable usage of object detectors require them to be calibrated -- a crucial problem that requires careful attention. Recent approaches towards this involve (1) designing new loss functions to obtain calibrated detectors by training them from scratch, and (2) post-hoc Temperature Scaling (TS) that learns to scale the likelihood of a trained detector to output calibrated predictions. These approaches are then evaluated based on a combination of Detection Expected Calibration Error (D-ECE) and Average Precision. In this work, via extensive analysis and insights, we highlight that these recent evaluation frameworks, evaluation metrics, and the use of TS have notable drawbacks leading to incorrect conclusions. As a step towards fixing these issues, we propose a principled evaluation framework to jointly measure calibration and accuracy of object detectors. We also tailor efficient and easy-to-use post-hoc calibration approaches such as Platt Scaling and Isotonic Regression specifically for object detection task. Contrary to the common notion, our experiments show that once designed and evaluated properly, post-hoc calibrators, which are extremely cheap to build and use, are much more powerful and effective than the recent train-time calibration methods. To illustrate, D-DETR with our post-hoc Isotonic Regression calibrator outperforms the recent train-time state-of-the-art calibration method Cal-DETR by more than 7 D-ECE on the COCO dataset. Additionally, we propose improved versions of the recently proposed Localization-aware ECE and show the efficacy of our method on these metrics as well. Code is available at: https://github.com/fiveai/detection_calibration.

Fully convolutional models for dense prediction have proven successful for a wide range of visual tasks. Such models perform well in a supervised setting, but performance can be surprisingly poor under domain shifts that appear mild to a human observer. For example, training on one city and testing on another in a different geographic region and/or weather condition may result in significantly degraded performance due to pixel-level distribution shift. In this paper, we introduce the first domain adaptive semantic segmentation method, proposing an unsupervised adversarial approach to pixel prediction problems. Our method consists of both global and category specific adaptation techniques. Global domain alignment is performed using a novel semantic segmentation network with fully convolutional domain adversarial learning. This initially adapted space then enables category specific adaptation through a generalization of constrained weak learning, with explicit transfer of the spatial layout from the source to the target domains. Our approach outperforms baselines across different settings on multiple large-scale datasets, including adapting across various real city environments, different synthetic sub-domains, from simulated to real environments, and on a novel large-scale dash-cam dataset.

Models trained on one set of domains often suffer performance drops on unseen domains, e.g., when wildlife monitoring models are deployed in new camera locations. In this work, we study principles for designing data augmentations for out-of-domain (OOD) generalization. In particular, we focus on real-world scenarios in which some domain-dependent features are robust, i.e., some features that vary across domains are predictive OOD. For example, in the wildlife monitoring application above, image backgrounds vary across camera locations but indicate habitat type, which helps predict the species of photographed animals. Motivated by theoretical analysis on a linear setting, we propose targeted augmentations, which selectively randomize spurious domain-dependent features while preserving robust ones. We prove that targeted augmentations improve OOD performance, allowing models to generalize better with fewer domains. In contrast, existing approaches such as generic augmentations, which fail to randomize domain-dependent features, and domain-invariant augmentations, which randomize all domain-dependent features, both perform poorly OOD. In experiments on three real-world datasets, we show that targeted augmentations set new states-of-the-art for OOD performance by 3.2-15.2%.

A powerful way to adapt a visual recognition model to a new domain is through image translation. However, common image translation approaches only focus on generating data from the same distribution as the target domain. Given a cross-modal application, such as pedestrian detection from aerial images, with a considerable shift in data distribution between infrared (IR) to visible (RGB) images, a translation focused on generation might lead to poor performance as the loss focuses on irrelevant details for the task. In this paper, we propose HalluciDet, an IR-RGB image translation model for object detection. Instead of focusing on reconstructing the original image on the IR modality, it seeks to reduce the detection loss of an RGB detector, and therefore avoids the need to access RGB data. This model produces a new image representation that enhances objects of interest in the scene and greatly improves detection performance. We empirically compare our approach against state-of-the-art methods for image translation and for fine-tuning on IR, and show that our HalluciDet improves detection accuracy in most cases by exploiting the privileged information encoded in a pre-trained RGB detector. Code: https://github.com/heitorrapela/HalluciDet

Detecting vehicles in aerial imagery is a critical task with applications in traffic monitoring, urban planning, and defense intelligence. Deep learning methods have provided state-of-the-art (SOTA) results for this application. However, a significant challenge arises when models trained on data from one geographic region fail to generalize effectively to other areas. Variability in factors such as environmental conditions, urban layouts, road networks, vehicle types, and image acquisition parameters (e.g., resolution, lighting, and angle) leads to domain shifts that degrade model performance. This paper proposes a novel method that uses generative AI to synthesize high-quality aerial images and their labels, improving detector training through data augmentation. Our key contribution is the development of a multi-stage, multi-modal knowledge transfer framework utilizing fine-tuned latent diffusion models (LDMs) to mitigate the distribution gap between the source and target environments. Extensive experiments across diverse aerial imagery domains show consistent performance improvements in AP50 over supervised learning on source domain data, weakly supervised adaptation methods, unsupervised domain adaptation methods, and open-set object detectors by 4-23%, 6-10%, 7-40%, and more than 50%, respectively. Furthermore, we introduce two newly annotated aerial datasets from New Zealand and Utah to support further research in this field. Project page is available at: https://humansensinglab.github.io/AGenDA

There is a growing interest in designing models that can deal with images from different visual domains. If there exists a universal structure in different visual domains that can be captured via a common parameterization, then we can use a single model for all domains rather than one model per domain. A model aware of the relationships between different domains can also be trained to work on new domains with less resources. However, to identify the reusable structure in a model is not easy. In this paper, we propose a multi-domain learning architecture based on depthwise separable convolution. The proposed approach is based on the assumption that images from different domains share cross-channel correlations but have domain-specific spatial correlations. The proposed model is compact and has minimal overhead when being applied to new domains. Additionally, we introduce a gating mechanism to promote soft sharing between different domains. We evaluate our approach on Visual Decathlon Challenge, a benchmark for testing the ability of multi-domain models. The experiments show that our approach can achieve the highest score while only requiring 50% of the parameters compared with the state-of-the-art approaches.

Thermal imaging has a variety of applications, from agricultural monitoring to building inspection to imaging under poor visibility, such as in low light, fog, and rain. However, reconstructing thermal scenes in 3D presents several challenges due to the comparatively lower resolution and limited features present in long-wave infrared (LWIR) images. To overcome these challenges, we propose a unified framework for scene reconstruction from a set of LWIR and RGB images, using a multispectral radiance field to represent a scene viewed by both visible and infrared cameras, thus leveraging information across both spectra. We calibrate the RGB and infrared cameras with respect to each other, as a preprocessing step using a simple calibration target. We demonstrate our method on real-world sets of RGB and LWIR photographs captured from a handheld thermal camera, showing the effectiveness of our method at scene representation across the visible and infrared spectra. We show that our method is capable of thermal super-resolution, as well as visually removing obstacles to reveal objects that are occluded in either the RGB or thermal channels. Please see https://yvette256.github.io/thermalnerf for video results as well as our code and dataset release.

Existing object detection methods often consider sRGB input, which was compressed from RAW data using ISP originally designed for visualization. However, such compression might lose crucial information for detection, especially under complex light and weather conditions. We introduce the AODRaw dataset, which offers 7,785 high-resolution real RAW images with 135,601 annotated instances spanning 62 categories, capturing a broad range of indoor and outdoor scenes under 9 distinct light and weather conditions. Based on AODRaw that supports RAW and sRGB object detection, we provide a comprehensive benchmark for evaluating current detection methods. We find that sRGB pre-training constrains the potential of RAW object detection due to the domain gap between sRGB and RAW, prompting us to directly pre-train on the RAW domain. However, it is harder for RAW pre-training to learn rich representations than sRGB pre-training due to the camera noise. To assist RAW pre-training, we distill the knowledge from an off-the-shelf model pre-trained on the sRGB domain. As a result, we achieve substantial improvements under diverse and adverse conditions without relying on extra pre-processing modules. Code and dataset are available at https://github.com/lzyhha/AODRaw.

In this paper, we aim to design an efficient real-time object detector that exceeds the YOLO series and is easily extensible for many object recognition tasks such as instance segmentation and rotated object detection. To obtain a more efficient model architecture, we explore an architecture that has compatible capacities in the backbone and neck, constructed by a basic building block that consists of large-kernel depth-wise convolutions. We further introduce soft labels when calculating matching costs in the dynamic label assignment to improve accuracy. Together with better training techniques, the resulting object detector, named RTMDet, achieves 52.8% AP on COCO with 300+ FPS on an NVIDIA 3090 GPU, outperforming the current mainstream industrial detectors. RTMDet achieves the best parameter-accuracy trade-off with tiny/small/medium/large/extra-large model sizes for various application scenarios, and obtains new state-of-the-art performance on real-time instance segmentation and rotated object detection. We hope the experimental results can provide new insights into designing versatile real-time object detectors for many object recognition tasks. Code and models are released at https://github.com/open-mmlab/mmdetection/tree/3.x/configs/rtmdet.

Human adaptability relies crucially on learning and merging knowledge from both supervised and unsupervised tasks: the parents point out few important concepts, but then the children fill in the gaps on their own. This is particularly effective, because supervised learning can never be exhaustive and thus learning autonomously allows to discover invariances and regularities that help to generalize. In this paper we propose to apply a similar approach to the problem of object recognition across domains: our model learns the semantic labels in a supervised fashion, and broadens its understanding of the data by learning from self-supervised signals on the same images. This secondary task helps the network to focus on object shapes, learning concepts like spatial orientation and part correlation, while acting as a regularizer for the classification task over multiple visual domains. Extensive experiments confirm our intuition and show that our multi-task method combining supervised and self-supervised knowledge shows competitive results with respect to more complex domain generalization and adaptation solutions. It also proves its potential in the novel and challenging predictive and partial domain adaptation scenarios.

Event-based cameras (EBCs) have emerged as a bio-inspired alternative to traditional cameras, offering advantages in power efficiency, temporal resolution, and high dynamic range. However, the development of image analysis methods for EBCs is challenging due to the sparse and asynchronous nature of the data. This work addresses the problem of object detection for EBC cameras. The current approaches to EBC object detection focus on constructing complex data representations and rely on specialized architectures. We introduce I2EvDet (Image-to-Event Detection), a novel adaptation framework that bridges mainstream object detection with temporal event data processing. First, we demonstrate that a Real-Time DEtection TRansformer, or RT-DETR, a state-of-the-art natural image detector, trained on a simple image-like representation of the EBC data achieves performance comparable to specialized EBC methods. Next, as part of our framework, we develop an efficient adaptation technique that transforms image-based detectors into event-based detection models by modifying their frozen latent representation space through minimal architectural additions. The resulting EvRT-DETR model reaches state-of-the-art performance on the standard benchmark datasets Gen1 (mAP +2.3) and 1Mpx/Gen4 (mAP +1.4). These results demonstrate a fundamentally new approach to EBC object detection through principled adaptation of mainstream architectures, offering an efficient alternative with potential applications to other temporal visual domains. The code is available at: https://github.com/realtime-intelligence/evrt-detr

Combining simple architectures with large-scale pre-training has led to massive improvements in image classification. For object detection, pre-training and scaling approaches are less well established, especially in the long-tailed and open-vocabulary setting, where training data is relatively scarce. In this paper, we propose a strong recipe for transferring image-text models to open-vocabulary object detection. We use a standard Vision Transformer architecture with minimal modifications, contrastive image-text pre-training, and end-to-end detection fine-tuning. Our analysis of the scaling properties of this setup shows that increasing image-level pre-training and model size yield consistent improvements on the downstream detection task. We provide the adaptation strategies and regularizations needed to attain very strong performance on zero-shot text-conditioned and one-shot image-conditioned object detection. Code and models are available on GitHub.

We focus on the Source Free Object Detection (SFOD) problem, when source data is unavailable during adaptation, and the model must adapt to the unlabeled target domain. In medical imaging, several approaches have leveraged a semi-supervised student-teacher architecture to bridge domain discrepancy. Context imbalance in labeled training data and significant domain shifts between domains can lead to biased teacher models that produce inaccurate pseudolabels, degrading the student model's performance and causing a mode collapse. Class imbalance, particularly when one class significantly outnumbers another, leads to contextual bias. To tackle the problem of context bias and the significant performance drop of the student model in the SFOD setting, we introduce Grounded Teacher (GT) as a standard framework. In this study, we model contextual relationships using a dedicated relational context module and leverage it to mitigate inherent biases in the model. This approach enables us to apply augmentations to closely related classes, across and within domains, enhancing the performance of underrepresented classes while keeping the effect on dominant classes minimal. We further improve the quality of predictions by implementing an expert foundational branch to supervise the student model. We validate the effectiveness of our approach in mitigating context bias under the SFOD setting through experiments on three medical datasets supported by comprehensive ablation studies. All relevant resources, including preprocessed data, trained model weights, and code, are publicly available at this https://github.com/Tajamul21/Grounded_Teacher.

Accurate uncertainty estimates are essential for deploying deep object detectors in safety-critical systems. The development and evaluation of probabilistic object detectors have been hindered by shortcomings in existing performance measures, which tend to involve arbitrary thresholds or limit the detector's choice of distributions. In this work, we propose to view object detection as a set prediction task where detectors predict the distribution over the set of objects. Using the negative log-likelihood for random finite sets, we present a proper scoring rule for evaluating and training probabilistic object detectors. The proposed method can be applied to existing probabilistic detectors, is free from thresholds, and enables fair comparison between architectures. Three different types of detectors are evaluated on the COCO dataset. Our results indicate that the training of existing detectors is optimized toward non-probabilistic metrics. We hope to encourage the development of new object detectors that can accurately estimate their own uncertainty. Code available at https://github.com/georghess/pmb-nll.

We present YOLO, a new approach to object detection. Prior work on object detection repurposes classifiers to perform detection. Instead, we frame object detection as a regression problem to spatially separated bounding boxes and associated class probabilities. A single neural network predicts bounding boxes and class probabilities directly from full images in one evaluation. Since the whole detection pipeline is a single network, it can be optimized end-to-end directly on detection performance. Our unified architecture is extremely fast. Our base YOLO model processes images in real-time at 45 frames per second. A smaller version of the network, Fast YOLO, processes an astounding 155 frames per second while still achieving double the mAP of other real-time detectors. Compared to state-of-the-art detection systems, YOLO makes more localization errors but is far less likely to predict false detections where nothing exists. Finally, YOLO learns very general representations of objects. It outperforms all other detection methods, including DPM and R-CNN, by a wide margin when generalizing from natural images to artwork on both the Picasso Dataset and the People-Art Dataset.

In this paper, we systematically analyze unsupervised domain adaptation pipelines for object classification in a challenging industrial setting. In contrast to standard natural object benchmarks existing in the field, our results highlight the most important design choices when only category-labeled CAD models are available but classification needs to be done with real-world images. Our domain adaptation pipeline achieves SoTA performance on the VisDA benchmark, but more importantly, drastically improves recognition performance on our new open industrial dataset comprised of 102 mechanical parts. We conclude with a set of guidelines that are relevant for practitioners needing to apply state-of-the-art unsupervised domain adaptation in practice. Our code is available at https://github.com/dritter-bht/synthnet-transfer-learning.

In conventional object detection frameworks, a backbone body inherited from image recognition models extracts deep latent features and then a neck module fuses these latent features to capture information at different scales. As the resolution in object detection is much larger than in image recognition, the computational cost of the backbone often dominates the total inference cost. This heavy-backbone design paradigm is mostly due to the historical legacy when transferring image recognition models to object detection rather than an end-to-end optimized design for object detection. In this work, we show that such paradigm indeed leads to sub-optimal object detection models. To this end, we propose a novel heavy-neck paradigm, GiraffeDet, a giraffe-like network for efficient object detection. The GiraffeDet uses an extremely lightweight backbone and a very deep and large neck module which encourages dense information exchange among different spatial scales as well as different levels of latent semantics simultaneously. This design paradigm allows detectors to process the high-level semantic information and low-level spatial information at the same priority even in the early stage of the network, making it more effective in detection tasks. Numerical evaluations on multiple popular object detection benchmarks show that GiraffeDet consistently outperforms previous SOTA models across a wide spectrum of resource constraints. The source code is available at https://github.com/jyqi/GiraffeDet.

This study addresses the issue of fusing infrared and visible images that appear differently for object detection. Aiming at generating an image of high visual quality, previous approaches discover commons underlying the two modalities and fuse upon the common space either by iterative optimization or deep networks. These approaches neglect that modality differences implying the complementary information are extremely important for both fusion and subsequent detection task. This paper proposes a bilevel optimization formulation for the joint problem of fusion and detection, and then unrolls to a target-aware Dual Adversarial Learning (TarDAL) network for fusion and a commonly used detection network. The fusion network with one generator and dual discriminators seeks commons while learning from differences, which preserves structural information of targets from the infrared and textural details from the visible. Furthermore, we build a synchronized imaging system with calibrated infrared and optical sensors, and collect currently the most comprehensive benchmark covering a wide range of scenarios. Extensive experiments on several public datasets and our benchmark demonstrate that our method outputs not only visually appealing fusion but also higher detection mAP than the state-of-the-art approaches.

The complex nature of combining localization and classification in object detection has resulted in the flourished development of methods. Previous works tried to improve the performance in various object detection heads but failed to present a unified view. In this paper, we present a novel dynamic head framework to unify object detection heads with attentions. By coherently combining multiple self-attention mechanisms between feature levels for scale-awareness, among spatial locations for spatial-awareness, and within output channels for task-awareness, the proposed approach significantly improves the representation ability of object detection heads without any computational overhead. Further experiments demonstrate that the effectiveness and efficiency of the proposed dynamic head on the COCO benchmark. With a standard ResNeXt-101-DCN backbone, we largely improve the performance over popular object detectors and achieve a new state-of-the-art at 54.0 AP. Furthermore, with latest transformer backbone and extra data, we can push current best COCO result to a new record at 60.6 AP. The code will be released at https://github.com/microsoft/DynamicHead.

Domain adaptive semantic segmentation attempts to make satisfactory dense predictions on an unlabeled target domain by utilizing the supervised model trained on a labeled source domain. In this work, we propose Semantic-Guided Pixel Contrast (SePiCo), a novel one-stage adaptation framework that highlights the semantic concepts of individual pixels to promote learning of class-discriminative and class-balanced pixel representations across domains, eventually boosting the performance of self-training methods. Specifically, to explore proper semantic concepts, we first investigate a centroid-aware pixel contrast that employs the category centroids of the entire source domain or a single source image to guide the learning of discriminative features. Considering the possible lack of category diversity in semantic concepts, we then blaze a trail of distributional perspective to involve a sufficient quantity of instances, namely distribution-aware pixel contrast, in which we approximate the true distribution of each semantic category from the statistics of labeled source data. Moreover, such an optimization objective can derive a closed-form upper bound by implicitly involving an infinite number of (dis)similar pairs, making it computationally efficient. Extensive experiments show that SePiCo not only helps stabilize training but also yields discriminative representations, making significant progress on both synthetic-to-real and daytime-to-nighttime adaptation scenarios.

Object localization in general environments is a fundamental part of vision systems. While dominating on the COCO benchmark, recent Transformer-based detection methods are not competitive in diverse domains. Moreover, these methods still struggle to very accurately estimate the object bounding boxes in complex environments. We introduce Cascade-DETR for high-quality universal object detection. We jointly tackle the generalization to diverse domains and localization accuracy by proposing the Cascade Attention layer, which explicitly integrates object-centric information into the detection decoder by limiting the attention to the previous box prediction. To further enhance accuracy, we also revisit the scoring of queries. Instead of relying on classification scores, we predict the expected IoU of the query, leading to substantially more well-calibrated confidences. Lastly, we introduce a universal object detection benchmark, UDB10, that contains 10 datasets from diverse domains. While also advancing the state-of-the-art on COCO, Cascade-DETR substantially improves DETR-based detectors on all datasets in UDB10, even by over 10 mAP in some cases. The improvements under stringent quality requirements are even more pronounced. Our code and models will be released at https://github.com/SysCV/cascade-detr.

Transferring knowledge learned from the labeled source domain to the raw target domain for unsupervised domain adaptation (UDA) is essential to the scalable deployment of autonomous driving systems. State-of-the-art methods in UDA often employ a key idea: utilizing joint supervision signals from both source and target domains for self-training. In this work, we improve and extend this aspect. We present ConDA, a concatenation-based domain adaptation framework for LiDAR segmentation that: 1) constructs an intermediate domain consisting of fine-grained interchange signals from both source and target domains without destabilizing the semantic coherency of objects and background around the ego-vehicle; and 2) utilizes the intermediate domain for self-training. To improve the network training on the source domain and self-training on the intermediate domain, we propose an anti-aliasing regularizer and an entropy aggregator to reduce the negative effect caused by the aliasing artifacts and noisy pseudo labels. Through extensive studies, we demonstrate that ConDA significantly outperforms prior arts in mitigating domain gaps.

The goal of this paper is to detect objects by exploiting their interrelationships. Contrary to existing methods, which learn objects and relations separately, our key idea is to learn the object-relation distribution jointly. We first propose a novel way of creating a graphical representation of an image from inter-object relation priors and initial class predictions, we call a context-likelihood graph. We then learn the joint distribution with an energy-based modeling technique which allows to sample and refine the context-likelihood graph iteratively for a given image. Our formulation of jointly learning the distribution enables us to generate a more accurate graph representation of an image which leads to a better object detection performance. We demonstrate the benefits of our context-likelihood graph formulation and the energy-based graph refinement via experiments on the Visual Genome and MS-COCO datasets where we achieve a consistent improvement over object detectors like DETR and Faster-RCNN, as well as alternative methods modeling object interrelationships separately. Our method is detector agnostic, end-to-end trainable, and especially beneficial for rare object classes.

With autonomous industries on the rise, domain adaptation of the visual perception stack is an important research direction due to the cost savings promise. Much prior art was dedicated to domain-adaptive semantic segmentation in the synthetic-to-real context. Despite being a crucial output of the perception stack, panoptic segmentation has been largely overlooked by the domain adaptation community. Therefore, we revisit well-performing domain adaptation strategies from other fields, adapt them to panoptic segmentation, and show that they can effectively enhance panoptic domain adaptation. Further, we study the panoptic network design and propose a novel architecture (EDAPS) designed explicitly for domain-adaptive panoptic segmentation. It uses a shared, domain-robust transformer encoder to facilitate the joint adaptation of semantic and instance features, but task-specific decoders tailored for the specific requirements of both domain-adaptive semantic and instance segmentation. As a result, the performance gap seen in challenging panoptic benchmarks is substantially narrowed. EDAPS significantly improves the state-of-the-art performance for panoptic segmentation UDA by a large margin of 25% on SYNTHIA-to-Cityscapes and even 72% on the more challenging SYNTHIA-to-Mapillary Vistas. The implementation is available at https://github.com/susaha/edaps.

Recent development in vision-language approaches has instigated a paradigm shift in learning visual recognition models from language supervision. These approaches align objects with language queries (e.g. "a photo of a cat") and improve the models' adaptability to identify novel objects and domains. Recently, several studies have attempted to query these models with complex language expressions that include specifications of fine-grained semantic details, such as attributes, shapes, textures, and relations. However, simply incorporating language descriptions as queries does not guarantee accurate interpretation by the models. In fact, our experiments show that GLIP, the state-of-the-art vision-language model for object detection, often disregards contextual information in the language descriptions and instead relies heavily on detecting objects solely by their names. To tackle the challenges, we propose a new description-conditioned (DesCo) paradigm of learning object recognition models with rich language descriptions consisting of two major innovations: 1) we employ a large language model as a commonsense knowledge engine to generate rich language descriptions of objects based on object names and the raw image-text caption; 2) we design context-sensitive queries to improve the model's ability in deciphering intricate nuances embedded within descriptions and enforce the model to focus on context rather than object names alone. On two novel object detection benchmarks, LVIS and OminiLabel, under the zero-shot detection setting, our approach achieves 34.8 APr minival (+9.1) and 29.3 AP (+3.6), respectively, surpassing the prior state-of-the-art models, GLIP and FIBER, by a large margin.

In the study, we present AMFusionNet, an innovative approach to infrared and visible image fusion (IVIF), harnessing the power of multiple kernel sizes and attention mechanisms. By assimilating thermal details from infrared images with texture features from visible sources, our method produces images enriched with comprehensive information. Distinct from prevailing deep learning methodologies, our model encompasses a fusion mechanism powered by multiple convolutional kernels, facilitating the robust capture of a wide feature spectrum. Notably, we incorporate parallel attention mechanisms to emphasize and retain pivotal target details in the resultant images. Moreover, the integration of the multi-scale structural similarity (MS-SSIM) loss function refines network training, optimizing the model for IVIF task. Experimental results demonstrate that our method outperforms state-of-the-art algorithms in terms of quality and quantity. The performance metrics on publicly available datasets also show significant improvement

Out-of-distribution (OOD) detection is a critical requirement for the deployment of deep neural networks. This paper introduces the HEAT model, a new post-hoc OOD detection method estimating the density of in-distribution (ID) samples using hybrid energy-based models (EBM) in the feature space of a pre-trained backbone. HEAT complements prior density estimators of the ID density, e.g. parametric models like the Gaussian Mixture Model (GMM), to provide an accurate yet robust density estimation. A second contribution is to leverage the EBM framework to provide a unified density estimation and to compose several energy terms. Extensive experiments demonstrate the significance of the two contributions. HEAT sets new state-of-the-art OOD detection results on the CIFAR-10 / CIFAR-100 benchmark as well as on the large-scale Imagenet benchmark. The code is available at: https://github.com/MarcLafon/heatood.

Despite recent advancements in computer vision research, object detection in aerial images still suffers from several challenges. One primary challenge to be mitigated is the presence of multiple types of variation in aerial images, for example, illumination and viewpoint changes. These variations result in highly diverse image scenes and drastic alterations in object appearance, so that it becomes more complicated to localize objects from the whole image scene and recognize their categories. To address this problem, in this paper, we introduce a novel object detection framework in aerial images, named LANGuage-guided Object detection (LANGO). Upon the proposed language-guided learning, the proposed framework is designed to alleviate the impacts from both scene and instance-level variations. First, we are motivated by the way humans understand the semantics of scenes while perceiving environmental factors in the scenes (e.g., weather). Therefore, we design a visual semantic reasoner that comprehends visual semantics of image scenes by interpreting conditions where the given images were captured. Second, we devise a training objective, named relation learning loss, to deal with instance-level variations, such as viewpoint angle and scale changes. This training objective aims to learn relations in language representations of object categories, with the help of the robust characteristics against such variations. Through extensive experiments, we demonstrate the effectiveness of the proposed method, and our method obtains noticeable detection performance improvements.

Detecting objects in low-light scenarios presents a persistent challenge, as detectors trained on well-lit data exhibit significant performance degradation on low-light data due to low visibility. Previous methods mitigate this issue by exploring image enhancement or object detection techniques with real low-light image datasets. However, the progress is impeded by the inherent difficulties about collecting and annotating low-light images. To address this challenge, we propose to boost low-light object detection with zero-shot day-night domain adaptation, which aims to generalize a detector from well-lit scenarios to low-light ones without requiring real low-light data. Revisiting Retinex theory in the low-level vision, we first design a reflectance representation learning module to learn Retinex-based illumination invariance in images with a carefully designed illumination invariance reinforcement strategy. Next, an interchange-redecomposition-coherence procedure is introduced to improve over the vanilla Retinex image decomposition process by performing two sequential image decompositions and introducing a redecomposition cohering loss. Extensive experiments on ExDark, DARK FACE, and CODaN datasets show strong low-light generalizability of our method. Our code is available at https://github.com/ZPDu/DAI-Net.

With the emergence of foundation models, deep learning-based object detectors have shown practical usability in closed set scenarios. However, for real-world tasks, object detectors often operate in open environments, where crucial factors (e.g., data distribution, objective) that influence model learning are often changing. The dynamic and intricate nature of the open environment poses novel and formidable challenges to object detectors. Unfortunately, current research on object detectors in open environments lacks a comprehensive analysis of their distinctive characteristics, challenges, and corresponding solutions, which hinders their secure deployment in critical real-world scenarios. This paper aims to bridge this gap by conducting a comprehensive review and analysis of object detectors in open environments. We initially identified limitations of key structural components within the existing detection pipeline and propose the open environment object detector challenge framework that includes four quadrants (i.e., out-of-domain, out-of-category, robust learning, and incremental learning) based on the dimensions of the data / target changes. For each quadrant of challenges in the proposed framework, we present a detailed description and systematic analysis of the overarching goals and core difficulties, systematically review the corresponding solutions, and benchmark their performance over multiple widely adopted datasets. In addition, we engage in a discussion of open problems and potential avenues for future research. This paper aims to provide a fresh, comprehensive, and systematic understanding of the challenges and solutions associated with open-environment object detectors, thus catalyzing the development of more solid applications in real-world scenarios. A project related to this survey can be found at https://github.com/LiangSiyuan21/OEOD_Survey.

We propose a unified framework that integrates object detection (OD) and visual grounding (VG) for remote sensing (RS) imagery. To support conventional OD and establish an intuitive prior for VG task, we fine-tune an open-set object detector using referring expression data, framing it as a partially supervised OD task. In the first stage, we construct a graph representation of each image, comprising object queries, class embeddings, and proposal locations. Then, our task-aware architecture processes this graph to perform the VG task. The model consists of: (i) a multi-branch network that integrates spatial, visual, and categorical features to generate task-aware proposals, and (ii) an object reasoning network that assigns probabilities across proposals, followed by a soft selection mechanism for final referring object localization. Our model demonstrates superior performance on the OPT-RSVG and DIOR-RSVG datasets, achieving significant improvements over state-of-the-art methods while retaining classical OD capabilities. The code will be available in our repository: https://github.com/rd20karim/MB-ORES.

Incremental object detection (IOD) is challenged by background shift, where background categories in sequential data may include previously learned or future classes. Inspired by the vision-language foundation models such as CLIP, these models capture shared attributes from extensive image-text paired data during pre-training. We propose a novel method utilizing attributes in vision-language foundation models for incremental object detection. Our method constructs a Class-Agnostic Shared Attribute base (CASA) to capture common semantic information among incremental classes. Specifically, we utilize large language models to generate candidate textual attributes and select the most relevant ones based on current training data, recording their significance in an attribute assignment matrix. For subsequent tasks, we freeze the retained attributes and continue selecting from the remaining candidates while updating the attribute assignment matrix accordingly. Furthermore, we employ OWL-ViT as our baseline, preserving the original parameters of the pre-trained foundation model. Our method adds only 0.7% to parameter storage through parameter-efficient fine-tuning to significantly enhance the scalability and adaptability of IOD. Extensive two-phase and multi-phase experiments on the COCO dataset demonstrate the state-of-the-art performance of our proposed method.

Object detection performance, as measured on the canonical PASCAL VOC dataset, has plateaued in the last few years. The best-performing methods are complex ensemble systems that typically combine multiple low-level image features with high-level context. In this paper, we propose a simple and scalable detection algorithm that improves mean average precision (mAP) by more than 30% relative to the previous best result on VOC 2012---achieving a mAP of 53.3%. Our approach combines two key insights: (1) one can apply high-capacity convolutional neural networks (CNNs) to bottom-up region proposals in order to localize and segment objects and (2) when labeled training data is scarce, supervised pre-training for an auxiliary task, followed by domain-specific fine-tuning, yields a significant performance boost. Since we combine region proposals with CNNs, we call our method R-CNN: Regions with CNN features. We also compare R-CNN to OverFeat, a recently proposed sliding-window detector based on a similar CNN architecture. We find that R-CNN outperforms OverFeat by a large margin on the 200-class ILSVRC2013 detection dataset. Source code for the complete system is available at http://www.cs.berkeley.edu/~rbg/rcnn.

Detecting and tracking multiple unmanned aerial vehicles (UAVs) in thermal infrared video is inherently challenging due to low contrast, environmental noise, and small target sizes. This paper provides a straightforward approach to address multi-UAV tracking in thermal infrared video, leveraging recent advances in detection and tracking. Instead of relying on the YOLOv5 with the DeepSORT pipeline, we present a tracking framework built on YOLOv12 and BoT-SORT, enhanced with tailored training and inference strategies. We evaluate our approach following the metrics from the 4th Anti-UAV Challenge and demonstrate competitive performance. Notably, we achieve strong results without using contrast enhancement or temporal information fusion to enrich UAV features, highlighting our approach as a "Strong Baseline" for the multi-UAV tracking task. We provide implementation details, in-depth experimental analysis, and a discussion of potential improvements. The code is available at https://github.com/wish44165/YOLOv12-BoT-SORT-ReID .

The goal of this paper is open-vocabulary object detection (OVOD) x2013 building a model that can detect objects beyond the set of categories seen at training, thus enabling the user to specify categories of interest at inference without the need for model retraining. We adopt a standard two-stage object detector architecture, and explore three ways for specifying novel categories: via language descriptions, via image exemplars, or via a combination of the two. We make three contributions: first, we prompt a large language model (LLM) to generate informative language descriptions for object classes, and construct powerful text-based classifiers; second, we employ a visual aggregator on image exemplars that can ingest any number of images as input, forming vision-based classifiers; and third, we provide a simple method to fuse information from language descriptions and image exemplars, yielding a multi-modal classifier. When evaluating on the challenging LVIS open-vocabulary benchmark we demonstrate that: (i) our text-based classifiers outperform all previous OVOD works; (ii) our vision-based classifiers perform as well as text-based classifiers in prior work; (iii) using multi-modal classifiers perform better than either modality alone; and finally, (iv) our text-based and multi-modal classifiers yield better performance than a fully-supervised detector.

Face anti-spoofing (FAS) based on domain generalization (DG) has been recently studied to improve the generalization on unseen scenarios. Previous methods typically rely on domain labels to align the distribution of each domain for learning domain-invariant representations. However, artificial domain labels are coarse-grained and subjective, which cannot reflect real domain distributions accurately. Besides, such domain-aware methods focus on domain-level alignment, which is not fine-grained enough to ensure that learned representations are insensitive to domain styles. To address these issues, we propose a novel perspective for DG FAS that aligns features on the instance level without the need for domain labels. Specifically, Instance-Aware Domain Generalization framework is proposed to learn the generalizable feature by weakening the features' sensitivity to instance-specific styles. Concretely, we propose Asymmetric Instance Adaptive Whitening to adaptively eliminate the style-sensitive feature correlation, boosting the generalization. Moreover, Dynamic Kernel Generator and Categorical Style Assembly are proposed to first extract the instance-specific features and then generate the style-diversified features with large style shifts, respectively, further facilitating the learning of style-insensitive features. Extensive experiments and analysis demonstrate the superiority of our method over state-of-the-art competitors. Code will be publicly available at https://github.com/qianyuzqy/IADG.

The goal of Online Domain Adaptation for semantic segmentation is to handle unforeseeable domain changes that occur during deployment, like sudden weather events. However, the high computational costs associated with brute-force adaptation make this paradigm unfeasible for real-world applications. In this paper we propose HAMLET, a Hardware-Aware Modular Least Expensive Training framework for real-time domain adaptation. Our approach includes a hardware-aware back-propagation orchestration agent (HAMT) and a dedicated domain-shift detector that enables active control over when and how the model is adapted (LT). Thanks to these advancements, our approach is capable of performing semantic segmentation while simultaneously adapting at more than 29FPS on a single consumer-grade GPU. Our framework's encouraging accuracy and speed trade-off is demonstrated on OnDA and SHIFT benchmarks through experimental results.

Large-scale foundation models like CLIP have shown strong zero-shot generalization but struggle with domain shifts, limiting their adaptability. In our work, we introduce StyLIP, a novel domain-agnostic prompt learning strategy for Domain Generalization (DG). StyLIP disentangles visual style and content in CLIP`s vision encoder by using style projectors to learn domain-specific prompt tokens and combining them with content features. Trained contrastively, this approach enables seamless adaptation across domains, outperforming state-of-the-art methods on multiple DG benchmarks. Additionally, we propose AD-CLIP for unsupervised domain adaptation (DA), leveraging CLIP`s frozen vision backbone to learn domain-invariant prompts through image style and content features. By aligning domains in embedding space with entropy minimization, AD-CLIP effectively handles domain shifts, even when only target domain samples are available. Lastly, we outline future work on class discovery using prompt learning for semantic segmentation in remote sensing, focusing on identifying novel or rare classes in unstructured environments. This paves the way for more adaptive and generalizable models in complex, real-world scenarios.

Understanding and interpreting the decisions made by deep learning models is valuable in many domains. In computer vision, computing heatmaps from a deep network is a popular approach for visualizing and understanding deep networks. However, heatmaps that do not correlate with the network may mislead human, hence the performance of heatmaps in providing a faithful explanation to the underlying deep network is crucial. In this paper, we propose I-GOS, which optimizes for a heatmap so that the classification scores on the masked image would maximally decrease. The main novelty of the approach is to compute descent directions based on the integrated gradients instead of the normal gradient, which avoids local optima and speeds up convergence. Compared with previous approaches, our method can flexibly compute heatmaps at any resolution for different user needs. Extensive experiments on several benchmark datasets show that the heatmaps produced by our approach are more correlated with the decision of the underlying deep network, in comparison with other state-of-the-art approaches.

With the success of new computational architectures for visual processing, such as convolutional neural networks (CNN) and access to image databases with millions of labeled examples (e.g., ImageNet, Places), the state of the art in computer vision is advancing rapidly. One important factor for continued progress is to understand the representations that are learned by the inner layers of these deep architectures. Here we show that object detectors emerge from training CNNs to perform scene classification. As scenes are composed of objects, the CNN for scene classification automatically discovers meaningful objects detectors, representative of the learned scene categories. With object detectors emerging as a result of learning to recognize scenes, our work demonstrates that the same network can perform both scene recognition and object localization in a single forward-pass, without ever having been explicitly taught the notion of objects.

Current methods for low- and few-shot object detection have primarily focused on enhancing model performance for detecting objects. One common approach to achieve this is by combining model finetuning with data augmentation strategies. However, little attention has been given to the energy efficiency of these approaches in data-scarce regimes. This paper seeks to conduct a comprehensive empirical study that examines both model performance and energy efficiency of custom data augmentations and automated data augmentation selection strategies when combined with a lightweight object detector. The methods are evaluated in three different benchmark datasets in terms of their performance and energy consumption, and the Efficiency Factor is employed to gain insights into their effectiveness considering both performance and efficiency. Consequently, it is shown that in many cases, the performance gains of data augmentation strategies are overshadowed by their increased energy usage, necessitating the development of more energy efficient data augmentation strategies to address data scarcity.

Most visual models are designed for sRGB images, yet RAW data offers significant advantages for object detection by preserving sensor information before ISP processing. This enables improved detection accuracy and more efficient hardware designs by bypassing the ISP. However, RAW object detection is challenging due to limited training data, unbalanced pixel distributions, and sensor noise. To address this, we propose SimROD, a lightweight and effective approach for RAW object detection. We introduce a Global Gamma Enhancement (GGE) module, which applies a learnable global gamma transformation with only four parameters, improving feature representation while keeping the model efficient. Additionally, we leverage the green channel's richer signal to enhance local details, aligning with the human eye's sensitivity and Bayer filter design. Extensive experiments on multiple RAW object detection datasets and detectors demonstrate that SimROD outperforms state-of-the-art methods like RAW-Adapter and DIAP while maintaining efficiency. Our work highlights the potential of RAW data for real-world object detection. Code is available at https://ocean146.github.io/SimROD2025/.

We present GLOD, a transformer-first architecture for object detection in high-resolution satellite imagery. GLOD replaces CNN backbones with a Swin Transformer for end-to-end feature extraction, combined with novel UpConvMixer blocks for robust upsampling and Fusion Blocks for multi-scale feature integration. Our approach achieves 32.95\% on xView, outperforming SOTA methods by 11.46\%. Key innovations include asymmetric fusion with CBAM attention and a multi-path head design capturing objects across scales. The architecture is optimized for satellite imagery challenges, leveraging spatial priors while maintaining computational efficiency.

We present T-Rex2, a highly practical model for open-set object detection. Previous open-set object detection methods relying on text prompts effectively encapsulate the abstract concept of common objects, but struggle with rare or complex object representation due to data scarcity and descriptive limitations. Conversely, visual prompts excel in depicting novel objects through concrete visual examples, but fall short in conveying the abstract concept of objects as effectively as text prompts. Recognizing the complementary strengths and weaknesses of both text and visual prompts, we introduce T-Rex2 that synergizes both prompts within a single model through contrastive learning. T-Rex2 accepts inputs in diverse formats, including text prompts, visual prompts, and the combination of both, so that it can handle different scenarios by switching between the two prompt modalities. Comprehensive experiments demonstrate that T-Rex2 exhibits remarkable zero-shot object detection capabilities across a wide spectrum of scenarios. We show that text prompts and visual prompts can benefit from each other within the synergy, which is essential to cover massive and complicated real-world scenarios and pave the way towards generic object detection. Model API is now available at https://github.com/IDEA-Research/T-Rex.

Text-to-image diffusion techniques have shown exceptional capability of producing high-quality images from text descriptions. This indicates that there exists a strong correlation between the visual and textual domains. In addition, text-image discriminative models such as CLIP excel in image labelling from text prompts, thanks to the rich and diverse information available from open concepts. In this paper, we leverage these technical advances to solve a challenging problem in computer vision: camouflaged instance segmentation. Specifically, we propose a method built upon a state-of-the-art diffusion model, empowered by open-vocabulary to learn multi-scale textual-visual features for camouflaged object representations. Such cross-domain representations are desirable in segmenting camouflaged objects where visual cues are subtle to distinguish the objects from the background, especially in segmenting novel objects which are not seen in training. We also develop technically supportive components to effectively fuse cross-domain features and engage relevant features towards respective foreground objects. We validate our method and compare it with existing ones on several benchmark datasets of camouflaged instance segmentation and generic open-vocabulary instance segmentation. Experimental results confirm the advances of our method over existing ones. We will publish our code and pre-trained models to support future research.

Tiny object detection plays a vital role in drone surveillance, remote sensing, and autonomous systems, enabling the identification of small targets across vast landscapes. However, existing methods suffer from inefficient feature leverage and high computational costs due to redundant feature processing and rigid query allocation. To address these challenges, we propose Dome-DETR, a novel framework with Density-Oriented Feature-Query Manipulation for Efficient Tiny Object Detection. To reduce feature redundancies, we introduce a lightweight Density-Focal Extractor (DeFE) to produce clustered compact foreground masks. Leveraging these masks, we incorporate Masked Window Attention Sparsification (MWAS) to focus computational resources on the most informative regions via sparse attention. Besides, we propose Progressive Adaptive Query Initialization (PAQI), which adaptively modulates query density across spatial areas for better query allocation. Extensive experiments demonstrate that Dome-DETR achieves state-of-the-art performance (+3.3 AP on AI-TOD-V2 and +2.5 AP on VisDrone) while maintaining low computational complexity and a compact model size. Code will be released upon acceptance.

We address the problem of few-shot pattern detection, which aims to detect all instances of a given pattern, typically represented by a few exemplars, from an input image. Although similar problems have been studied in few-shot object counting and detection (FSCD), previous methods and their benchmarks have narrowed patterns of interest to object categories and often fail to localize non-object patterns. In this work, we propose a simple yet effective detector based on template matching and regression, dubbed TMR. While previous FSCD methods typically represent target exemplars as spatially collapsed prototypes and lose structural information, we revisit classic template matching and regression. It effectively preserves and leverages the spatial layout of exemplars through a minimalistic structure with a small number of learnable convolutional or projection layers on top of a frozen backbone We also introduce a new dataset, dubbed RPINE, which covers a wider range of patterns than existing object-centric datasets. Our method outperforms the state-of-the-art methods on the three benchmarks, RPINE, FSCD-147, and FSCD-LVIS, and demonstrates strong generalization in cross-dataset evaluation.

Unsupervised domain adaptation (DA) with the aid of pseudo labeling techniques has emerged as a crucial approach for domain-adaptive 3D object detection. While effective, existing DA methods suffer from a substantial drop in performance when applied to a multi-class training setting, due to the co-existence of low-quality pseudo labels and class imbalance issues. In this paper, we address this challenge by proposing a novel ReDB framework tailored for learning to detect all classes at once. Our approach produces Reliable, Diverse, and class-Balanced pseudo 3D boxes to iteratively guide the self-training on a distributionally different target domain. To alleviate disruptions caused by the environmental discrepancy (e.g., beam numbers), the proposed cross-domain examination (CDE) assesses the correctness of pseudo labels by copy-pasting target instances into a source environment and measuring the prediction consistency. To reduce computational overhead and mitigate the object shift (e.g., scales and point densities), we design an overlapped boxes counting (OBC) metric that allows to uniformly downsample pseudo-labeled objects across different geometric characteristics. To confront the issue of inter-class imbalance, we progressively augment the target point clouds with a class-balanced set of pseudo-labeled target instances and source objects, which boosts recognition accuracies on both frequently appearing and rare classes. Experimental results on three benchmark datasets using both voxel-based (i.e., SECOND) and point-based 3D detectors (i.e., PointRCNN) demonstrate that our proposed ReDB approach outperforms existing 3D domain adaptation methods by a large margin, improving 23.15% mAP on the nuScenes rightarrow KITTI task. The code is available at https://github.com/zhuoxiao-chen/ReDB-DA-3Ddet.

Domain adaptation (DA) attempts to transfer the knowledge from a labeled source domain to an unlabeled target domain that follows different distribution from the source. To achieve this, DA methods include a source classification objective to extract the source knowledge and a domain alignment objective to diminish the domain shift, ensuring knowledge transfer. Typically, former DA methods adopt some weight hyper-parameters to linearly combine the training objectives to form an overall objective. However, the gradient directions of these objectives may conflict with each other due to domain shift. Under such circumstances, the linear optimization scheme might decrease the overall objective value at the expense of damaging one of the training objectives, leading to restricted solutions. In this paper, we rethink the optimization scheme for DA from a gradient-based perspective. We propose a Pareto Domain Adaptation (ParetoDA) approach to control the overall optimization direction, aiming to cooperatively optimize all training objectives. Specifically, to reach a desirable solution on the target domain, we design a surrogate loss mimicking target classification. To improve target-prediction accuracy to support the mimicking, we propose a target-prediction refining mechanism which exploits domain labels via Bayes' theorem. On the other hand, since prior knowledge of weighting schemes for objectives is often unavailable to guide optimization to approach the optimal solution on the target domain, we propose a dynamic preference mechanism to dynamically guide our cooperative optimization by the gradient of the surrogate loss on a held-out unlabeled target dataset. Extensive experiments on image classification and semantic segmentation benchmarks demonstrate the effectiveness of ParetoDA

Human Pose Estimation (HPE) is widely used in various fields, including motion analysis, healthcare, and virtual reality. However, the great expenses of labeled real-world datasets present a significant challenge for HPE. To overcome this, one approach is to train HPE models on synthetic datasets and then perform domain adaptation (DA) on real-world data. Unfortunately, existing DA methods for HPE neglect data privacy and security by using both source and target data in the adaptation process. To this end, we propose a new task, named source-free domain adaptive HPE, which aims to address the challenges of cross-domain learning of HPE without access to source data during the adaptation process. We further propose a novel framework that consists of three models: source model, intermediate model, and target model, which explores the task from both source-protect and target-relevant perspectives. The source-protect module preserves source information more effectively while resisting noise, and the target-relevant module reduces the sparsity of spatial representations by building a novel spatial probability space, and pose-specific contrastive learning and information maximization are proposed on the basis of this space. Comprehensive experiments on several domain adaptive HPE benchmarks show that the proposed method outperforms existing approaches by a considerable margin. The codes are available at https://github.com/davidpengucf/SFDAHPE.

Recognizing artworks in a cultural site using images acquired from the user's point of view (First Person Vision) allows to build interesting applications for both the visitors and the site managers. However, current object detection algorithms working in fully supervised settings need to be trained with large quantities of labeled data, whose collection requires a lot of times and high costs in order to achieve good performance. Using synthetic data generated from the 3D model of the cultural site to train the algorithms can reduce these costs. On the other hand, when these models are tested with real images, a significant drop in performance is observed due to the differences between real and synthetic images. In this study we consider the problem of Unsupervised Domain Adaptation for object detection in cultural sites. To address this problem, we created a new dataset containing both synthetic and real images of 16 different artworks. We hence investigated different domain adaptation techniques based on one-stage and two-stage object detector, image-to-image translation and feature alignment. Based on the observation that single-stage detectors are more robust to the domain shift in the considered settings, we proposed a new method which builds on RetinaNet and feature alignment that we called DA-RetinaNet. The proposed approach achieves better results than compared methods on the proposed dataset and on Cityscapes. To support research in this field we release the dataset at the following link https://iplab.dmi.unict.it/EGO-CH-OBJ-UDA/ and the code of the proposed architecture at https://github.com/fpv-iplab/DA-RetinaNet.

Detecting objects based on language information is a popular task that includes Open-Vocabulary object Detection (OVD) and Referring Expression Comprehension (REC). In this paper, we advance them to a more practical setting called Described Object Detection (DOD) by expanding category names to flexible language expressions for OVD and overcoming the limitation of REC only grounding the pre-existing object. We establish the research foundation for DOD by constructing a Description Detection Dataset (D^3). This dataset features flexible language expressions, whether short category names or long descriptions, and annotating all described objects on all images without omission. By evaluating previous SOTA methods on D^3, we find some troublemakers that fail current REC, OVD, and bi-functional methods. REC methods struggle with confidence scores, rejecting negative instances, and multi-target scenarios, while OVD methods face constraints with long and complex descriptions. Recent bi-functional methods also do not work well on DOD due to their separated training procedures and inference strategies for REC and OVD tasks. Building upon the aforementioned findings, we propose a baseline that largely improves REC methods by reconstructing the training data and introducing a binary classification sub-task, outperforming existing methods. Data and code are available at https://github.com/shikras/d-cube and related works are tracked in https://github.com/Charles-Xie/awesome-described-object-detection.

Dependable visual drone detection is crucial for the secure integration of drones into the airspace. However, drone detection accuracy is significantly affected by domain shifts due to environmental changes, varied points of view, and background shifts. To address these challenges, we present the DrIFT dataset, specifically developed for visual drone detection under domain shifts. DrIFT includes fourteen distinct domains, each characterized by shifts in point of view, synthetic-to-real data, season, and adverse weather. DrIFT uniquely emphasizes background shift by providing background segmentation maps to enable background-wise metrics and evaluation. Our new uncertainty estimation metric, MCDO-map, features lower postprocessing complexity, surpassing traditional methods. We use the MCDO-map in our uncertainty-aware unsupervised domain adaptation method, demonstrating superior performance to SOTA unsupervised domain adaptation techniques. The dataset is available at: https://github.com/CARG-uOttawa/DrIFT.git.

Convolutional networks reach top quality in pixel-level video object segmentation but require a large amount of training data (1k~100k) to deliver such results. We propose a new training strategy which achieves state-of-the-art results across three evaluation datasets while using 20x~1000x less annotated data than competing methods. Our approach is suitable for both single and multiple object segmentation. Instead of using large training sets hoping to generalize across domains, we generate in-domain training data using the provided annotation on the first frame of each video to synthesize ("lucid dream") plausible future video frames. In-domain per-video training data allows us to train high quality appearance- and motion-based models, as well as tune the post-processing stage. This approach allows to reach competitive results even when training from only a single annotated frame, without ImageNet pre-training. Our results indicate that using a larger training set is not automatically better, and that for the video object segmentation task a smaller training set that is closer to the target domain is more effective. This changes the mindset regarding how many training samples and general "objectness" knowledge are required for the video object segmentation task.

Deep neural networks (DNNs) have shown exceptional performance when trained on well-illuminated images captured by Electro-Optical (EO) cameras, which provide rich texture details. However, in critical applications like aerial perception, it is essential for DNNs to maintain consistent reliability across all conditions, including low-light scenarios where EO cameras often struggle to capture sufficient detail. Additionally, UAV-based aerial object detection faces significant challenges due to scale variability from varying altitudes and slant angles, adding another layer of complexity. Existing methods typically address only illumination changes or style variations as domain shifts, but in aerial perception, correlation shifts also impact DNN performance. In this paper, we introduce the IndraEye dataset, a multi-sensor (EO-IR) dataset designed for various tasks. It includes 5,612 images with 145,666 instances, encompassing multiple viewing angles, altitudes, seven backgrounds, and different times of the day across the Indian subcontinent. The dataset opens up several research opportunities, such as multimodal learning, domain adaptation for object detection and segmentation, and exploration of sensor-specific strengths and weaknesses. IndraEye aims to advance the field by supporting the development of more robust and accurate aerial perception systems, particularly in challenging conditions. IndraEye dataset is benchmarked with object detection and semantic segmentation tasks. Dataset and source codes are available at https://bit.ly/indraeye.

The rapid proliferation of unmanned aerial vehicles (UAVs) has highlighted the importance of robust and efficient object detection in diverse aerial scenarios. Detecting small objects under complex conditions, however, remains a significant challenge. Existing approaches often prioritize inference speed, leading to degraded performance when handling multi-modal inputs. To address this, we present DGE-YOLO, an enhanced YOLO-based detection framework designed to effectively fuse multi-modal information. Specifically, we introduce a dual-branch architecture for modality-specific feature extraction, enabling the model to process both infrared and visible images. To further enrich semantic representation, we propose an Efficient Multi-scale Attention (EMA) mechanism that enhances feature learning across spatial scales. Additionally, we replace the conventional neck with a Gather-and-Distribute module to mitigate information loss during feature aggregation. Extensive experiments on the Drone Vehicle dataset demonstrate that DGE-YOLO achieves superior performance over state-of-the-art methods, validating its effectiveness in multi-modal UAV object detection tasks.

This study explores the challenges of integrating human visual cue-based dehazing into object detection, given the selective nature of human perception. While human vision adapts dynamically to environmental conditions, computational dehazing does not always enhance detection uniformly. We propose a multi-stage framework where a lightweight detector identifies regions of interest (RoIs), which are then enhanced via spatial attention-based dehazing before final detection by a heavier model. Though effective in foggy conditions, this approach unexpectedly degrades the performance on clear images. We analyze this phenomenon, investigate possible causes, and offer insights for designing hybrid pipelines that balance enhancement and detection. Our findings highlight the need for selective preprocessing and challenge assumptions about universal benefits from cascading transformations.

Hierarchical feature representations play a pivotal role in computer vision, particularly in object detection for autonomous driving. Multi-level semantic understanding is crucial for accurately identifying pedestrians, vehicles, and traffic signs in dynamic environments. However, existing architectures, such as YOLO and DETR, struggle to maintain feature consistency across different scales while balancing detection precision and computational efficiency. To address these challenges, we propose Butter, a novel object detection framework designed to enhance hierarchical feature representations for improving detection robustness. Specifically, Butter introduces two key innovations: Frequency-Adaptive Feature Consistency Enhancement (FAFCE) Component, which refines multi-scale feature consistency by leveraging adaptive frequency filtering to enhance structural and boundary precision, and Progressive Hierarchical Feature Fusion Network (PHFFNet) Module, which progressively integrates multi-level features to mitigate semantic gaps and strengthen hierarchical feature learning. Through extensive experiments on BDD100K, KITTI, and Cityscapes, Butter demonstrates superior feature representation capabilities, leading to notable improvements in detection accuracy while reducing model complexity. By focusing on hierarchical feature refinement and integration, Butter provides an advanced approach to object detection that achieves a balance between accuracy, deployability, and computational efficiency in real-time autonomous driving scenarios. Our model and implementation are publicly available at https://github.com/Aveiro-Lin/Butter, facilitating further research and validation within the autonomous driving community.

In this paper, we present a method for detecting objects of interest, including cars, humans, and fire, in aerial images captured by unmanned aerial vehicles (UAVs) usually during vegetation fires. To achieve this, we use artificial neural networks and create a dataset for supervised learning. We accomplish the assisted labeling of the dataset through the implementation of an object detection pipeline that combines classic image processing techniques with pretrained neural networks. In addition, we develop a data augmentation pipeline to augment the dataset with automatically labeled images. Finally, we evaluate the performance of different neural networks.

Top-performing deep architectures are trained on massive amounts of labeled data. In the absence of labeled data for a certain task, domain adaptation often provides an attractive option given that labeled data of similar nature but from a different domain (e.g. synthetic images) are available. Here, we propose a new approach to domain adaptation in deep architectures that can be trained on large amount of labeled data from the source domain and large amount of unlabeled data from the target domain (no labeled target-domain data is necessary). As the training progresses, the approach promotes the emergence of "deep" features that are (i) discriminative for the main learning task on the source domain and (ii) invariant with respect to the shift between the domains. We show that this adaptation behaviour can be achieved in almost any feed-forward model by augmenting it with few standard layers and a simple new gradient reversal layer. The resulting augmented architecture can be trained using standard backpropagation. Overall, the approach can be implemented with little effort using any of the deep-learning packages. The method performs very well in a series of image classification experiments, achieving adaptation effect in the presence of big domain shifts and outperforming previous state-of-the-art on Office datasets.

This paper presents a generalized model for real-time detection of flying objects that can be used for transfer learning and further research, as well as a refined model that is ready for implementation. We achieve this by training our first generalized model on a data set containing 40 different classes of flying objects, forcing the model to extract abstract feature representations. We then perform transfer learning with these learned parameters on a data set more representative of real world environments (i.e., higher frequency of occlusion, small spatial sizes, rotations, etc.) to generate our refined model. Object detection of flying objects remains challenging due to large variance object spatial sizes/aspect ratios, rate of speed, occlusion, and clustered backgrounds. To address some of the presented challenges while simultaneously maximizing performance, we utilize the current state of the art single-shot detector, YOLOv8, in an attempt to find the best tradeoff between inference speed and mAP. While YOLOv8 is being regarded as the new state-of-the-art, an official paper has not been provided. Thus, we provide an in-depth explanation of the new architecture and functionality that YOLOv8 has adapted. Our final generalized model achieves an mAP50-95 of 0.685 and average inference speed on 1080p videos of 50 fps. Our final refined model maintains this inference speed and achieves an improved mAP50-95 of 0.835.

Recent research has highlighted improvements in high-quality imaging guided by event cameras, with most of these efforts concentrating on the RGB domain. However, these advancements frequently neglect the unique challenges introduced by the inherent flaws in the sensor design of event cameras in the RAW domain. Specifically, this sensor design results in the partial loss of pixel values, posing new challenges for RAW domain processes like demosaicing. The challenge intensifies as most research in the RAW domain is based on the premise that each pixel contains a value, making the straightforward adaptation of these methods to event camera demosaicing problematic. To end this, we present a Swin-Transformer-based backbone and a pixel-focus loss function for demosaicing with missing pixel values in RAW domain processing. Our core motivation is to refine a general and widely applicable foundational model from the RGB domain for RAW domain processing, thereby broadening the model's applicability within the entire imaging process. Our method harnesses multi-scale processing and space-to-depth techniques to ensure efficiency and reduce computing complexity. We also proposed the Pixel-focus Loss function for network fine-tuning to improve network convergence based on our discovery of a long-tailed distribution in training loss. Our method has undergone validation on the MIPI Demosaic Challenge dataset, with subsequent analytical experimentation confirming its efficacy. All code and trained models are released here: https://github.com/yunfanLu/ev-demosaic

Early wildfire detection is of the utmost importance to enable rapid response efforts, and thus minimize the negative impacts of wildfire spreads. To this end, we present \Pyro, a web-scraping-based dataset composed of videos of wildfires from a network of cameras that were enhanced with manual bounding-box-level annotations. Our dataset was filtered based on a strategy to improve the quality and diversity of the data, reducing the final data to a set of 10,000 images. We ran experiments using a state-of-the-art object detection model and found out that the proposed dataset is challenging and its use in concordance with other public dataset helps to reach higher results overall. We will make our code and data publicly available.

Fine-grained object detection in challenging visual domains, such as vehicle damage assessment, presents a formidable challenge even for human experts to resolve reliably. While DiffusionDet has advanced the state-of-the-art through conditional denoising diffusion, its performance remains limited by local feature conditioning in context-dependent scenarios. We address this fundamental limitation by introducing Context-Aware Fusion (CAF), which leverages cross-attention mechanisms to integrate global scene context with local proposal features directly. The global context is generated using a separate dedicated encoder that captures comprehensive environmental information, enabling each object proposal to attend to scene-level understanding. Our framework significantly enhances the generative detection paradigm by enabling each object proposal to attend to comprehensive environmental information. Experimental results demonstrate an improvement over state-of-the-art models on the CarDD benchmark, establishing new performance benchmarks for context-aware object detection in fine-grained domains

In Unsupervised Domain Adaptive Semantic Segmentation (UDA-SS), a model is trained on labeled source domain data (e.g., synthetic images) and adapted to an unlabeled target domain (e.g., real-world images) without access to target annotations. Existing UDA-SS methods often struggle to balance fine-grained local details with global contextual information, leading to segmentation errors in complex regions. To address this, we introduce the Adaptive Feature Refinement (AFR) module, which enhances segmentation accuracy by refining highresolution features using semantic priors from low-resolution logits. AFR also integrates high-frequency components, which capture fine-grained structures and provide crucial boundary information, improving object delineation. Additionally, AFR adaptively balances local and global information through uncertaintydriven attention, reducing misclassifications. Its lightweight design allows seamless integration into HRDA-based UDA methods, leading to state-of-the-art segmentation performance. Our approach improves existing UDA-SS methods by 1.05% mIoU on GTA V --> Cityscapes and 1.04% mIoU on Synthia-->Cityscapes. The implementation of our framework is available at: https://github.com/Masrur02/AFRDA

Efficient detectors for edge devices are often optimized for parameters or speed count metrics, which remain in weak correlation with the energy of detectors. However, some vision applications of convolutional neural networks, such as always-on surveillance cameras, are critical for energy constraints. This paper aims to serve as a baseline by designing detectors to reach tradeoffs between energy and performance from two perspectives: 1) We extensively analyze various CNNs to identify low-energy architectures, including selecting activation functions, convolutions operators, and feature fusion structures on necks. These underappreciated details in past work seriously affect the energy consumption of detectors; 2) To break through the dilemmatic energy-performance problem, we propose a balanced detector driven by energy using discovered low-energy components named FemtoDet. In addition to the novel construction, we improve FemtoDet by considering convolutions and training strategy optimizations. Specifically, we develop a new instance boundary enhancement (IBE) module for convolution optimization to overcome the contradiction between the limited capacity of CNNs and detection tasks in diverse spatial representations, and propose a recursive warm-restart (RecWR) for optimizing training strategy to escape the sub-optimization of light-weight detectors by considering the data shift produced in popular augmentations. As a result, FemtoDet with only 68.77k parameters achieves a competitive score of 46.3 AP50 on PASCAL VOC and 1.11 W & 64.47 FPS on Qualcomm Snapdragon 865 CPU platforms. Extensive experiments on COCO and TJU-DHD datasets indicate that the proposed method achieves competitive results in diverse scenes.

3D object detection from multi-view images has drawn much attention over the past few years. Existing methods mainly establish 3D representations from multi-view images and adopt a dense detection head for object detection, or employ object queries distributed in 3D space to localize objects. In this paper, we design Multi-View 2D Objects guided 3D Object Detector (MV2D), which can lift any 2D object detector to multi-view 3D object detection. Since 2D detections can provide valuable priors for object existence, MV2D exploits 2D detectors to generate object queries conditioned on the rich image semantics. These dynamically generated queries help MV2D to recall objects in the field of view and show a strong capability of localizing 3D objects. For the generated queries, we design a sparse cross attention module to force them to focus on the features of specific objects, which suppresses interference from noises. The evaluation results on the nuScenes dataset demonstrate the dynamic object queries and sparse feature aggregation can promote 3D detection capability. MV2D also exhibits a state-of-the-art performance among existing methods. We hope MV2D can serve as a new baseline for future research.

Unsupervised domain adaptation for semantic segmentation (DASS) aims to transfer knowledge from a label-rich source domain to a target domain with no labels. Two key approaches in DASS are (1) vision-only approaches using masking or multi-resolution crops, and (2) language-based approaches that use generic class-wise prompts informed by target domain (e.g. "a {snowy} photo of a {class}"). However, the former is susceptible to noisy pseudo-labels that are biased to the source domain. The latter does not fully capture the intricate spatial relationships of objects -- key for dense prediction tasks. To this end, we propose LangDA. LangDA addresses these challenges by, first, learning contextual relationships between objects via VLM-generated scene descriptions (e.g. "a pedestrian is on the sidewalk, and the street is lined with buildings."). Second, LangDA aligns the entire image features with text representation of this context-aware scene caption and learns generalized representations via text. With this, LangDA sets the new state-of-the-art across three DASS benchmarks, outperforming existing methods by 2.6%, 1.4% and 3.9%.

Visual grounding, a crucial vision-language task involving the understanding of the visual context based on the query expression, necessitates the model to capture the interactions between objects, as well as various spatial and attribute information. However, the annotation data of visual grounding task is limited due to its time-consuming and labor-intensive annotation process, resulting in the trained models being constrained from generalizing its capability to a broader domain. To address this challenge, we propose GroundVLP, a simple yet effective zero-shot method that harnesses visual grounding ability from the existing models trained from image-text pairs and pure object detection data, both of which are more conveniently obtainable and offer a broader domain compared to visual grounding annotation data. GroundVLP proposes a fusion mechanism that combines the heatmap from GradCAM and the object proposals of open-vocabulary detectors. We demonstrate that the proposed method significantly outperforms other zero-shot methods on RefCOCO/+/g datasets, surpassing prior zero-shot state-of-the-art by approximately 28\% on the test split of RefCOCO and RefCOCO+. Furthermore, GroundVLP performs comparably to or even better than some non-VLP-based supervised models on the Flickr30k entities dataset. Our code is available at https://github.com/om-ai-lab/GroundVLP.

This work studies the generalization issue of face anti-spoofing (FAS) models on domain gaps, such as image resolution, blurriness and sensor variations. Most prior works regard domain-specific signals as a negative impact, and apply metric learning or adversarial losses to remove them from feature representation. Though learning a domain-invariant feature space is viable for the training data, we show that the feature shift still exists in an unseen test domain, which backfires on the generalizability of the classifier. In this work, instead of constructing a domain-invariant feature space, we encourage domain separability while aligning the live-to-spoof transition (i.e., the trajectory from live to spoof) to be the same for all domains. We formulate this FAS strategy of separability and alignment (SA-FAS) as a problem of invariant risk minimization (IRM), and learn domain-variant feature representation but domain-invariant classifier. We demonstrate the effectiveness of SA-FAS on challenging cross-domain FAS datasets and establish state-of-the-art performance.

Model efficiency has become increasingly important in computer vision. In this paper, we systematically study neural network architecture design choices for object detection and propose several key optimizations to improve efficiency. First, we propose a weighted bi-directional feature pyramid network (BiFPN), which allows easy and fast multiscale feature fusion; Second, we propose a compound scaling method that uniformly scales the resolution, depth, and width for all backbone, feature network, and box/class prediction networks at the same time. Based on these optimizations and better backbones, we have developed a new family of object detectors, called EfficientDet, which consistently achieve much better efficiency than prior art across a wide spectrum of resource constraints. In particular, with single model and single-scale, our EfficientDet-D7 achieves state-of-the-art 55.1 AP on COCO test-dev with 77M parameters and 410B FLOPs, being 4x - 9x smaller and using 13x - 42x fewer FLOPs than previous detectors. Code is available at https://github.com/google/automl/tree/master/efficientdet.

Current object detectors are limited in vocabulary size due to the small scale of detection datasets. Image classifiers, on the other hand, reason about much larger vocabularies, as their datasets are larger and easier to collect. We propose Detic, which simply trains the classifiers of a detector on image classification data and thus expands the vocabulary of detectors to tens of thousands of concepts. Unlike prior work, Detic does not need complex assignment schemes to assign image labels to boxes based on model predictions, making it much easier to implement and compatible with a range of detection architectures and backbones. Our results show that Detic yields excellent detectors even for classes without box annotations. It outperforms prior work on both open-vocabulary and long-tail detection benchmarks. Detic provides a gain of 2.4 mAP for all classes and 8.3 mAP for novel classes on the open-vocabulary LVIS benchmark. On the standard LVIS benchmark, Detic obtains 41.7 mAP when evaluated on all classes, or only rare classes, hence closing the gap in performance for object categories with few samples. For the first time, we train a detector with all the twenty-one-thousand classes of the ImageNet dataset and show that it generalizes to new datasets without finetuning. Code is available at https://github.com/facebookresearch/Detic.

In this paper, we address the problem of adapting models from a source domain to a target domain, a task that has become increasingly important due to the brittle generalization of deep neural networks. While several test-time adaptation techniques have emerged, they typically rely on synthetic toolbox data augmentations in cases of limited target data availability. We consider the challenging setting of single-shot adaptation and explore the design of augmentation strategies. We argue that augmentations utilized by existing methods are insufficient to handle large distribution shifts, and hence propose a new approach SiSTA, which first fine-tunes a generative model from the source domain using a single-shot target, and then employs novel sampling strategies for curating synthetic target data. Using experiments on a variety of benchmarks, distribution shifts and image corruptions, we find that SiSTA produces significantly improved generalization over existing baselines in face attribute detection and multi-class object recognition. Furthermore, SiSTA performs competitively to models obtained by training on larger target datasets. Our codes can be accessed at https://github.com/Rakshith-2905/SiSTA.

The translation of thermal infrared (TIR) images to visible light (VI) images presents a challenging task with potential applications spanning various domains such as TIR-VI image registration and fusion. Leveraging supplementary information derived from TIR image conversions can significantly enhance model performance and generalization across these applications. However, prevailing issues within this field include suboptimal image fidelity and limited model scalability. In this paper, we introduce an algorithm, LadleNet, based on the U-Net architecture. LadleNet employs a two-stage U-Net concatenation structure, augmented with skip connections and refined feature aggregation techniques, resulting in a substantial enhancement in model performance. Comprising 'Handle' and 'Bowl' modules, LadleNet's Handle module facilitates the construction of an abstract semantic space, while the Bowl module decodes this semantic space to yield mapped VI images. The Handle module exhibits extensibility by allowing the substitution of its network architecture with semantic segmentation networks, thereby establishing more abstract semantic spaces to bolster model performance. Consequently, we propose LadleNet+, which replaces LadleNet's Handle module with the pre-trained DeepLabv3+ network, thereby endowing the model with enhanced semantic space construction capabilities. The proposed method is evaluated and tested on the KAIST dataset, accompanied by quantitative and qualitative analyses. Compared to existing methodologies, our approach achieves state-of-the-art performance in terms of image clarity and perceptual quality. The source code will be made available at https://github.com/Ach-1914/LadleNet/tree/main/.

As deep neural networks become adopted in high-stakes domains, it is crucial to be able to identify when inference inputs are Out-of-Distribution (OOD) so that users can be alerted of likely drops in performance and calibration despite high confidence. Among many others, existing methods use the following two scores to do so without training on any apriori OOD examples: a learned temperature and an energy score. In this paper we introduce Ablated Learned Temperature Energy (or "AbeT" for short), a method which combines these prior methods in novel ways with effective modifications. Due to these contributions, AbeT lowers the False Positive Rate at 95% True Positive Rate (FPR@95) by 35.39% in classification (averaged across all ID and OOD datasets measured) compared to state of the art without training networks in multiple stages or requiring hyperparameters or test-time backward passes. We additionally provide empirical insights as to how our model learns to distinguish between In-Distribution (ID) and OOD samples while only being explicitly trained on ID samples via exposure to misclassified ID examples at training time. Lastly, we show the efficacy of our method in identifying predicted bounding boxes and pixels corresponding to OOD objects in object detection and semantic segmentation, respectively - with an AUROC increase of 5.15% in object detection and both a decrease in FPR@95 of 41.48% and an increase in AUPRC of 34.20% on average in semantic segmentation compared to previous state of the art.

We propose D-RISE, a method for generating visual explanations for the predictions of object detectors. Utilizing the proposed similarity metric that accounts for both localization and categorization aspects of object detection allows our method to produce saliency maps that show image areas that most affect the prediction. D-RISE can be considered "black-box" in the software testing sense, as it only needs access to the inputs and outputs of an object detector. Compared to gradient-based methods, D-RISE is more general and agnostic to the particular type of object detector being tested, and does not need knowledge of the inner workings of the model. We show that D-RISE can be easily applied to different object detectors including one-stage detectors such as YOLOv3 and two-stage detectors such as Faster-RCNN. We present a detailed analysis of the generated visual explanations to highlight the utilization of context and possible biases learned by object detectors.

Domain adaptive panoptic segmentation promises to resolve the long tail of corner cases in natural scene understanding. Previous state of the art addresses this problem with cross-task consistency, careful system-level optimization and heuristic improvement of teacher predictions. In contrast, we propose to build upon remarkable capability of mask transformers to estimate their own prediction uncertainty. Our method avoids noise amplification by leveraging fine-grained confidence of panoptic teacher predictions. In particular, we modulate the loss with mask-wide confidence and discourage back-propagation in pixels with uncertain teacher or confident student. Experimental evaluation on standard benchmarks reveals a substantial contribution of the proposed selection techniques. We report 47.4 PQ on Synthia to Cityscapes, which corresponds to an improvement of 6.2 percentage points over the state of the art. The source code is available at https://github.com/helen1c/MC-PanDA.

This paper presents a novel joint neural networks approach to address the challenging one-shot object recognition and detection tasks. Inspired by Siamese neural networks and state-of-art multi-box detection approaches, the joint neural networks are able to perform object recognition and detection for categories that remain unseen during the training process. Following the one-shot object recognition/detection constraints, the training and testing datasets do not contain overlapped classes, in other words, all the test classes remain unseen during training. The joint networks architecture is able to effectively compare pairs of images via stacked convolutional layers of the query and target inputs, recognising patterns of the same input query category without relying on previous training around this category. The proposed approach achieves 61.41% accuracy for one-shot object recognition on the MiniImageNet dataset and 47.1% mAP for one-shot object detection when trained on the COCO dataset and tested using the Pascal VOC dataset. Code available at https://github.com/cjvargasc/JNN recog and https://github.com/cjvargasc/JNN detection/

Many modern object detectors demonstrate outstanding performances by using the mechanism of looking and thinking twice. In this paper, we explore this mechanism in the backbone design for object detection. At the macro level, we propose Recursive Feature Pyramid, which incorporates extra feedback connections from Feature Pyramid Networks into the bottom-up backbone layers. At the micro level, we propose Switchable Atrous Convolution, which convolves the features with different atrous rates and gathers the results using switch functions. Combining them results in DetectoRS, which significantly improves the performances of object detection. On COCO test-dev, DetectoRS achieves state-of-the-art 55.7% box AP for object detection, 48.5% mask AP for instance segmentation, and 50.0% PQ for panoptic segmentation. The code is made publicly available.

Rotated object detection aims to identify and locate objects in images with arbitrary orientation. In this scenario, the oriented directions of objects vary considerably across different images, while multiple orientations of objects exist within an image. This intrinsic characteristic makes it challenging for standard backbone networks to extract high-quality features of these arbitrarily orientated objects. In this paper, we present Adaptive Rotated Convolution (ARC) module to handle the aforementioned challenges. In our ARC module, the convolution kernels rotate adaptively to extract object features with varying orientations in different images, and an efficient conditional computation mechanism is introduced to accommodate the large orientation variations of objects within an image. The two designs work seamlessly in rotated object detection problem. Moreover, ARC can conveniently serve as a plug-and-play module in various vision backbones to boost their representation ability to detect oriented objects accurately. Experiments on commonly used benchmarks (DOTA and HRSC2016) demonstrate that equipped with our proposed ARC module in the backbone network, the performance of multiple popular oriented object detectors is significantly improved (e.g. +3.03% mAP on Rotated RetinaNet and +4.16% on CFA). Combined with the highly competitive method Oriented R-CNN, the proposed approach achieves state-of-the-art performance on the DOTA dataset with 81.77% mAP.

Multi-Object Tracking (MOT) has been a long-standing challenge in video understanding. A natural and intuitive approach is to split this task into two parts: object detection and association. Most mainstream methods employ meticulously crafted heuristic techniques to maintain trajectory information and compute cost matrices for object matching. Although these methods can achieve notable tracking performance, they often require a series of elaborate handcrafted modifications while facing complicated scenarios. We believe that manually assumed priors limit the method's adaptability and flexibility in learning optimal tracking capabilities from domain-specific data. Therefore, we introduce a new perspective that treats Multiple Object Tracking as an in-context ID Prediction task, transforming the aforementioned object association into an end-to-end trainable task. Based on this, we propose a simple yet effective method termed MOTIP. Given a set of trajectories carried with ID information, MOTIP directly decodes the ID labels for current detections to accomplish the association process. Without using tailored or sophisticated architectures, our method achieves state-of-the-art results across multiple benchmarks by solely leveraging object-level features as tracking cues. The simplicity and impressive results of MOTIP leave substantial room for future advancements, thereby making it a promising baseline for subsequent research. Our code and checkpoints are released at https://github.com/MCG-NJU/MOTIP.

We present FEAR, a family of fast, efficient, accurate, and robust Siamese visual trackers. We present a novel and efficient way to benefit from dual-template representation for object model adaption, which incorporates temporal information with only a single learnable parameter. We further improve the tracker architecture with a pixel-wise fusion block. By plugging-in sophisticated backbones with the abovementioned modules, FEAR-M and FEAR-L trackers surpass most Siamese trackers on several academic benchmarks in both accuracy and efficiency. Employed with the lightweight backbone, the optimized version FEAR-XS offers more than 10 times faster tracking than current Siamese trackers while maintaining near state-of-the-art results. FEAR-XS tracker is 2.4x smaller and 4.3x faster than LightTrack with superior accuracy. In addition, we expand the definition of the model efficiency by introducing FEAR benchmark that assesses energy consumption and execution speed. We show that energy consumption is a limiting factor for trackers on mobile devices. Source code, pretrained models, and evaluation protocol are available at https://github.com/PinataFarms/FEARTracker.

The robust association of the same objects across video frames in complex scenes is crucial for many applications, especially Multiple Object Tracking (MOT). Current methods predominantly rely on labeled domain-specific video datasets, which limits the cross-domain generalization of learned similarity embeddings. We propose MASA, a novel method for robust instance association learning, capable of matching any objects within videos across diverse domains without tracking labels. Leveraging the rich object segmentation from the Segment Anything Model (SAM), MASA learns instance-level correspondence through exhaustive data transformations. We treat the SAM outputs as dense object region proposals and learn to match those regions from a vast image collection. We further design a universal MASA adapter which can work in tandem with foundational segmentation or detection models and enable them to track any detected objects. Those combinations present strong zero-shot tracking ability in complex domains. Extensive tests on multiple challenging MOT and MOTS benchmarks indicate that the proposed method, using only unlabeled static images, achieves even better performance than state-of-the-art methods trained with fully annotated in-domain video sequences, in zero-shot association. Project Page: https://matchinganything.github.io/

Conventional Domain Adaptation (DA) methods aim to learn domain-invariant feature representations to improve the target adaptation performance. However, we motivate that domain-specificity is equally important since in-domain trained models hold crucial domain-specific properties that are beneficial for adaptation. Hence, we propose to build a framework that supports disentanglement and learning of domain-specific factors and task-specific factors in a unified model. Motivated by the success of vision transformers in several multi-modal vision problems, we find that queries could be leveraged to extract the domain-specific factors. Hence, we propose a novel Domain-specificity-inducing Transformer (DSiT) framework for disentangling and learning both domain-specific and task-specific factors. To achieve disentanglement, we propose to construct novel Domain-Representative Inputs (DRI) with domain-specific information to train a domain classifier with a novel domain token. We are the first to utilize vision transformers for domain adaptation in a privacy-oriented source-free setting, and our approach achieves state-of-the-art performance on single-source, multi-source, and multi-target benchmarks

Facial landmark detection is a fundamental problem in computer vision for many downstream applications. This paper introduces a new facial landmark detector based on vision transformers, which consists of two unique designs: Dual Vision Transformer (D-ViT) and Long Skip Connections (LSC). Based on the observation that the channel dimension of feature maps essentially represents the linear bases of the heatmap space, we propose learning the interconnections between these linear bases to model the inherent geometric relations among landmarks via Channel-split ViT. We integrate such channel-split ViT into the standard vision transformer (i.e., spatial-split ViT), forming our Dual Vision Transformer to constitute the prediction blocks. We also suggest using long skip connections to deliver low-level image features to all prediction blocks, thereby preventing useful information from being discarded by intermediate supervision. Extensive experiments are conducted to evaluate the performance of our proposal on the widely used benchmarks, i.e., WFLW, COFW, and 300W, demonstrating that our model outperforms the previous SOTAs across all three benchmarks.

This work introduces ILIAS, a new test dataset for Instance-Level Image retrieval At Scale. It is designed to evaluate the ability of current and future foundation models and retrieval techniques to recognize particular objects. The key benefits over existing datasets include large scale, domain diversity, accurate ground truth, and a performance that is far from saturated. ILIAS includes query and positive images for 1,000 object instances, manually collected to capture challenging conditions and diverse domains. Large-scale retrieval is conducted against 100 million distractor images from YFCC100M. To avoid false negatives without extra annotation effort, we include only query objects confirmed to have emerged after 2014, i.e. the compilation date of YFCC100M. An extensive benchmarking is performed with the following observations: i) models fine-tuned on specific domains, such as landmarks or products, excel in that domain but fail on ILIAS ii) learning a linear adaptation layer using multi-domain class supervision results in performance improvements, especially for vision-language models iii) local descriptors in retrieval re-ranking are still a key ingredient, especially in the presence of severe background clutter iv) the text-to-image performance of the vision-language foundation models is surprisingly close to the corresponding image-to-image case. website: https://vrg.fel.cvut.cz/ilias/

Capturing real world lighting is a long standing challenge in imaging and most practical methods acquire High Dynamic Range (HDR) images by either fusing multiple exposures, or boosting the dynamic range of Standard Dynamic Range (SDR) images. Multiple exposure capture is problematic as it requires longer capture times which can often lead to ghosting problems. The main alternative, inverse tone mapping is an ill-defined problem that is especially challenging as single captured exposures usually contain clipped and quantized values, and are therefore missing substantial amounts of content. To alleviate this, we propose a new approach, High Dynamic Range Thermal (HDRT), for HDR acquisition using a separate, commonly available, thermal infrared (IR) sensor. We propose a novel deep neural method (HDRTNet) which combines IR and SDR content to generate HDR images. HDRTNet learns to exploit IR features linked to the RGB image and the IR-specific parameters are subsequently used in a dual branch method that fuses features at shallow layers. This produces an HDR image that is significantly superior to that generated using naive fusion approaches. To validate our method, we have created the first HDR and thermal dataset, and performed extensive experiments comparing HDRTNet with the state-of-the-art. We show substantial quantitative and qualitative quality improvements on both over- and under-exposed images, showing that our approach is robust to capturing in multiple different lighting conditions.

Single-frame infrared small target detection is considered to be a challenging task, due to the extreme imbalance between target and background, bounding box regression is extremely sensitive to infrared small targets, and small target information is easy to lose in the high-level semantic layer. In this paper, we propose an enhancing feature learning network (EFLNet) based on YOLOv7 framework to solve these problems. First, we notice that there is an extremely imbalance between the target and the background in the infrared image, which makes the model pay more attention to the background features, resulting in missed detection. To address this problem, we propose a new adaptive threshold focal loss function that adjusts the loss weight automatically, compelling the model to allocate greater attention to target features. Second, we introduce the normalized Gaussian Wasserstein distance to alleviate the difficulty of model convergence caused by the extreme sensitivity of the bounding box regression to infrared small targets. Finally, we incorporate a dynamic head mechanism into the network to enable adaptive learning of the relative importance of each semantic layer. Experimental results demonstrate our method can achieve better performance in the detection performance of infrared small targets compared to state-of-the-art deep-learning based methods.

The paradigm of large-scale pre-training followed by downstream fine-tuning has been widely employed in various object detection algorithms. In this paper, we reveal discrepancies in data, model, and task between the pre-training and fine-tuning procedure in existing practices, which implicitly limit the detector's performance, generalization ability, and convergence speed. To this end, we propose AlignDet, a unified pre-training framework that can be adapted to various existing detectors to alleviate the discrepancies. AlignDet decouples the pre-training process into two stages, i.e., image-domain and box-domain pre-training. The image-domain pre-training optimizes the detection backbone to capture holistic visual abstraction, and box-domain pre-training learns instance-level semantics and task-aware concepts to initialize the parts out of the backbone. By incorporating the self-supervised pre-trained backbones, we can pre-train all modules for various detectors in an unsupervised paradigm. As depicted in Figure 1, extensive experiments demonstrate that AlignDet can achieve significant improvements across diverse protocols, such as detection algorithm, model backbone, data setting, and training schedule. For example, AlignDet improves FCOS by 5.3 mAP, RetinaNet by 2.1 mAP, Faster R-CNN by 3.3 mAP, and DETR by 2.3 mAP under fewer epochs.

We introduce Ev-TTA, a simple, effective test-time adaptation algorithm for event-based object recognition. While event cameras are proposed to provide measurements of scenes with fast motions or drastic illumination changes, many existing event-based recognition algorithms suffer from performance deterioration under extreme conditions due to significant domain shifts. Ev-TTA mitigates the severe domain gaps by fine-tuning the pre-trained classifiers during the test phase using loss functions inspired by the spatio-temporal characteristics of events. Since the event data is a temporal stream of measurements, our loss function enforces similar predictions for adjacent events to quickly adapt to the changed environment online. Also, we utilize the spatial correlations between two polarities of events to handle noise under extreme illumination, where different polarities of events exhibit distinctive noise distributions. Ev-TTA demonstrates a large amount of performance gain on a wide range of event-based object recognition tasks without extensive additional training. Our formulation can be successfully applied regardless of input representations and further extended into regression tasks. We expect Ev-TTA to provide the key technique to deploy event-based vision algorithms in challenging real-world applications where significant domain shift is inevitable.

Weakly supervised object detection (WSOD) using only image-level annotations has attracted a growing attention over the past few years. Whereas such task is typically addressed with a domain-specific solution focused on natural images, we show that a simple multiple instance approach applied on pre-trained deep features yields excellent performances on non-photographic datasets, possibly including new classes. The approach does not include any fine-tuning or cross-domain learning and is therefore efficient and possibly applicable to arbitrary datasets and classes. We investigate several flavors of the proposed approach, some including multi-layers perceptron and polyhedral classifiers. Despite its simplicity, our method shows competitive results on a range of publicly available datasets, including paintings (People-Art, IconArt), watercolors, cliparts and comics and allows to quickly learn unseen visual categories.

We present a new dataset with the goal of advancing the state-of-the-art in object recognition by placing the question of object recognition in the context of the broader question of scene understanding. This is achieved by gathering images of complex everyday scenes containing common objects in their natural context. Objects are labeled using per-instance segmentations to aid in precise object localization. Our dataset contains photos of 91 objects types that would be easily recognizable by a 4 year old. With a total of 2.5 million labeled instances in 328k images, the creation of our dataset drew upon extensive crowd worker involvement via novel user interfaces for category detection, instance spotting and instance segmentation. We present a detailed statistical analysis of the dataset in comparison to PASCAL, ImageNet, and SUN. Finally, we provide baseline performance analysis for bounding box and segmentation detection results using a Deformable Parts Model.

This paper addresses the problem of ranking pre-trained models for object detection and image classification. Selecting the best pre-trained model by fine-tuning is an expensive and time-consuming task. Previous works have proposed transferability estimation based on features extracted by the pre-trained models. We argue that quantifying whether the target dataset is in-distribution (IND) or out-of-distribution (OOD) for the pre-trained model is an important factor in the transferability estimation. To this end, we propose ETran, an energy-based transferability assessment metric, which includes three scores: 1) energy score, 2) classification score, and 3) regression score. We use energy-based models to determine whether the target dataset is OOD or IND for the pre-trained model. In contrast to the prior works, ETran is applicable to a wide range of tasks including classification, regression, and object detection (classification+regression). This is the first work that proposes transferability estimation for object detection task. Our extensive experiments on four benchmarks and two tasks show that ETran outperforms previous works on object detection and classification benchmarks by an average of 21% and 12%, respectively, and achieves SOTA in transferability assessment.

The extraction of modular object-centric representations for downstream tasks is an emerging area of research. Learning grounded representations of objects that are guaranteed to be stable and invariant promises robust performance across different tasks and environments. Slot Attention (SA) learns object-centric representations by assigning objects to slots, but presupposes a single distribution from which all slots are randomly initialised. This results in an inability to learn specialized slots which bind to specific object types and remain invariant to identity-preserving changes in object appearance. To address this, we present \textsc{Conditional Slot Attention} (CoSA) using a novel concept of Grounded Slot Dictionary (GSD) inspired by vector quantization. Our proposed GSD comprises (i) canonical object-level property vectors and (ii) parametric Gaussian distributions, which define a prior over the slots. We demonstrate the benefits of our method in multiple downstream tasks such as scene generation, composition, and task adaptation, whilst remaining competitive with SA in popular object discovery benchmarks.

The ability to deploy robots that can operate safely in diverse environments is crucial for developing embodied intelligent agents. As a community, we have made tremendous progress in within-domain LiDAR semantic segmentation. However, do these methods generalize across domains? To answer this question, we design the first experimental setup for studying domain generalization (DG) for LiDAR semantic segmentation (DG-LSS). Our results confirm a significant gap between methods, evaluated in a cross-domain setting: for example, a model trained on the source dataset (SemanticKITTI) obtains 26.53 mIoU on the target data, compared to 48.49 mIoU obtained by the model trained on the target domain (nuScenes). To tackle this gap, we propose the first method specifically designed for DG-LSS, which obtains 34.88 mIoU on the target domain, outperforming all baselines. Our method augments a sparse-convolutional encoder-decoder 3D segmentation network with an additional, dense 2D convolutional decoder that learns to classify a birds-eye view of the point cloud. This simple auxiliary task encourages the 3D network to learn features that are robust to sensor placement shifts and resolution, and are transferable across domains. With this work, we aim to inspire the community to develop and evaluate future models in such cross-domain conditions.

Data is the cornerstone of deep learning. This paper reveals that the recently developed Diffusion Model is a scalable data engine for object detection. Existing methods for scaling up detection-oriented data often require manual collection or generative models to obtain target images, followed by data augmentation and labeling to produce training pairs, which are costly, complex, or lacking diversity. To address these issues, we presentDiffusionEngine (DE), a data scaling-up engine that provides high-quality detection-oriented training pairs in a single stage. DE consists of a pre-trained diffusion model and an effective Detection-Adapter, contributing to generating scalable, diverse and generalizable detection data in a plug-and-play manner. Detection-Adapter is learned to align the implicit semantic and location knowledge in off-the-shelf diffusion models with detection-aware signals to make better bounding-box predictions. Additionally, we contribute two datasets, i.e., COCO-DE and VOC-DE, to scale up existing detection benchmarks for facilitating follow-up research. Extensive experiments demonstrate that data scaling-up via DE can achieve significant improvements in diverse scenarios, such as various detection algorithms, self-supervised pre-training, data-sparse, label-scarce, cross-domain, and semi-supervised learning. For example, when using DE with a DINO-based adapter to scale up data, mAP is improved by 3.1% on COCO, 7.6% on VOC, and 11.5% on Clipart.

Event-based cameras offer reliable measurements for preforming computer vision tasks in high-dynamic range environments and during fast motion maneuvers. However, adopting deep learning in event-based vision faces the challenge of annotated data scarcity due to recency of event cameras. Transferring the knowledge that can be obtained from conventional camera annotated data offers a practical solution to this challenge. We develop an unsupervised domain adaptation algorithm for training a deep network for event-based data image classification using contrastive learning and uncorrelated conditioning of data. Our solution outperforms the existing algorithms for this purpose.

Camera-based 3D object detection in BEV (Bird's Eye View) space has drawn great attention over the past few years. Dense detectors typically follow a two-stage pipeline by first constructing a dense BEV feature and then performing object detection in BEV space, which suffers from complex view transformations and high computation cost. On the other side, sparse detectors follow a query-based paradigm without explicit dense BEV feature construction, but achieve worse performance than the dense counterparts. In this paper, we find that the key to mitigate this performance gap is the adaptability of the detector in both BEV and image space. To achieve this goal, we propose SparseBEV, a fully sparse 3D object detector that outperforms the dense counterparts. SparseBEV contains three key designs, which are (1) scale-adaptive self attention to aggregate features with adaptive receptive field in BEV space, (2) adaptive spatio-temporal sampling to generate sampling locations under the guidance of queries, and (3) adaptive mixing to decode the sampled features with dynamic weights from the queries. On the test split of nuScenes, SparseBEV achieves the state-of-the-art performance of 67.5 NDS. On the val split, SparseBEV achieves 55.8 NDS while maintaining a real-time inference speed of 23.5 FPS. Code is available at https://github.com/MCG-NJU/SparseBEV.

Semantic segmentation models based on convolutional neural networks have recently displayed remarkable performance for a multitude of applications. However, these models typically do not generalize well when applied on new domains, especially when going from synthetic to real data. In this paper we address the problem of unsupervised domain adaptation (UDA), which attempts to train on labelled data from one domain (source domain), and simultaneously learn from unlabelled data in the domain of interest (target domain). Existing methods have seen success by training on pseudo-labels for these unlabelled images. Multiple techniques have been proposed to mitigate low-quality pseudo-labels arising from the domain shift, with varying degrees of success. We propose DACS: Domain Adaptation via Cross-domain mixed Sampling, which mixes images from the two domains along with the corresponding labels and pseudo-labels. These mixed samples are then trained on, in addition to the labelled data itself. We demonstrate the effectiveness of our solution by achieving state-of-the-art results for GTA5 to Cityscapes, a common synthetic-to-real semantic segmentation benchmark for UDA.

To deal with the domain shift between training and test samples, current methods have primarily focused on learning generalizable features during training and ignore the specificity of unseen samples that are also critical during the test. In this paper, we investigate a more challenging task that aims to adapt a trained CNN model to unseen domains during the test. To maximumly mine the information in the test data, we propose a unified method called DomainAdaptor for the test-time adaptation, which consists of an AdaMixBN module and a Generalized Entropy Minimization (GEM) loss. Specifically, AdaMixBN addresses the domain shift by adaptively fusing training and test statistics in the normalization layer via a dynamic mixture coefficient and a statistic transformation operation. To further enhance the adaptation ability of AdaMixBN, we design a GEM loss that extends the Entropy Minimization loss to better exploit the information in the test data. Extensive experiments show that DomainAdaptor consistently outperforms the state-of-the-art methods on four benchmarks. Furthermore, our method brings more remarkable improvement against existing methods on the few-data unseen domain. The code is available at https://github.com/koncle/DomainAdaptor.

Sparsely-gated Mixture of Expert (MoE) layers have been recently successfully applied for scaling large transformers, especially for language modeling tasks. An intriguing side effect of sparse MoE layers is that they convey inherent interpretability to a model via natural expert specialization. In this work, we apply sparse MoE layers to CNNs for computer vision tasks and analyze the resulting effect on model interpretability. To stabilize MoE training, we present both soft and hard constraint-based approaches. With hard constraints, the weights of certain experts are allowed to become zero, while soft constraints balance the contribution of experts with an additional auxiliary loss. As a result, soft constraints handle expert utilization better and support the expert specialization process, while hard constraints maintain more generalized experts and increase overall model performance. Our findings demonstrate that experts can implicitly focus on individual sub-domains of the input space. For example, experts trained for CIFAR-100 image classification specialize in recognizing different domains such as flowers or animals without previous data clustering. Experiments with RetinaNet and the COCO dataset further indicate that object detection experts can also specialize in detecting objects of distinct sizes.

Contemporary domain adaptation offers a practical solution for achieving cross-domain transfer of semantic segmentation between labeled source data and unlabeled target data. These solutions have gained significant popularity; however, they require the model to be retrained when the test environment changes. This can result in unbearable costs in certain applications due to the time-consuming training process and concerns regarding data privacy. One-shot domain adaptation methods attempt to overcome these challenges by transferring the pre-trained source model to the target domain using only one target data. Despite this, the referring style transfer module still faces issues with computation cost and over-fitting problems. To address this problem, we propose a novel framework called Informative Data Mining (IDM) that enables efficient one-shot domain adaptation for semantic segmentation. Specifically, IDM provides an uncertainty-based selection criterion to identify the most informative samples, which facilitates quick adaptation and reduces redundant training. We then perform a model adaptation method using these selected samples, which includes patch-wise mixing and prototype-based information maximization to update the model. This approach effectively enhances adaptation and mitigates the overfitting problem. In general, we provide empirical evidence of the effectiveness and efficiency of IDM. Our approach outperforms existing methods and achieves a new state-of-the-art one-shot performance of 56.7\%/55.4\% on the GTA5/SYNTHIA to Cityscapes adaptation tasks, respectively. The code will be released at https://github.com/yxiwang/IDM.

We introduce a new representation learning approach for domain adaptation, in which data at training and test time come from similar but different distributions. Our approach is directly inspired by the theory on domain adaptation suggesting that, for effective domain transfer to be achieved, predictions must be made based on features that cannot discriminate between the training (source) and test (target) domains. The approach implements this idea in the context of neural network architectures that are trained on labeled data from the source domain and unlabeled data from the target domain (no labeled target-domain data is necessary). As the training progresses, the approach promotes the emergence of features that are (i) discriminative for the main learning task on the source domain and (ii) indiscriminate with respect to the shift between the domains. We show that this adaptation behaviour can be achieved in almost any feed-forward model by augmenting it with few standard layers and a new gradient reversal layer. The resulting augmented architecture can be trained using standard backpropagation and stochastic gradient descent, and can thus be implemented with little effort using any of the deep learning packages. We demonstrate the success of our approach for two distinct classification problems (document sentiment analysis and image classification), where state-of-the-art domain adaptation performance on standard benchmarks is achieved. We also validate the approach for descriptor learning task in the context of person re-identification application.

Object detection is the key technique to a number of Computer Vision applications, but it often requires large amounts of annotated data to achieve decent results. Moreover, for pedestrian detection specifically, the collected data might contain some personally identifiable information (PII), which is highly restricted in many countries. This label intensive and privacy concerning task has recently led to an increasing interest in training the detection models using synthetically generated pedestrian datasets collected with a photo-realistic video game engine. The engine is able to generate unlimited amounts of data with precise and consistent annotations, which gives potential for significant gains in the real-world applications. However, the use of synthetic data for training introduces a synthetic-to-real domain shift aggravating the final performance. To close the gap between the real and synthetic data, we propose to use a Generative Adversarial Network (GAN), which performsparameterized unpaired image-to-image translation to generate more realistic images. The key benefit of using the GAN is its intrinsic preference of low-level changes to geometric ones, which means annotations of a given synthetic image remain accurate even after domain translation is performed thus eliminating the need for labeling real data. We extensively experimented with the proposed method using MOTSynth dataset to train and MOT17 and MOT20 detection datasets to test, with experimental results demonstrating the effectiveness of this method. Our approach not only produces visually plausible samples but also does not require any labels of the real domain thus making it applicable to the variety of downstream tasks.

Weakly supervised 3D object detection aims to learn a 3D detector with lower annotation cost, e.g., 2D labels. Unlike prior work which still relies on few accurate 3D annotations, we propose a framework to study how to leverage constraints between 2D and 3D domains without requiring any 3D labels. Specifically, we employ visual data from three perspectives to establish connections between 2D and 3D domains. First, we design a feature-level constraint to align LiDAR and image features based on object-aware regions. Second, the output-level constraint is developed to enforce the overlap between 2D and projected 3D box estimations. Finally, the training-level constraint is utilized by producing accurate and consistent 3D pseudo-labels that align with the visual data. We conduct extensive experiments on the KITTI dataset to validate the effectiveness of the proposed three constraints. Without using any 3D labels, our method achieves favorable performance against state-of-the-art approaches and is competitive with the method that uses 500-frame 3D annotations. Code will be made publicly available at https://github.com/kuanchihhuang/VG-W3D.

In this paper, we aim to study how to build a strong instance segmenter with minimal training time and GPUs, as opposed to the majority of current approaches that pursue more accurate instance segmenter by building more advanced frameworks at the cost of longer training time and higher GPU requirements. To achieve this, we introduce a simple and general framework, termed Mask Frozen-DETR, which can convert any existing DETR-based object detection model into a powerful instance segmentation model. Our method only requires training an additional lightweight mask network that predicts instance masks within the bounding boxes given by a frozen DETR-based object detector. Remarkably, our method outperforms the state-of-the-art instance segmentation method Mask DINO in terms of performance on the COCO test-dev split (55.3% vs. 54.7%) while being over 10X times faster to train. Furthermore, all of our experiments can be trained using only one Tesla V100 GPU with 16 GB of memory, demonstrating the significant efficiency of our proposed framework.

We propose an embarrassingly simple method -- instance-aware repeat factor sampling (IRFS) to address the problem of imbalanced data in long-tailed object detection. Imbalanced datasets in real-world object detection often suffer from a large disparity in the number of instances for each class. To improve the generalization performance of object detection models on rare classes, various data sampling techniques have been proposed. Repeat factor sampling (RFS) has shown promise due to its simplicity and effectiveness. Despite its efficiency, RFS completely neglects the instance counts and solely relies on the image count during re-sampling process. However, instance count may immensely vary for different classes with similar image counts. Such variation highlights the importance of both image and instance for addressing the long-tail distributions. Thus, we propose IRFS which unifies instance and image counts for the re-sampling process to be aware of different perspectives of the imbalance in long-tailed datasets. Our method shows promising results on the challenging LVIS v1.0 benchmark dataset over various architectures and backbones, demonstrating their effectiveness in improving the performance of object detection models on rare classes with a relative +50% average precision (AP) improvement over counterpart RFS. IRFS can serve as a strong baseline and be easily incorporated into existing long-tailed frameworks.

This paper introduces ReservoirTTA, a novel plug-in framework designed for prolonged test-time adaptation (TTA) in scenarios where the test domain continuously shifts over time, including cases where domains recur or evolve gradually. At its core, ReservoirTTA maintains a reservoir of domain-specialized models -- an adaptive test-time model ensemble -- that both detects new domains via online clustering over style features of incoming samples and routes each sample to the appropriate specialized model, and thereby enables domain-specific adaptation. This multi-model strategy overcomes key limitations of single model adaptation, such as catastrophic forgetting, inter-domain interference, and error accumulation, ensuring robust and stable performance on sustained non-stationary test distributions. Our theoretical analysis reveals key components that bound parameter variance and prevent model collapse, while our plug-in TTA module mitigates catastrophic forgetting of previously encountered domains. Extensive experiments on the classification corruption benchmarks, including ImageNet-C and CIFAR-10/100-C, as well as the CityscapesrightarrowACDC semantic segmentation task, covering recurring and continuously evolving domain shifts, demonstrate that ReservoirTTA significantly improves adaptation accuracy and maintains stable performance across prolonged, recurring shifts, outperforming state-of-the-art methods. Our code is publicly available at https://github.com/LTS5/ReservoirTTA.

Detecting small moving targets accurately in infrared (IR) image sequences is a significant challenge. To address this problem, we propose a novel method called spatial-temporal local feature difference (STLFD) with adaptive background suppression (ABS). Our approach utilizes filters in the spatial and temporal domains and performs pixel-level ABS on the output to enhance the contrast between the target and the background. The proposed method comprises three steps. First, we obtain three temporal frame images based on the current frame image and extract two feature maps using the designed spatial domain and temporal domain filters. Next, we fuse the information of the spatial domain and temporal domain to produce the spatial-temporal feature maps and suppress noise using our pixel-level ABS module. Finally, we obtain the segmented binary map by applying a threshold. Our experimental results demonstrate that the proposed method outperforms existing state-of-the-art methods for infrared small-moving target detection.

Inferring object 3D position and orientation from a single RGB camera is a foundational task in computer vision with many important applications. Traditionally, 3D object detection methods are trained in a fully-supervised setup, requiring LiDAR and vast amounts of human annotations, which are laborious, costly, and do not scale well with the ever-increasing amounts of data being captured. We present a novel method to train a 3D object detector from a single RGB camera without domain-specific human annotations, making orders of magnitude more data available for training. The method uses newly proposed Local Object Motion Model to disentangle object movement source between subsequent frames, is approximately 700 times faster than previous work and compensates camera focal length differences to aggregate multiple datasets. The method is evaluated on three public datasets, where despite using no human labels, it outperforms prior work by a significant margin. It also shows its versatility as a pre-training tool for fully-supervised training and shows that combining pseudo-labels from multiple datasets can achieve comparable accuracy to using human labels from a single dataset. The source code and model are available at https://github.com/jskvrna/MonoSOWA.

In this report, we present RT-DETRv2, an improved Real-Time DEtection TRansformer (RT-DETR). RT-DETRv2 builds upon the previous state-of-the-art real-time detector, RT-DETR, and opens up a set of bag-of-freebies for flexibility and practicality, as well as optimizing the training strategy to achieve enhanced performance. To improve the flexibility, we suggest setting a distinct number of sampling points for features at different scales in the deformable attention to achieve selective multi-scale feature extraction by the decoder. To enhance practicality, we propose an optional discrete sampling operator to replace the grid_sample operator that is specific to RT-DETR compared to YOLOs. This removes the deployment constraints typically associated with DETRs. For the training strategy, we propose dynamic data augmentation and scale-adaptive hyperparameters customization to improve performance without loss of speed. Source code and pre-trained models will be available at https://github.com/lyuwenyu/RT-DETR.

With the exponential growth of data, traditional object detection methods are increasingly struggling to handle vast vocabulary object detection tasks effectively. We analyze two key limitations of classification-based detectors: positive gradient dilution, where rare positive categories receive insufficient learning signals, and hard negative gradient dilution, where discriminative gradients are overwhelmed by numerous easy negatives. To address these challenges, we propose CQ-DINO, a category query-based object detection framework that reformulates classification as a contrastive task between object queries and learnable category queries. Our method introduces image-guided query selection, which reduces the negative space by adaptively retrieving top-K relevant categories per image via cross-attention, thereby rebalancing gradient distributions and facilitating implicit hard example mining. Furthermore, CQ-DINO flexibly integrates explicit hierarchical category relationships in structured datasets (e.g., V3Det) or learns implicit category correlations via self-attention in generic datasets (e.g., COCO). Experiments demonstrate that CQ-DINO achieves superior performance on the challenging V3Det benchmark (surpassing previous methods by 2.1% AP) while maintaining competitiveness in COCO. Our work provides a scalable solution for real-world detection systems requiring wide category coverage. The code is publicly at https://github.com/RedAIGC/CQ-DINO.

Domain adaptation has been vastly investigated in computer vision but still requires access to target images at train time, which might be intractable in some uncommon conditions. In this paper, we propose the task of `Prompt-driven Zero-shot Domain Adaptation', where we adapt a model trained on a source domain using only a general description in natural language of the target domain, i.e., a prompt. First, we leverage a pretrained contrastive vision-language model (CLIP) to optimize affine transformations of source features, steering them towards the target text embedding while preserving their content and semantics. To achieve this, we propose Prompt-driven Instance Normalization (PIN). Second, we show that these prompt-driven augmentations can be used to perform zero-shot domain adaptation for semantic segmentation. Experiments demonstrate that our method significantly outperforms CLIP-based style transfer baselines on several datasets for the downstream task at hand, even surpassing one-shot unsupervised domain adaptation. A similar boost is observed on object detection and image classification. The code is available at https://github.com/astra-vision/PODA .

Crowd counting is a fundamental yet challenging task, which desires rich information to generate pixel-wise crowd density maps. However, most previous methods only used the limited information of RGB images and cannot well discover potential pedestrians in unconstrained scenarios. In this work, we find that incorporating optical and thermal information can greatly help to recognize pedestrians. To promote future researches in this field, we introduce a large-scale RGBT Crowd Counting (RGBT-CC) benchmark, which contains 2,030 pairs of RGB-thermal images with 138,389 annotated people. Furthermore, to facilitate the multimodal crowd counting, we propose a cross-modal collaborative representation learning framework, which consists of multiple modality-specific branches, a modality-shared branch, and an Information Aggregation-Distribution Module (IADM) to capture the complementary information of different modalities fully. Specifically, our IADM incorporates two collaborative information transfers to dynamically enhance the modality-shared and modality-specific representations with a dual information propagation mechanism. Extensive experiments conducted on the RGBT-CC benchmark demonstrate the effectiveness of our framework for RGBT crowd counting. Moreover, the proposed approach is universal for multimodal crowd counting and is also capable to achieve superior performance on the ShanghaiTechRGBD dataset. Finally, our source code and benchmark are released at {http://lingboliu.com/RGBT_Crowd_Counting.html}.

Given the importance of remote sensing, surprisingly little attention has been paid to it by the representation learning community. To address it and to establish baselines and a common evaluation protocol in this domain, we provide simplified access to 5 diverse remote sensing datasets in a standardized form. Specifically, we investigate in-domain representation learning to develop generic remote sensing representations and explore which characteristics are important for a dataset to be a good source for remote sensing representation learning. The established baselines achieve state-of-the-art performance on these datasets.

In autonomous driving, learning a segmentation model that can adapt to various environmental conditions is crucial. In particular, copying with severe illumination changes is an impelling need, as models trained on daylight data will perform poorly at nighttime. In this paper, we study the problem of Domain Adaptive Nighttime Semantic Segmentation (DANSS), which aims to learn a discriminative nighttime model with a labeled daytime dataset and an unlabeled dataset, including coarsely aligned day-night image pairs. To this end, we propose a novel Bidirectional Mixing (Bi-Mix) framework for DANSS, which can contribute to both image translation and segmentation adaptation processes. Specifically, in the image translation stage, Bi-Mix leverages the knowledge of day-night image pairs to improve the quality of nighttime image relighting. On the other hand, in the segmentation adaptation stage, Bi-Mix effectively bridges the distribution gap between day and night domains for adapting the model to the night domain. In both processes, Bi-Mix simply operates by mixing two samples without extra hyper-parameters, thus it is easy to implement. Extensive experiments on Dark Zurich and Nighttime Driving datasets demonstrate the advantage of the proposed Bi-Mix and show that our approach obtains state-of-the-art performance in DANSS. Our code is available at https://github.com/ygjwd12345/BiMix.

We present REM, a framework for segmenting a wide range of concepts in video that can be described through natural language. Our method capitalizes on visual-language representations learned by video diffusion models on Internet-scale datasets. A key insight of our approach is preserving as much of the generative model's original representation as possible, while fine-tuning it on narrow-domain Referral Object Segmentation datasets. As a result, our framework can accurately segment and track rare and unseen objects, despite being trained on object masks from a limited set of categories. Additionally, it can generalize to non-object dynamic concepts, such as waves crashing in the ocean, as demonstrated in our newly introduced benchmark for Referral Video Process Segmentation (Ref-VPS). Our experiments show that REM performs on par with state-of-the-art approaches on in-domain datasets, like Ref-DAVIS, while outperforming them by up to twelve points in terms of region similarity on out-of-domain data, leveraging the power of Internet-scale pre-training.

Learning to estimate object pose often requires ground-truth (GT) labels, such as CAD model and absolute-scale object pose, which is expensive and laborious to obtain in the real world. To tackle this problem, we propose an unsupervised domain adaptation (UDA) for category-level object pose estimation, called UDA-COPE. Inspired by recent multi-modal UDA techniques, the proposed method exploits a teacher-student self-supervised learning scheme to train a pose estimation network without using target domain pose labels. We also introduce a bidirectional filtering method between the predicted normalized object coordinate space (NOCS) map and observed point cloud, to not only make our teacher network more robust to the target domain but also to provide more reliable pseudo labels for the student network training. Extensive experimental results demonstrate the effectiveness of our proposed method both quantitatively and qualitatively. Notably, without leveraging target-domain GT labels, our proposed method achieved comparable or sometimes superior performance to existing methods that depend on the GT labels.

Although Domain Adaptation in Semantic Scene Segmentation has shown impressive improvement in recent years, the fairness concerns in the domain adaptation have yet to be well defined and addressed. In addition, fairness is one of the most critical aspects when deploying the segmentation models into human-related real-world applications, e.g., autonomous driving, as any unfair predictions could influence human safety. In this paper, we propose a novel Fairness Domain Adaptation (FREDOM) approach to semantic scene segmentation. In particular, from the proposed formulated fairness objective, a new adaptation framework will be introduced based on the fair treatment of class distributions. Moreover, to generally model the context of structural dependency, a new conditional structural constraint is introduced to impose the consistency of predicted segmentation. Thanks to the proposed Conditional Structure Network, the self-attention mechanism has sufficiently modeled the structural information of segmentation. Through the ablation studies, the proposed method has shown the performance improvement of the segmentation models and promoted fairness in the model predictions. The experimental results on the two standard benchmarks, i.e., SYNTHIA to Cityscapes and GTA5 to Cityscapes, have shown that our method achieved State-of-the-Art (SOTA) performance.

We aim at providing the object detection community with an efficient and performant object detector, termed YOLO-MS. The core design is based on a series of investigations on how multi-branch features of the basic block and convolutions with different kernel sizes affect the detection performance of objects at different scales. The outcome is a new strategy that can significantly enhance multi-scale feature representations of real-time object detectors. To verify the effectiveness of our work, we train our YOLO-MS on the MS COCO dataset from scratch without relying on any other large-scale datasets, like ImageNet or pre-trained weights. Without bells and whistles, our YOLO-MS outperforms the recent state-of-the-art real-time object detectors, including YOLO-v7, RTMDet, and YOLO-v8. Taking the XS version of YOLO-MS as an example, it can achieve an AP score of 42+% on MS COCO, which is about 2% higher than RTMDet with the same model size. Furthermore, our work can also serve as a plug-and-play module for other YOLO models. Typically, our method significantly advances the APs, APl, and AP of YOLOv8-N from 18%+, 52%+, and 37%+ to 20%+, 55%+, and 40%+, respectively, with even fewer parameters and MACs. Code and trained models are publicly available at https://github.com/FishAndWasabi/YOLO-MS. We also provide the Jittor version at https://github.com/NK-JittorCV/nk-yolo.

We tackle the challenging problem of source-free unsupervised domain adaptation (SFUDA) for 3D semantic segmentation. It amounts to performing domain adaptation on an unlabeled target domain without any access to source data; the available information is a model trained to achieve good performance on the source domain. A common issue with existing SFUDA approaches is that performance degrades after some training time, which is a by product of an under-constrained and ill-posed problem. We discuss two strategies to alleviate this issue. First, we propose a sensible way to regularize the learning problem. Second, we introduce a novel criterion based on agreement with a reference model. It is used (1) to stop the training when appropriate and (2) as validator to select hyperparameters without any knowledge on the target domain. Our contributions are easy to implement and readily amenable for all SFUDA methods, ensuring stable improvements over all baselines. We validate our findings on various 3D lidar settings, achieving state-of-the-art performance. The project repository (with code) is: github.com/valeoai/TTYD.

Adverse conditions like snow, rain, nighttime, and fog, pose challenges for autonomous driving perception systems. Existing methods have limited effectiveness in improving essential computer vision tasks, such as semantic segmentation, and often focus on only one specific condition, such as removing rain or translating nighttime images into daytime ones. To address these limitations, we propose a method to improve the visual quality and clarity degraded by such adverse conditions. Our method, AllWeather-Net, utilizes a novel hierarchical architecture to enhance images across all adverse conditions. This architecture incorporates information at three semantic levels: scene, object, and texture, by discriminating patches at each level. Furthermore, we introduce a Scaled Illumination-aware Attention Mechanism (SIAM) that guides the learning towards road elements critical for autonomous driving perception. SIAM exhibits robustness, remaining unaffected by changes in weather conditions or environmental scenes. AllWeather-Net effectively transforms images into normal weather and daytime scenes, demonstrating superior image enhancement results and subsequently enhancing the performance of semantic segmentation, with up to a 5.3% improvement in mIoU in the trained domain. We also show our model's generalization ability by applying it to unseen domains without re-training, achieving up to 3.9% mIoU improvement. Code can be accessed at: https://github.com/Jumponthemoon/AllWeatherNet.

Semantic segmentation is a critical technique for effective scene understanding. Traditional RGB-T semantic segmentation models often struggle to generalize across diverse scenarios due to their reliance on pretrained models and predefined categories. Recent advancements in Visual Language Models (VLMs) have facilitated a shift from closed-set to open-vocabulary semantic segmentation methods. However, these models face challenges in dealing with intricate scenes, primarily due to the heterogeneity between RGB and thermal modalities. To address this gap, we present Open-RGBT, a novel open-vocabulary RGB-T semantic segmentation model. Specifically, we obtain instance-level detection proposals by incorporating visual prompts to enhance category understanding. Additionally, we employ the CLIP model to assess image-text similarity, which helps correct semantic consistency and mitigates ambiguities in category identification. Empirical evaluations demonstrate that Open-RGBT achieves superior performance in diverse and challenging real-world scenarios, even in the wild, significantly advancing the field of RGB-T semantic segmentation.

Few-shot learning has made impressive strides in addressing the crucial challenges of recognizing unknown samples from novel classes in target query sets and managing visual shifts between domains. However, existing techniques fall short when it comes to identifying target outliers under domain shifts by learning to reject pseudo-outliers from the source domain, resulting in an incomplete solution to both problems. To address these challenges comprehensively, we propose a novel approach called Domain Adaptive Few-Shot Open Set Recognition (DA-FSOS) and introduce a meta-learning-based architecture named DAFOSNET. During training, our model learns a shared and discriminative embedding space while creating a pseudo open-space decision boundary, given a fully-supervised source domain and a label-disjoint few-shot target domain. To enhance data density, we use a pair of conditional adversarial networks with tunable noise variances to augment both domains closed and pseudo-open spaces. Furthermore, we propose a domain-specific batch-normalized class prototypes alignment strategy to align both domains globally while ensuring class-discriminativeness through novel metric objectives. Our training approach ensures that DAFOS-NET can generalize well to new scenarios in the target domain. We present three benchmarks for DA-FSOS based on the Office-Home, mini-ImageNet/CUB, and DomainNet datasets and demonstrate the efficacy of DAFOS-NET through extensive experimentation

In this work, we pioneer the study of open-vocabulary monocular 3D object detection, a novel task that aims to detect and localize objects in 3D space from a single RGB image without limiting detection to a predefined set of categories. We formalize this problem, establish baseline methods, and introduce a class-agnostic approach that leverages open-vocabulary 2D detectors and lifts 2D bounding boxes into 3D space. Our approach decouples the recognition and localization of objects in 2D from the task of estimating 3D bounding boxes, enabling generalization across unseen categories. Additionally, we propose a target-aware evaluation protocol to address inconsistencies in existing datasets, improving the reliability of model performance assessment. Extensive experiments on the Omni3D dataset demonstrate the effectiveness of the proposed method in zero-shot 3D detection for novel object categories, validating its robust generalization capabilities. Our method and evaluation protocols contribute towards the development of open-vocabulary object detection models that can effectively operate in real-world, category-diverse environments.

Though the state-of-the architectures for semantic segmentation, such as HRNet, demonstrate impressive accuracy, the complexity arising from their salient design choices hinders a range of model acceleration tools, and further they make use of operations that are inefficient on current hardware. This paper demonstrates that a simple encoder-decoder architecture with a ResNet-like backbone and a small multi-scale head, performs on-par or better than complex semantic segmentation architectures such as HRNet, FANet and DDRNets. Naively applying deep backbones designed for Image Classification to the task of Semantic Segmentation leads to sub-par results, owing to a much smaller effective receptive field of these backbones. Implicit among the various design choices put forth in works like HRNet, DDRNet, and FANet are networks with a large effective receptive field. It is natural to ask if a simple encoder-decoder architecture would compare favorably if comprised of backbones that have a larger effective receptive field, though without the use of inefficient operations like dilated convolutions. We show that with minor and inexpensive modifications to ResNets, enlarging the receptive field, very simple and competitive baselines can be created for Semantic Segmentation. We present a family of such simple architectures for desktop as well as mobile targets, which match or exceed the performance of complex models on the Cityscapes dataset. We hope that our work provides simple yet effective baselines for practitioners to develop efficient semantic segmentation models.

Current supervised visual detectors, though impressive within their training distribution, often fail to segment out-of-distribution scenes into their constituent entities. Recent test-time adaptation methods use auxiliary self-supervised losses to adapt the network parameters to each test example independently and have shown promising results towards generalization outside the training distribution for the task of image classification. In our work, we find evidence that these losses can be insufficient for instance segmentation tasks, without also considering architectural inductive biases. For image segmentation, recent slot-centric generative models break such dependence on supervision by attempting to segment scenes into entities in a self-supervised manner by reconstructing pixels. Drawing upon these two lines of work, we propose Slot-TTA, a semi-supervised instance segmentation model equipped with a slot-centric inductive bias, that is adapted per scene at test time through gradient descent on reconstruction or novel view synthesis objectives. We show that test-time adaptation in Slot-TTA greatly improves instance segmentation in out-of-distribution scenes. We evaluate Slot-TTA in several 3D and 2D scene instance segmentation benchmarks and show substantial out-of-distribution performance improvements against state-of-the-art supervised feed-forward detectors and self-supervised test-time adaptation methods.

We explore the use of convolutional neural networks for the semantic classification of remote sensing scenes. Two recently proposed architectures, CaffeNet and GoogLeNet, are adopted, with three different learning modalities. Besides conventional training from scratch, we resort to pre-trained networks that are only fine-tuned on the target data, so as to avoid overfitting problems and reduce design time. Experiments on two remote sensing datasets, with markedly different characteristics, testify on the effectiveness and wide applicability of the proposed solution, which guarantees a significant performance improvement over all state-of-the-art references.

We introduce a new large-scale dataset for the advancement of object detection techniques and overhead object detection research. This satellite imagery dataset enables research progress pertaining to four key computer vision frontiers. We utilize a novel process for geospatial category detection and bounding box annotation with three stages of quality control. Our data is collected from WorldView-3 satellites at 0.3m ground sample distance, providing higher resolution imagery than most public satellite imagery datasets. We compare xView to other object detection datasets in both natural and overhead imagery domains and then provide a baseline analysis using the Single Shot MultiBox Detector. xView is one of the largest and most diverse publicly available object-detection datasets to date, with over 1 million objects across 60 classes in over 1,400 km^2 of imagery.

Generalisation of deep neural networks becomes vulnerable when distribution shifts are encountered between train (source) and test (target) domain data. Few-shot domain adaptation mitigates this issue by adapting deep neural networks pre-trained on the source domain to the target domain using a randomly selected and annotated support set from the target domain. This paper argues that randomly selecting the support set can be further improved for effectively adapting the pre-trained source models to the target domain. Alternatively, we propose SelectNAdapt, an algorithm to curate the selection of the target domain samples, which are then annotated and included in the support set. In particular, for the K-shot adaptation problem, we first leverage self-supervision to learn features of the target domain data. Then, we propose a per-class clustering scheme of the learned target domain features and select K representative target samples using a distance-based scoring function. Finally, we bring our selection setup towards a practical ground by relying on pseudo-labels for clustering semantically similar target domain samples. Our experiments show promising results on three few-shot domain adaptation benchmarks for image recognition compared to related approaches and the standard random selection.

Low-light conditions and occluded scenarios impede object detection in real-world Internet of Things (IoT) applications like autonomous vehicles and security systems. While advanced machine learning models strive for accuracy, their computational demands clash with the limitations of resource-constrained devices, hampering real-time performance. In our current research, we tackle this challenge, by introducing "YOLO Phantom", one of the smallest YOLO models ever conceived. YOLO Phantom utilizes the novel Phantom Convolution block, achieving comparable accuracy to the latest YOLOv8n model while simultaneously reducing both parameters and model size by 43%, resulting in a significant 19% reduction in Giga Floating Point Operations (GFLOPs). YOLO Phantom leverages transfer learning on our multimodal RGB-infrared dataset to address low-light and occlusion issues, equipping it with robust vision under adverse conditions. Its real-world efficacy is demonstrated on an IoT platform with advanced low-light and RGB cameras, seamlessly connecting to an AWS-based notification endpoint for efficient real-time object detection. Benchmarks reveal a substantial boost of 17% and 14% in frames per second (FPS) for thermal and RGB detection, respectively, compared to the baseline YOLOv8n model. For community contribution, both the code and the multimodal dataset are available on GitHub.

We propose a direct, regression-based approach to 2D human pose estimation from single images. We formulate the problem as a sequence prediction task, which we solve using a Transformer network. This network directly learns a regression mapping from images to the keypoint coordinates, without resorting to intermediate representations such as heatmaps. This approach avoids much of the complexity associated with heatmap-based approaches. To overcome the feature misalignment issues of previous regression-based methods, we propose an attention mechanism that adaptively attends to the features that are most relevant to the target keypoints, considerably improving the accuracy. Importantly, our framework is end-to-end differentiable, and naturally learns to exploit the dependencies between keypoints. Experiments on MS-COCO and MPII, two predominant pose-estimation datasets, demonstrate that our method significantly improves upon the state-of-the-art in regression-based pose estimation. More notably, ours is the first regression-based approach to perform favorably compared to the best heatmap-based pose estimation methods.

Domain generalization (DG) aims to adapt a model using one or multiple source domains to ensure robust performance in unseen target domains. Recently, Parameter-Efficient Fine-Tuning (PEFT) of foundation models has shown promising results in the context of DG problem. Nevertheless, existing PEFT methods still struggle to strike a balance between preserving generalizable components of the pre-trained model and learning task-specific features. To gain insights into the distribution of generalizable components, we begin by analyzing the pre-trained weights through the lens of singular value decomposition. Building on these insights, we introduce Singular Value Decomposed Minor Components Adaptation (SoMA), an approach that selectively tunes minor singular components while keeping the residual parts frozen. SoMA effectively retains the generalization ability of the pre-trained model while efficiently acquiring task-specific skills. Moreover, we freeze domain-generalizable blocks and employ an annealing weight decay strategy, thereby achieving an optimal balance in the delicate trade-off between generalizability and discriminability. SoMA attains state-of-the-art results on multiple benchmarks that span both domain generalized semantic segmentation to domain generalized object detection. In addition, our methods introduce no additional inference overhead or regularization loss, maintain compatibility with any backbone or head, and are designed to be versatile, allowing easy integration into a wide range of tasks.

Domain shift remains a persistent challenge in deep-learning-based computer vision, often requiring extensive model modifications or large labeled datasets to address. Inspired by human visual perception, which adjusts input quality through corrective lenses rather than over-training the brain, we propose Lens, a novel camera sensor control method that enhances model performance by capturing high-quality images from the model's perspective rather than relying on traditional human-centric sensor control. Lens is lightweight and adapts sensor parameters to specific models and scenes in real-time. At its core, Lens utilizes VisiT, a training-free, model-specific quality indicator that evaluates individual unlabeled samples at test time using confidence scores without additional adaptation costs. To validate Lens, we introduce ImageNet-ES Diverse, a new benchmark dataset capturing natural perturbations from varying sensor and lighting conditions. Extensive experiments on both ImageNet-ES and our new ImageNet-ES Diverse show that Lens significantly improves model accuracy across various baseline schemes for sensor control and model modification while maintaining low latency in image captures. Lens effectively compensates for large model size differences and integrates synergistically with model improvement techniques. Our code and dataset are available at github.com/Edw2n/Lens.git.

This paper aims for high-performance offline LiDAR-based 3D object detection. We first observe that experienced human annotators annotate objects from a track-centric perspective. They first label the objects with clear shapes in a track, and then leverage the temporal coherence to infer the annotations of obscure objects. Drawing inspiration from this, we propose a high-performance offline detector in a track-centric perspective instead of the conventional object-centric perspective. Our method features a bidirectional tracking module and a track-centric learning module. Such a design allows our detector to infer and refine a complete track once the object is detected at a certain moment. We refer to this characteristic as "onCe detecTed, neveR Lost" and name the proposed system CTRL. Extensive experiments demonstrate the remarkable performance of our method, surpassing the human-level annotating accuracy and the previous state-of-the-art methods in the highly competitive Waymo Open Dataset without model ensemble. The code will be made publicly available at https://github.com/tusen-ai/SST.

State-of-the-art object detection networks depend on region proposal algorithms to hypothesize object locations. Advances like SPPnet and Fast R-CNN have reduced the running time of these detection networks, exposing region proposal computation as a bottleneck. In this work, we introduce a Region Proposal Network (RPN) that shares full-image convolutional features with the detection network, thus enabling nearly cost-free region proposals. An RPN is a fully convolutional network that simultaneously predicts object bounds and objectness scores at each position. The RPN is trained end-to-end to generate high-quality region proposals, which are used by Fast R-CNN for detection. We further merge RPN and Fast R-CNN into a single network by sharing their convolutional features---using the recently popular terminology of neural networks with 'attention' mechanisms, the RPN component tells the unified network where to look. For the very deep VGG-16 model, our detection system has a frame rate of 5fps (including all steps) on a GPU, while achieving state-of-the-art object detection accuracy on PASCAL VOC 2007, 2012, and MS COCO datasets with only 300 proposals per image. In ILSVRC and COCO 2015 competitions, Faster R-CNN and RPN are the foundations of the 1st-place winning entries in several tracks. Code has been made publicly available.

Unsupervised 3D object detection methods have emerged to leverage vast amounts of data without requiring manual labels for training. Recent approaches rely on dynamic objects for learning to detect mobile objects but penalize the detections of static instances during training. Multiple rounds of self-training are used to add detected static instances to the set of training targets; this procedure to improve performance is computationally expensive. To address this, we propose the method UNION. We use spatial clustering and self-supervised scene flow to obtain a set of static and dynamic object proposals from LiDAR. Subsequently, object proposals' visual appearances are encoded to distinguish static objects in the foreground and background by selecting static instances that are visually similar to dynamic objects. As a result, static and dynamic mobile objects are obtained together, and existing detectors can be trained with a single training. In addition, we extend 3D object discovery to detection by using object appearance-based cluster labels as pseudo-class labels for training object classification. We conduct extensive experiments on the nuScenes dataset and increase the state-of-the-art performance for unsupervised 3D object discovery, i.e. UNION more than doubles the average precision to 39.5. The code is available at github.com/TedLentsch/UNION.

Endeavors have been recently made to transfer knowledge from the labeled pinhole image domain to the unlabeled panoramic image domain via Unsupervised Domain Adaptation (UDA). The aim is to tackle the domain gaps caused by the style disparities and distortion problem from the non-uniformly distributed pixels of equirectangular projection (ERP). Previous works typically focus on transferring knowledge based on geometric priors with specially designed multi-branch network architectures. As a result, considerable computational costs are induced, and meanwhile, their generalization abilities are profoundly hindered by the variation of distortion among pixels. In this paper, we find that the pixels' neighborhood regions of the ERP indeed introduce less distortion. Intuitively, we propose a novel UDA framework that can effectively address the distortion problems for panoramic semantic segmentation. In comparison, our method is simpler, easier to implement, and more computationally efficient. Specifically, we propose distortion-aware attention (DA) capturing the neighboring pixel distribution without using any geometric constraints. Moreover, we propose a class-wise feature aggregation (CFA) module to iteratively update the feature representations with a memory bank. As such, the feature similarity between two domains can be consistently optimized. Extensive experiments show that our method achieves new state-of-the-art performance while remarkably reducing 80% parameters.

There is a growing interest in learning data representations that work well for many different types of problems and data. In this paper, we look in particular at the task of learning a single visual representation that can be successfully utilized in the analysis of very different types of images, from dog breeds to stop signs and digits. Inspired by recent work on learning networks that predict the parameters of another, we develop a tunable deep network architecture that, by means of adapter residual modules, can be steered on the fly to diverse visual domains. Our method achieves a high degree of parameter sharing while maintaining or even improving the accuracy of domain-specific representations. We also introduce the Visual Decathlon Challenge, a benchmark that evaluates the ability of representations to capture simultaneously ten very different visual domains and measures their ability to recognize well uniformly.

Object detection (OD), a crucial vision task, remains challenged by the lack of large training datasets with precise object localization labels. In this work, we propose ALWOD, a new framework that addresses this problem by fusing active learning (AL) with weakly and semi-supervised object detection paradigms. Because the performance of AL critically depends on the model initialization, we propose a new auxiliary image generator strategy that utilizes an extremely small labeled set, coupled with a large weakly tagged set of images, as a warm-start for AL. We then propose a new AL acquisition function, another critical factor in AL success, that leverages the student-teacher OD pair disagreement and uncertainty to effectively propose the most informative images to annotate. Finally, to complete the AL loop, we introduce a new labeling task delegated to human annotators, based on selection and correction of model-proposed detections, which is both rapid and effective in labeling the informative images. We demonstrate, across several challenging benchmarks, that ALWOD significantly narrows the gap between the ODs trained on few partially labeled but strategically selected image instances and those that rely on the fully-labeled data. Our code is publicly available on https://github.com/seqam-lab/ALWOD.

We present 3DiffTection, a state-of-the-art method for 3D object detection from single images, leveraging features from a 3D-aware diffusion model. Annotating large-scale image data for 3D detection is resource-intensive and time-consuming. Recently, pretrained large image diffusion models have become prominent as effective feature extractors for 2D perception tasks. However, these features are initially trained on paired text and image data, which are not optimized for 3D tasks, and often exhibit a domain gap when applied to the target data. Our approach bridges these gaps through two specialized tuning strategies: geometric and semantic. For geometric tuning, we fine-tune a diffusion model to perform novel view synthesis conditioned on a single image, by introducing a novel epipolar warp operator. This task meets two essential criteria: the necessity for 3D awareness and reliance solely on posed image data, which are readily available (e.g., from videos) and does not require manual annotation. For semantic refinement, we further train the model on target data with detection supervision. Both tuning phases employ ControlNet to preserve the integrity of the original feature capabilities. In the final step, we harness these enhanced capabilities to conduct a test-time prediction ensemble across multiple virtual viewpoints. Through our methodology, we obtain 3D-aware features that are tailored for 3D detection and excel in identifying cross-view point correspondences. Consequently, our model emerges as a powerful 3D detector, substantially surpassing previous benchmarks, e.g., Cube-RCNN, a precedent in single-view 3D detection by 9.43\% in AP3D on the Omni3D-ARkitscene dataset. Furthermore, 3DiffTection showcases robust data efficiency and generalization to cross-domain data.