arXiv subjects

Kailun Yang

Publications and source records attributed to Kailun Yang.

At least 127 records · Page 7Linked to original sources

arXiv2025

Language-Driven Dual Style Mixing for Single-Domain Generalized Object Detection

Generalizing an object detector trained on a single domain to multiple unseen domains is a challenging task. Existing methods typically introduce image or feature augmentation to diversify the source domain to raise the robustness of the detector. Vision-Language Model (VLM)-based augmentation techniques have been proven to be effective, but they require that the detector's backbone has the same structure as the image encoder of VLM, limiting the detector framework selection. To address this problem, we propose Language-Driven Dual Style Mixing (LDDS) for single-domain generalization, which diversifies the source domain by fully utilizing the semantic information of the VLM. Specifically, we first construct prompts to transfer style semantics embedded in the VLM to an image translation network. This facilitates the generation of style diversified images with explicit semantic information. Then, we propose image-level style mixing between the diversified images and source domain images. This effectively mines the semantic information for image augmentation without relying on specific augmentation selections. Finally, we propose feature-level style mixing in a double-pipeline manner, allowing feature augmentation to be model-agnostic and can work seamlessly with the mainstream detector frameworks, including the one-stage, two-stage, and transformer-based detectors. Extensive experiments demonstrate the effectiveness of our approach across various benchmark datasets, including real to cartoon and normal to adverse weather tasks. The source code and pre-trained models will be publicly available at https://github.com/qinhongda8/LDDS.

cs.CV↗

arXiv2025

ObjectFinder: An Open-Vocabulary Assistive System for Interactive Object Search by Blind People

Searching for objects in unfamiliar scenarios is a challenging task for blind people. It involves specifying the target object, detecting it, and then gathering detailed information according to the user's intent. However, existing description- and detection-based assistive technologies do not sufficiently support the multifaceted nature of interactive object search tasks. We present ObjectFinder, an open-vocabulary wearable assistive system for interactive object search by blind people. ObjectFinder allows users to query target objects using flexible wording. Once the target object is detected, it provides egocentric localization information in real-time, including distance and direction. Users can then initiate different branches to gather detailed information based on their intent towards the target object, such as navigating to it or perceiving its surroundings. ObjectFinder is powered by a seamless combination of open-vocabulary models, namely an open-vocabulary object detector and a multimodal large language model. The ObjectFinder design concept and its development were carried out in collaboration with a blind co-designer. To evaluate ObjectFinder, we conducted an exploratory user study with eight blind participants. We compared ObjectFinder to BeMyAI and Google Lookout, popular description- and detection-based assistive applications. Our findings indicate that most participants felt more independent with ObjectFinder and preferred it for object search, as it enhanced scene context gathering and navigation, and allowed for active target identification. Finally, we discuss the implications for future assistive systems to support interactive object search.

cs.HC↗

arXiv2025

Exploring Self-supervised Skeleton-based Action Recognition in Occluded Environments

To integrate action recognition into autonomous robotic systems, it is essential to address challenges such as person occlusions-a common yet often overlooked scenario in existing self-supervised skeleton-based action recognition methods. In this work, we propose IosPSTL, a simple and effective self-supervised learning framework designed to handle occlusions. IosPSTL combines a cluster-agnostic KNN imputer with an Occluded Partial Spatio-Temporal Learning (OPSTL) strategy. First, we pre-train the model on occluded skeleton sequences. Then, we introduce a cluster-agnostic KNN imputer that performs semantic grouping using k-means clustering on sequence embeddings. It imputes missing skeleton data by applying K-Nearest Neighbors in the latent space, leveraging nearby sample representations to restore occluded joints. This imputation generates more complete skeleton sequences, which significantly benefits downstream self-supervised models. To further enhance learning, the OPSTL module incorporates Adaptive Spatial Masking (ASM) to make better use of intact, high-quality skeleton sequences during training. Our method achieves state-of-the-art performance on the occluded versions of the NTU-60 and NTU-120 datasets, demonstrating its robustness and effectiveness under challenging conditions. Code is available at https://github.com/cyfml/OPSTL.

cs.CV↗

arXiv2025

E-3DGS: Gaussian Splatting with Exposure and Motion Events

Achieving 3D reconstruction from images captured under optimal conditions has been extensively studied in the vision and imaging fields. However, in real-world scenarios, challenges such as motion blur and insufficient illumination often limit the performance of standard frame-based cameras in delivering high-quality images. To address these limitations, we incorporate a transmittance adjustment device at the hardware level, enabling event cameras to capture both motion and exposure events for diverse 3D reconstruction scenarios. Motion events (triggered by camera or object movement) are collected in fast-motion scenarios when the device is inactive, while exposure events (generated through controlled camera exposure) are captured during slower motion to reconstruct grayscale images for high-quality training and optimization of event-based 3D Gaussian Splatting (3DGS). Our framework supports three modes: High-Quality Reconstruction using exposure events, Fast Reconstruction relying on motion events, and Balanced Hybrid optimizing with initial exposure events followed by high-speed motion events. On the EventNeRF dataset, we demonstrate that exposure events significantly improve fine detail reconstruction compared to motion events and outperform frame-based cameras under challenging conditions such as low illumination and overexposure. Furthermore, we introduce EME-3D, a real-world 3D dataset with exposure events, motion events, camera calibration parameters, and sparse point clouds. Our method achieves faster and higher-quality reconstruction than event-based NeRF and is more cost-effective than methods combining event and RGB data. E-3DGS sets a new benchmark for event-based 3D reconstruction with robust performance in challenging conditions and lower hardware demands. The source code and dataset will be available at https://github.com/MasterHow/E-3DGS.

cs.CV↗

arXiv2025

Scene-agnostic Pose Regression for Visual Localization

Absolute Pose Regression (APR) predicts 6D camera poses but lacks the adaptability to unknown environments without retraining, while Relative Pose Regression (RPR) generalizes better yet requires a large image retrieval database. Visual Odometry (VO) generalizes well in unseen environments but suffers from accumulated error in open trajectories. To address this dilemma, we introduce a new task, Scene-agnostic Pose Regression (SPR), which can achieve accurate pose regression in a flexible way while eliminating the need for retraining or databases. To benchmark SPR, we created a large-scale dataset, 360SPR, with over 200K photorealistic panoramas, 3.6M pinhole images and camera poses in 270 scenes at three different sensor heights. Furthermore, a SPR-Mamba model is initially proposed to address SPR in a dual-branch manner. Extensive experiments and studies demonstrate the effectiveness of our SPR paradigm, dataset, and model. In the unknown scenes of both 360SPR and 360Loc datasets, our method consistently outperforms APR, RPR and VO. The dataset and code are available at https://junweizheng93.github.io/publications/SPR/SPR.html.

cs.CV↗

arXiv2025

Omnidirectional Multi-Object Tracking

Panoramic imagery, with its 360° field of view, offers comprehensive information to support Multi-Object Tracking (MOT) in capturing spatial and temporal relationships of surrounding objects. However, most MOT algorithms are tailored for pinhole images with limited views, impairing their effectiveness in panoramic settings. Additionally, panoramic image distortions, such as resolution loss, geometric deformation, and uneven lighting, hinder direct adaptation of existing MOT methods, leading to significant performance degradation. To address these challenges, we propose OmniTrack, an omnidirectional MOT framework that incorporates Tracklet Management to introduce temporal cues, FlexiTrack Instances for object localization and association, and the CircularStatE Module to alleviate image and geometric distortions. This integration enables tracking in panoramic field-of-view scenarios, even under rapid sensor motion. To mitigate the lack of panoramic MOT datasets, we introduce the QuadTrack dataset--a comprehensive panoramic dataset collected by a quadruped robot, featuring diverse challenges such as panoramic fields of view, intense motion, and complex environments. Extensive experiments on the public JRDB dataset and the newly introduced QuadTrack benchmark demonstrate the state-of-the-art performance of the proposed framework. OmniTrack achieves a HOTA score of 26.92% on JRDB, representing an improvement of 3.43%, and further achieves 23.45% on QuadTrack, surpassing the baseline by 6.81%. The established dataset and source code are available at https://github.com/xifen523/OmniTrack.

cs.CV↗

arXiv2025

MemorySAM: Memorize Modalities and Semantics with Segment Anything Model 2 for Multi-modal Semantic Segmentation

Research has focused on Multi-Modal Semantic Segmentation (MMSS), where pixel-wise predictions are derived from multiple visual modalities captured by diverse sensors. Recently, the large vision model, Segment Anything Model 2 (SAM2), has shown strong zero-shot segmentation performance on both images and videos. When extending SAM2 to MMSS, two issues arise: 1. How can SAM2 be adapted to multi-modal data? 2. How can SAM2 better understand semantics? Inspired by cross-frame correlation in videos, we propose to treat multi-modal data as a sequence of frames representing the same scene. Our key idea is to ''memorize'' the modality-agnostic information and 'memorize' the semantics related to the targeted scene. To achieve this, we apply SAM2's memory mechanisms across multi-modal data to capture modality-agnostic features. Meanwhile, to memorize the semantic knowledge, we propose a training-only Semantic Prototype Memory Module (SPMM) to store category-level prototypes across training for facilitating SAM2's transition from instance to semantic segmentation. A prototypical adaptation loss is imposed between global and local prototypes iteratively to align and refine SAM2's semantic understanding. Extensive experimental results demonstrate that our proposed MemorySAM outperforms SoTA methods by large margins on both synthetic and real-world benchmarks (65.38% on DELIVER, 52.88% on MCubeS). Source code will be made publicly available.

cs.CV↗

arXiv2025

DeProPose: Deficiency-Proof 3D Human Pose Estimation via Adaptive Multi-View Fusion

3D human pose estimation has wide applications in fields such as intelligent surveillance, motion capture, and virtual reality. However, in real-world scenarios, issues such as occlusion, noise interference, and missing viewpoints can severely affect pose estimation. To address these challenges, we introduce the task of Deficiency-Aware 3D Pose Estimation. Traditional 3D pose estimation methods often rely on multi-stage networks and modular combinations, which can lead to cumulative errors and increased training complexity, making them unable to effectively address deficiency-aware estimation. To this end, we propose DeProPose, a flexible method that simplifies the network architecture to reduce training complexity and avoid information loss in multi-stage designs. Additionally, the model innovatively introduces a multi-view feature fusion mechanism based on relative projection error, which effectively utilizes information from multiple viewpoints and dynamically assigns weights, enabling efficient integration and enhanced robustness to overcome deficiency-aware 3D Pose Estimation challenges. Furthermore, to thoroughly evaluate this end-to-end multi-view 3D human pose estimation model and to advance research on occlusion-related challenges, we have developed a novel 3D human pose estimation dataset, termed the Deficiency-Aware 3D Pose Estimation (DA-3DPE) dataset. This dataset encompasses a wide range of deficiency scenarios, including noise interference, missing viewpoints, and occlusion challenges. Compared to state-of-the-art methods, DeProPose not only excels in addressing the deficiency-aware problem but also shows improvement in conventional scenarios, providing a powerful and user-friendly solution for 3D human pose estimation. The source code will be available at https://github.com/WUJINHUAN/DeProPose.

cs.CV↗

arXiv2025

Exploring Quasi-Global Solutions to Compound Lens Based Computational Imaging Systems

Recently, joint design approaches that simultaneously optimize optical systems and downstream algorithms through data-driven learning have demonstrated superior performance over traditional separate design approaches. However, current joint design approaches heavily rely on the manual identification of initial lenses, posing challenges and limitations, particularly for compound lens systems with multiple potential starting points. In this work, we present Quasi-Global Search Optics (QGSO) to automatically design compound lens based computational imaging systems through two parts: (i) Fused Optimization Method for Automatic Optical Design (OptiFusion), which searches for diverse initial optical systems under certain design specifications; and (ii) Efficient Physic-aware Joint Optimization (EPJO), which conducts parallel joint optimization of initial optical systems and image reconstruction networks with the consideration of physical constraints, culminating in the selection of the optimal solution in all search results. Extensive experimental results illustrate that QGSO serves as a transformative end-to-end lens design paradigm for superior global search ability, which automatically provides compound lens based computational imaging systems with higher imaging quality compared to existing paradigms. The source code will be made publicly available at https://github.com/LiGpy/QGSO.

eess.IV↗

arXiv2025

Towards Single-Lens Controllable Depth-of-Field Imaging via Depth-Aware Point Spread Functions

Controllable Depth-of-Field (DoF) imaging commonly produces amazing visual effects based on heavy and expensive high-end lenses. However, confronted with the increasing demand for mobile scenarios, it is desirable to achieve a lightweight solution with Minimalist Optical Systems (MOS). This work centers around two major limitations of MOS, i.e., the severe optical aberrations and uncontrollable DoF, for achieving single-lens controllable DoF imaging via computational methods. A Depth-aware Controllable DoF Imaging (DCDI) framework is proposed equipped with All-in-Focus (AiF) aberration correction and monocular depth estimation, where the recovered image and corresponding depth map are utilized to produce imaging results under diverse DoFs of any high-end lens via patch-wise convolution. To address the depth-varying optical degradation, we introduce a Depth-aware Degradation-adaptive Training (DA2T) scheme. At the dataset level, a Depth-aware Aberration MOS (DAMOS) dataset is established based on the simulation of Point Spread Functions (PSFs) under different object distances. Additionally, we design two plug-and-play depth-aware mechanisms to embed depth information into the aberration image recovery for better tackling depth-aware degradation. Furthermore, we propose a storage-efficient Omni-Lens-Field model to represent the 4D PSF library of various lenses. With the predicted depth map, recovered image, and depth-aware PSF map inferred by Omni-Lens-Field, single-lens controllable DoF imaging is achieved. Comprehensive experimental results demonstrate that the proposed framework enhances the recovery performance, and attains impressive single-lens controllable DoF imaging results, providing a seminal baseline for this field. The source code and the established dataset will be publicly available at https://github.com/XiaolongQian/DCDI.

cs.CV↗

arXiv2025

Event-aided Semantic Scene Completion

Autonomous driving systems rely on robust 3D scene understanding. Recent advances in Semantic Scene Completion (SSC) for autonomous driving underscore the limitations of RGB-based approaches, which struggle under motion blur, poor lighting, and adverse weather. Event cameras, offering high dynamic range and low latency, address these challenges by providing asynchronous data that complements RGB inputs. We present DSEC-SSC, the first real-world benchmark specifically designed for event-aided SSC, which includes a novel 4D labeling pipeline for generating dense, visibility-aware labels that adapt dynamically to object motion. Our proposed RGB-Event fusion framework, EvSSC, introduces an Event-aided Lifting Module (ELM) that effectively bridges 2D RGB-Event features to 3D space, enhancing view transformation and the robustness of 3D volume construction across SSC models. Extensive experiments on DSEC-SSC and simulated SemanticKITTI-E demonstrate that EvSSC is adaptable to both transformer-based and LSS-based SSC architectures. Notably, evaluations on SemanticKITTI-C demonstrate that EvSSC achieves consistently improved prediction accuracy across five degradation modes and both In-domain and Out-of-domain settings, achieving up to a 52.5% relative improvement in mIoU when the image sensor partially fails. Additionally, we quantitatively and qualitatively validate the superiority of EvSSC under motion blur and extreme weather conditions, where autonomous driving is challenged. The established datasets and our codebase will be made publicly at https://github.com/Pandapan01/EvSSC.

cs.CV↗

arXiv2025

Expression Prompt Collaboration Transformer for Universal Referring Video Object Segmentation

Audio-guided Video Object Segmentation (A-VOS) and Referring Video Object Segmentation (R-VOS) are two highly related tasks that both aim to segment specific objects from video sequences according to expression prompts. However, due to the challenges of modeling representations for different modalities, existing methods struggle to strike a balance between interaction flexibility and localization precision. In this paper, we address this problem from two perspectives: the alignment of audio and text and the deep interaction among audio, text, and visual modalities. First, we propose a universal architecture, the Expression Prompt Collaboration Transformer, herein EPCFormer. Next, we propose an Expression Alignment (EA) mechanism for audio and text. The proposed EPCFormer exploits the fact that audio and text prompts referring to the same objects are semantically equivalent by using contrastive learning for both types of expressions. Then, to facilitate deep interactions among audio, text, and visual modalities, we introduce an Expression-Visual Attention (EVA) module. The knowledge of video object segmentation in terms of the expression prompts can seamlessly transfer between the two tasks by deeply exploring complementary cues between text and audio. Experiments on well-recognized benchmarks demonstrate that our EPCFormer attains state-of-the-art results on both tasks. The source code will be made publicly available at https://github.com/lab206/EPCFormer.

cs.CV↗

arXiv2024

Occlusion-Aware Seamless Segmentation

Panoramic images can broaden the Field of View (FoV), occlusion-aware prediction can deepen the understanding of the scene, and domain adaptation can transfer across viewing domains. In this work, we introduce a novel task, Occlusion-Aware Seamless Segmentation (OASS), which simultaneously tackles all these three challenges. For benchmarking OASS, we establish a new human-annotated dataset for Blending Panoramic Amodal Seamless Segmentation, i.e., BlendPASS. Besides, we propose the first solution UnmaskFormer, aiming at unmasking the narrow FoV, occlusions, and domain gaps all at once. Specifically, UnmaskFormer includes the crucial designs of Unmasking Attention (UA) and Amodal-oriented Mix (AoMix). Our method achieves state-of-the-art performance on the BlendPASS dataset, reaching a remarkable mAPQ of 26.58% and mIoU of 43.66%. On public panoramic semantic segmentation datasets, i.e., SynPASS and DensePASS, our method outperforms previous methods and obtains 45.34% and 48.08% in mIoU, respectively. The fresh BlendPASS dataset and our source code are available at https://github.com/yihong-97/OASS.

cs.CV↗

arXiv2024

Representing Domain-Mixing Optical Degradation for Real-World Computational Aberration Correction via Vector Quantization

Relying on paired synthetic data, existing learning-based Computational Aberration Correction (CAC) methods are confronted with the intricate and multifaceted synthetic-to-real domain gap, which leads to suboptimal performance in real-world applications. In this paper, in contrast to improving the simulation pipeline, we deliver a novel insight into real-world CAC from the perspective of Unsupervised Domain Adaptation (UDA). By incorporating readily accessible unpaired real-world data into training, we formalize the Domain Adaptive CAC (DACAC) task, and then introduce a comprehensive Real-world aberrated images (Realab) dataset to benchmark it. The setup task presents a formidable challenge due to the intricacy of understanding the target optical degradation domain. To this intent, we propose a novel Quantized Domain-Mixing Representation (QDMR) framework as a potent solution to the issue. Centering around representing and quantizing the optical degradation which is consistent across different images, QDMR adapts the CAC model to the target domain from three key aspects: (1) reconstructing aberrated images of both domains by a VQGAN to learn a Domain-Mixing Codebook (DMC) characterizing the optical degradation; (2) modulating the deep features in CAC model with DMC to transfer the target domain knowledge; and (3) leveraging the trained VQGAN to generate pseudo target aberrated images from the source ones for convincing target domain supervision. Extensive experiments on both synthetic and real-world benchmarks reveal that the models with QDMR consistently surpass the competitive methods in mitigating the synthetic-to-real gap, which produces visually pleasant real-world CAC results with fewer artifacts. Codes and datasets are made publicly available at https://github.com/zju-jiangqi/QDMR.

cs.CV↗

arXiv2024

PVPUFormer: Probabilistic Visual Prompt Unified Transformer for Interactive Image Segmentation

Integration of diverse visual prompts like clicks, scribbles, and boxes in interactive image segmentation significantly facilitates users' interaction as well as improves interaction efficiency. However, existing studies primarily encode the position or pixel regions of prompts without considering the contextual areas around them, resulting in insufficient prompt feedback, which is not conducive to performance acceleration. To tackle this problem, this paper proposes a simple yet effective Probabilistic Visual Prompt Unified Transformer (PVPUFormer) for interactive image segmentation, which allows users to flexibly input diverse visual prompts with the probabilistic prompt encoding and feature post-processing to excavate sufficient and robust prompt features for performance boosting. Specifically, we first propose a Probabilistic Prompt-unified Encoder (PPuE) to generate a unified one-dimensional vector by exploring both prompt and non-prompt contextual information, offering richer feedback cues to accelerate performance improvement. On this basis, we further present a Prompt-to-Pixel Contrastive (P$^2$C) loss to accurately align both prompt and pixel features, bridging the representation gap between them to offer consistent feature representations for mask prediction. Moreover, our approach designs a Dual-cross Merging Attention (DMA) module to implement bidirectional feature interaction between image and prompt features, generating notable features for performance improvement. A comprehensive variety of experiments on several challenging datasets demonstrates that the proposed components achieve consistent improvements, yielding state-of-the-art interactive segmentation performance. Our code is available at https://github.com/XuZhang1211/PVPUFormer.

cs.CV↗

arXiv2024

EI-Nexus: Towards Unmediated and Flexible Inter-Modality Local Feature Extraction and Matching for Event-Image Data

Event cameras, with high temporal resolution and high dynamic range, have limited research on the inter-modality local feature extraction and matching of event-image data. We propose EI-Nexus, an unmediated and flexible framework that integrates two modality-specific keypoint extractors and a feature matcher. To achieve keypoint extraction across viewpoint and modality changes, we bring Local Feature Distillation (LFD), which transfers the viewpoint consistency from a well-learned image extractor to the event extractor, ensuring robust feature correspondence. Furthermore, with the help of Context Aggregation (CA), a remarkable enhancement is observed in feature matching. We further establish the first two inter-modality feature matching benchmarks, MVSEC-RPE and EC-RPE, to assess relative pose estimation on event-image data. Our approach outperforms traditional methods that rely on explicit modal transformation, offering more unmediated and adaptable feature extraction and matching, achieving better keypoint similarity and state-of-the-art results on the MVSEC-RPE and EC-RPE benchmarks. The source code and benchmarks will be made publicly available at https://github.com/ZhonghuaYi/EI-Nexus_official.

cs.CV↗

arXiv2024

Advancing Open-Set Domain Generalization Using Evidential Bi-Level Hardest Domain Scheduler

In Open-Set Domain Generalization (OSDG), the model is exposed to both new variations of data appearance (domains) and open-set conditions, where both known and novel categories are present at test time. The challenges of this task arise from the dual need to generalize across diverse domains and accurately quantify category novelty, which is critical for applications in dynamic environments. Recently, meta-learning techniques have demonstrated superior results in OSDG, effectively orchestrating the meta-train and -test tasks by employing varied random categories and predefined domain partition strategies. These approaches prioritize a well-designed training schedule over traditional methods that focus primarily on data augmentation and the enhancement of discriminative feature learning. The prevailing meta-learning models in OSDG typically utilize a predefined sequential domain scheduler to structure data partitions. However, a crucial aspect that remains inadequately explored is the influence brought by strategies of domain schedulers during training. In this paper, we observe that an adaptive domain scheduler benefits more in OSDG compared with prefixed sequential and random domain schedulers. We propose the Evidential Bi-Level Hardest Domain Scheduler (EBiL-HaDS) to achieve an adaptive domain scheduler. This method strategically sequences domains by assessing their reliabilities in utilizing a follower network, trained with confidence scores learned in an evidential manner, regularized by max rebiasing discrepancy, and optimized in a bi-level manner. The results show that our method substantially improves OSDG performance and achieves more discriminative embeddings for both the seen and unseen categories. The source code is publicly available at https://github.com/KPeng9510/EBiL-HaDS.

cs.LG↗

arXiv2024

Exploring Event-based Human Pose Estimation with 3D Event Representations

Human pose estimation is a fundamental and appealing task in computer vision. Although traditional cameras are commonly applied, their reliability decreases in scenarios under high dynamic range or heavy motion blur, where event cameras offer a robust solution. Predominant event-based methods accumulate events into frames, ignoring the asynchronous and high temporal resolution that is crucial for distinguishing distinct actions. To address this issue and to unlock the 3D potential of event information, we introduce two 3D event representations: the Rasterized Event Point Cloud (RasEPC) and the Decoupled Event Voxel (DEV). The RasEPC aggregates events within concise temporal slices at identical positions, preserving their 3D attributes along with statistical information, thereby significantly reducing memory and computational demands. Meanwhile, the DEV representation discretizes events into voxels and projects them across three orthogonal planes, utilizing decoupled event attention to retrieve 3D cues from the 2D planes. Furthermore, we develop and release EV-3DPW, a synthetic event-based dataset crafted to facilitate training and quantitative analysis in outdoor scenes. Our methods are tested on the DHP19 public dataset, MMHPSD dataset, and our EV-3DPW dataset, with further qualitative validation via a derived driving scene dataset EV-JAAD and an outdoor collection vehicle. Our code and dataset have been made publicly available at https://github.com/MasterHow/EventPointPose.

cs.CV↗