arXiv subjects

Xiaopeng Guo

Publications and source records attributed to Xiaopeng Guo.

7 recordsLinked to original sources

arXiv2026

NemoSplat: Feed-Forward 4D Gaussian Splatting for Media-Aware Underwater Reconstruction

Reconstructing photorealistic scenes in unconstrained underwater environments remains challenging due to severe media-induced light scattering and unpredictable dynamic objects. Recent feed-forward visual foundation models have demonstrated remarkable capabilities in generalized novel view synthesis and tracking. However, when directly applied to aquatic videos, optical attenuation and motion interference fatally corrupt their feature aggregation, leading to severe tracking and reconstruction failures. To overcome these limitations, we present NemoSplat, the first feed-forward 4D Gaussian Splatting framework tailored for media-aware dynamic reconstruction directly from uncalibrated marine videos. Beyond providing robust estimations of camera poses and dense scene depth, we devise a Promptable Dynamic Disentangler that utilizes a confidence-aware fusion strategy of learned dynamic probabilities and optional semantic text priors, effectively isolating massive transient entities. Furthermore, to counteract visual degradation, a Media-Aware Gaussian Predictor is formulated to jointly estimate intrinsic 3D Gaussian attributes alongside physical media parameters, rendering pristine scene appearance in a single forward pass. Additionally, we introduce a large-scale underwater dataset with massive dynamic elements to facilitate training and evaluation. Extensive experiments on our dataset demonstrate that NemoSplat achieves state-of-the-art tracking accuracy and high-fidelity rendering. Homepage: https://nemosplat.hkustvgd.com

cs.CV↗

arXiv2026

APVI-SLAM: Real-Time Acoustic-Pressure-Visual-Inertial Localization and Photorealistic Mapping System in Complex Underwater Environment

Extreme subsea environments often cause severe feature de-gradation and estimator divergence in underwater visual-inertial SLAM. Although sensors like Doppler Velocity Logs (DVL) and pressure gauges provide auxiliary constraints, robust multi-sensor fusion during intermittent visual failure remains challenging. To address this, we present APVI-SLAM, a real-time multi-sensor fusion SLAM system that achieves both accurate underwater localization and photorealistic mapping. Our approach introduces a reliability-aware localization framework that dynamically reweights sensor estimators and employs a sliding-window freezing strategy to recover from tracking failures, substantially enhancing system robustness. Furthermore, for high-fidelity scenes reconstruction, we propose an efficient quadtree-guided mapping module that facilitates incremental water-medium modeling and 3D Gaussian optimization. Recognizing the lack of benchmark for underwater mapping evaluation, we also contribute a coral reef surveying dataset with synchronized multi-modality data. Extensive experiments on public and our proposed benchmarks demonstrate that APVI-SLAM achieves state-of-the-art localization and reconstruction quality at real-time speeds.

cs.RO↗

arXiv2026

360DVO: Deep Visual Odometry for Monocular 360-Degree Camera

Monocular omnidirectional visual odometry (OVO) systems leverage 360-degree cameras to overcome field-of-view limitations of perspective VO systems. However, existing methods, reliant on handcrafted features or photometric objectives, often lack robustness in challenging scenarios, such as aggressive motion and varying illumination. To address this, we present 360DVO, the first deep learning-based OVO framework. Our approach introduces a distortion-aware spherical feature extractor (DAS-Feat) that adaptively learns distortion-resistant features from 360-degree images. These sparse feature patches are then used to establish constraints for effective pose estimation within a novel omnidirectional differentiable bundle adjustment (ODBA) module. To facilitate evaluation in realistic settings, we also contribute a new real-world OVO benchmark. Extensive experiments on this benchmark and public synthetic datasets (TartanAir V2 and 360VO) demonstrate that 360DVO surpasses state-of-the-art baselines (including 360VO and OpenVSLAM), improving robustness by 50% and accuracy by 37.5%. Homepage: https://chris1004336379.github.io/360DVO-homepage

cs.CV↗

arXiv2021

Enhancing Knowledge Tracing via Adversarial Training

We study the problem of knowledge tracing (KT) where the goal is to trace the students' knowledge mastery over time so as to make predictions on their future performance. Owing to the good representation capacity of deep neural networks (DNNs), recent advances on KT have increasingly concentrated on exploring DNNs to improve the performance of KT. However, we empirically reveal that the DNNs based KT models may run the risk of overfitting, especially on small datasets, leading to limited generalization. In this paper, by leveraging the current advances in adversarial training (AT), we propose an efficient AT based KT method (ATKT) to enhance KT model's generalization and thus push the limit of KT. Specifically, we first construct adversarial perturbations and add them on the original interaction embeddings as adversarial examples. The original and adversarial examples are further used to jointly train the KT model, forcing it is not only to be robust to the adversarial examples, but also to enhance the generalization over the original ones. To better implement AT, we then present an efficient attentive-LSTM model as KT backbone, where the key is a proposed knowledge hidden state attention module that adaptively aggregates information from previous knowledge hidden states while simultaneously highlighting the importance of current knowledge hidden state to make a more accurate prediction. Extensive experiments on four public benchmark datasets demonstrate that our ATKT achieves new state-of-the-art performance. Code is available at: \color{blue} {\url{https://github.com/xiaopengguo/ATKT}}.

cs.CY↗

arXiv2021

Adversarial Multiscale Feature Learning for Overlapping Chromosome Segmentation

Chromosome karyotype analysis is of great clinical importance in the diagnosis and treatment of diseases, especially for genetic diseases. Since manual analysis is highly time and effort consuming, computer-assisted automatic chromosome karyotype analysis based on images is routinely used to improve the efficiency and accuracy of the analysis. Due to the strip shape of the chromosomes, they easily get overlapped with each other when imaged, significantly affecting the accuracy of the analysis afterward. Conventional overlapping chromosome segmentation methods are usually based on manually tagged features, hence, the performance of which is easily affected by the quality, such as resolution and brightness, of the images. To address the problem, in this paper, we present an adversarial multiscale feature learning framework to improve the accuracy and adaptability of overlapping chromosome segmentation. Specifically, we first adopt the nested U-shape network with dense skip connections as the generator to explore the optimal representation of the chromosome images by exploiting multiscale features. Then we use the conditional generative adversarial network (cGAN) to generate images similar to the original ones, the training stability of which is enhanced by applying the least-square GAN objective. Finally, we employ Lovasz-Softmax to help the model converge in a continuous optimization setting. Comparing with the established algorithms, the performance of our framework is proven superior by using public datasets in eight evaluation criteria, showing its great potential in overlapping chromosome segmentation

cs.CV↗

arXiv2020

An Efficient QP Variable Convolutional Neural Network Based In-loop Filter for Intra Coding

In this paper, a novel QP variable convolutional neural network based in-loop filter is proposed for VVC intra coding. To avoid training and deploying multiple networks, we develop an efficient QP attention module (QPAM) which can capture compression noise levels for different QPs and emphasize meaningful features along channel dimension. Then we embed QPAM into the residual block, and based on it, we design a network architecture that is equipped with controllability for different QPs. To make the proposed model focus more on examples that have more compression artifacts or is hard to restore, a focal mean square error (MSE) loss function is employed to fine tune the network. Experimental results show that our approach achieves 4.03\% BD-Rate saving on average for all intra configuration, which is even better than QP-separate CNN models while having less model parameters.

cs.MM↗

arXiv2020

Visual Perception Model for Rapid and Adaptive Low-light Image Enhancement

Low-light image enhancement is a promising solution to tackle the problem of insufficient sensitivity of human vision system (HVS) to perceive information in low light environments. Previous Retinex-based works always accomplish enhancement task by estimating light intensity. Unfortunately, single light intensity modelling is hard to accurately simulate visual perception information, leading to the problems of imbalanced visual photosensitivity and weak adaptivity. To solve these problems, we explore the precise relationship between light source and visual perception and then propose the visual perception (VP) model to acquire a precise mathematical description of visual perception. The core of VP model is to decompose the light source into light intensity and light spatial distribution to describe the perception process of HVS, offering refinement estimation of illumination and reflectance. To reduce complexity of the estimation process, we introduce the rapid and adaptive $\mathbfβ$ and $\mathbfγ$ functions to build an illumination and reflectance estimation scheme. Finally, we present a optimal determination strategy, consisting of a \emph{cycle operation} and a \emph{comparator}. Specifically, the \emph{comparator} is responsible for determining the optimal enhancement results from multiple enhanced results through implementing the \emph{cycle operation}. By coordinating the proposed VP model, illumination and reflectance estimation scheme, and the optimal determination strategy, we propose a rapid and adaptive framework for low-light image enhancement. Extensive experiment results demenstrate that the proposed method achieves better performance in terms of visual comparison, quantitative assessment, and computational efficiency, compared with the currently state-of-the-arts.

eess.IV↗