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Fully homomorphic encryption (FHE) enables direct computation on encrypted data, making it a crucial technology for privacy protection. However, FHE suffers from significant performance bottlenecks. In this context, GPU acceleration offers a promising solution to bridge the performance gap. Existing efforts primarily focus on single-class FHE schemes, which fail to meet the diverse requirements of data types and functions, prompting the development of hybrid multi-class FHE schemes. However, studies have yet to thoroughly investigate specific GPU optimizations for hybrid FHE schemes. In this paper, we present an efficient GPU-based FHE scheme switching acceleration named Chameleon. First, we propose a scalable NTT acceleration design that adapts to larger CKKS polynomials and smaller TFHE polynomials. Specifically, Chameleon tackles synchronization issues by fusing stages to reduce synchronization, employing polynomial coefficient shuffling to minimize synchronization scale, and utilizing an SM-aware combination strategy to identify the optimal switching point. Second, Chameleon is the first to comprehensively analyze and optimize critical switching operations. It introduces CMux-level parallelization to accelerate LUT evaluation and a homomorphic rotation-free matrix-vector multiplication to improve repacking efficiency. Finally, Chameleon outperforms the state-of-the-art GPU implementations by 1.23x in CKKS HMUL and 1.15x in bootstrapping. It also achieves up to 4.87x and 1.51x speedups for TFHE gate bootstrapping compared to CPU and GPU versions, respectively, and delivers a 67.3x average speedup for scheme switching over CPU-based implementation., Comment: 15 pages, 14 figures

Recent advancements in deep learning have shown impressive results in image and video denoising, leveraging extensive pairs of noisy and noise-free data for supervision. However, the challenge of acquiring paired videos for dynamic scenes hampers the practical deployment of deep video denoising techniques. In contrast, this obstacle is less pronounced in image denoising, where paired data is more readily available. Thus, a well-trained image denoiser could serve as a reliable spatial prior for video denoising. In this paper, we propose a novel unsupervised video denoising framework, named ``Temporal As a Plugin'' (TAP), which integrates tunable temporal modules into a pre-trained image denoiser. By incorporating temporal modules, our method can harness temporal information across noisy frames, complementing its power of spatial denoising. Furthermore, we introduce a progressive fine-tuning strategy that refines each temporal module using the generated pseudo clean video frames, progressively enhancing the network's denoising performance. Compared to other unsupervised video denoising methods, our framework demonstrates superior performance on both sRGB and raw video denoising datasets.

The SoccerNet 2024 challenges represent the fourth annual video understanding challenges organized by the SoccerNet team. These challenges aim to advance research across multiple themes in football, including broadcast video understanding, field understanding, and player understanding. This year, the challenges encompass four vision-based tasks. (1) Ball Action Spotting, focusing on precisely localizing when and which soccer actions related to the ball occur, (2) Dense Video Captioning, focusing on describing the broadcast with natural language and anchored timestamps, (3) Multi-View Foul Recognition, a novel task focusing on analyzing multiple viewpoints of a potential foul incident to classify whether a foul occurred and assess its severity, (4) Game State Reconstruction, another novel task focusing on reconstructing the game state from broadcast videos onto a 2D top-view map of the field. Detailed information about the tasks, challenges, and leaderboards can be found at https://www.soccer-net.org, with baselines and development kits available at https://github.com/SoccerNet., Comment: 7 pages, 1 figure

Multi-modal Large Language Models have recently experienced rapid developments and excel in various multi-modal tasks. However, they still struggle with mathematical geometric problem solving, which requires exceptional visual perception proficiency. Existing MLLMs mostly optimize the LLM backbone to acquire geometric reasoning capabilities, while rarely emphasizing improvements in visual comprehension. In this paper, we first investigate the visual perception performance of MLLMs when facing geometric diagrams. Our findings reveal that current MLLMs severely suffer from inaccurate geometric perception and hallucinations. To address these limitations, we propose EAGLE, a novel two-stage end-to-end visual enhancement MLLM framework designed to ElevAte Geometric reasoning through LLM-Empowered visual instruction tuning. Specifically, in the preliminary stage, we feed geometric image-caption pairs into our MLLM that contains a fully fine-tuning CLIP ViT and a frozen LLM, aiming to endow our model with basic geometric knowledge. In the subsequent advanced stage, we incorporate LoRA modules into the vision encoder and unfreeze the LLM backbone. This enables the model to leverage the inherent CoT rationales within question-answer pairs, guiding the MLLM to focus on nuanced visual cues and enhancing its overall perceptual capacity. Moreover, we optimize the cross-modal projector in both stages to foster adaptive visual-linguistic alignments. After the two-stage visual enhancement, we develop the geometry expert model EAGLE-7B. Extensive experiments on popular benchmarks demonstrate the effectiveness of our model. For example, on the GeoQA benchmark, EAGLE-7B not only surpasses the exemplary G-LLaVA 7B model by 2.9%, but also marginally outperforms the larger G-LLaVA 13B model. On the MathVista benchmark, EAGLE-7B achieves remarkable 3.8% improvements compared with the proprietary model GPT-4V.

To overcome the inherent domain gap between remote sensing (RS) images and natural images, some self-supervised representation learning methods have made promising progress. However, they have overlooked the diverse angles present in RS objects. This paper proposes the Masked Angle-Aware Autoencoder (MA3E) to perceive and learn angles during pre-training. We design a \textit{scaling center crop} operation to create the rotated crop with random orientation on each original image, introducing the explicit angle variation. MA3E inputs this composite image while reconstruct the original image, aiming to effectively learn rotation-invariant representations by restoring the angle variation introduced on the rotated crop. To avoid biases caused by directly reconstructing the rotated crop, we propose an Optimal Transport (OT) loss that automatically assigns similar original image patches to each rotated crop patch for reconstruction. MA3E demonstrates more competitive performance than existing pre-training methods on seven different RS image datasets in three downstream tasks., Comment: This paper has been accepted by ECCV 2024

Direct numerical simulations (DNS) of microscale fluid-structure interactions (mFSI) in multicomponent multiphase flows pose many challenges such as the thermodynamic consistency of multiphysics couplings, the tracking of moving interfaces, and the dynamics of moving triple-phase contact lines. We propose and validate a generic DNS approach: Diffuse-Resistance-Domain (DRD). It overcomes the above challenges by employing Onsager's principle to formulate dynamic models and combining traditional diffuse-interface models for fluid-fluid interfacial dynamics with a novel implementation of complex fluid-solid interfacial conditions via smooth interpolations of dynamic-resistance coefficients across interfaces. After careful validation by benchmark simulations, we simulated three challenging mFSI problems taken from different fields., Comment: 6 pages, 4 figures

Novel view synthesis from raw images provides superior high dynamic range (HDR) information compared to reconstructions from low dynamic range RGB images. However, the inherent noise in unprocessed raw images compromises the accuracy of 3D scene representation. Our study reveals that 3D Gaussian Splatting (3DGS) is particularly susceptible to this noise, leading to numerous elongated Gaussian shapes that overfit the noise, thereby significantly degrading reconstruction quality and reducing inference speed, especially in scenarios with limited views. To address these issues, we introduce a novel self-supervised learning framework designed to reconstruct HDR 3DGS from a limited number of noisy raw images. This framework enhances 3DGS by integrating a noise extractor and employing a noise-robust reconstruction loss that leverages a noise distribution prior. Experimental results show that our method outperforms LDR/HDR 3DGS and previous state-of-the-art (SOTA) self-supervised and supervised pre-trained models in both reconstruction quality and inference speed on the RawNeRF dataset across a broad range of training views. Code can be found in \url{https://lizhihao6.github.io/Raw3DGS}.

Solving partial differential equations (PDEs) effectively necessitates a multi-scale approach, particularly critical in high-dimensional scenarios characterized by increasing grid points or resolution. Traditional methods often fail to capture the detailed features necessary for accurate modeling, presenting a significant challenge in scientific computing. In response, we introduce the Multiwavelet-based Algebraic Multigrid Neural Operator (M2NO), a novel deep learning framework that synergistically combines multiwavelet transformations and algebraic multigrid (AMG) techniques. By exploiting the inherent similarities between these two approaches, M2NO overcomes their individual limitations and enhances precision and flexibility across various PDE benchmarks. Employing Multiresolution Analysis (MRA) with high-pass and low-pass filters, the model executes hierarchical decomposition to accurately delineate both global trends and localized details within PDE solutions, supporting adaptive data representation at multiple scales. M2NO also automates node selection and adeptly manages complex boundary conditions through its multiwavelet-based operators. Extensive evaluations on a diverse array of PDE datasets with different boundary conditions confirm M2NO's superior performance. Furthermore, M2NO excels in handling high-resolution and super-resolution tasks, consistently outperforming competing models and demonstrating robust adaptability in complex computational scenarios.

Recently, 3D Gaussian Splatting (3DGS) has become a promising framework for novel view synthesis, offering fast rendering speeds and high fidelity. However, the large number of Gaussians and their associated attributes require effective compression techniques. Existing methods primarily compress neural Gaussians individually and independently, i.e., coding all the neural Gaussians at the same time, with little design for their interactions and spatial dependence. Inspired by the effectiveness of the context model in image compression, we propose the first autoregressive model at the anchor level for 3DGS compression in this work. We divide anchors into different levels and the anchors that are not coded yet can be predicted based on the already coded ones in all the coarser levels, leading to more accurate modeling and higher coding efficiency. To further improve the efficiency of entropy coding, e.g., to code the coarsest level with no already coded anchors, we propose to introduce a low-dimensional quantized feature as the hyperprior for each anchor, which can be effectively compressed. Our work pioneers the context model in the anchor level for 3DGS representation, yielding an impressive size reduction of over 100 times compared to vanilla 3DGS and 15 times compared to the most recent state-of-the-art work Scaffold-GS, while achieving comparable or even higher rendering quality.

While controllable generative models for images and videos have achieved remarkable success, high-quality models for 3D scenes, particularly in unbounded scenarios like autonomous driving, remain underdeveloped due to high data acquisition costs. In this paper, we introduce MagicDrive3D, a novel pipeline for controllable 3D street scene generation that supports multi-condition control, including BEV maps, 3D objects, and text descriptions. Unlike previous methods that reconstruct before training the generative models, MagicDrive3D first trains a video generation model and then reconstructs from the generated data. This innovative approach enables easily controllable generation and static scene acquisition, resulting in high-quality scene reconstruction. To address the minor errors in generated content, we propose deformable Gaussian splatting with monocular depth initialization and appearance modeling to manage exposure discrepancies across viewpoints. Validated on the nuScenes dataset, MagicDrive3D generates diverse, high-quality 3D driving scenes that support any-view rendering and enhance downstream tasks like BEV segmentation. Our results demonstrate the framework's superior performance, showcasing its transformative potential for autonomous driving simulation and beyond., Comment: Project Page: https://flymin.github.io/magicdrive3d

3D Gaussian Splatting showcases notable advancements in photo-realistic and real-time novel view synthesis. However, it faces challenges in modeling mirror reflections, which exhibit substantial appearance variations from different viewpoints. To tackle this problem, we present MirrorGaussian, the first method for mirror scene reconstruction with real-time rendering based on 3D Gaussian Splatting. The key insight is grounded on the mirror symmetry between the real-world space and the virtual mirror space. We introduce an intuitive dual-rendering strategy that enables differentiable rasterization of both the real-world 3D Gaussians and the mirrored counterpart obtained by reflecting the former about the mirror plane. All 3D Gaussians are jointly optimized with the mirror plane in an end-to-end framework. MirrorGaussian achieves high-quality and real-time rendering in scenes with mirrors, empowering scene editing like adding new mirrors and objects. Comprehensive experiments on multiple datasets demonstrate that our approach significantly outperforms existing methods, achieving state-of-the-art results. Project page: https://mirror-gaussian.github.io/.

We demonstrate that, even when there are moderate overlaps in the inputs of sloppy or accurate double-word addition algorithms in the QD library, these algorithms still guarantee error bounds of $O(u^2(|a|+|b|))$ in faithful rounding. Furthermore, the accurate algorithm can achieve a relative error bound of $O(u^2)$ in the presence of moderate overlaps in the inputs when rounding function is round-to-nearest. The relative error bound also holds in directed rounding, but certain additional conditions are required. Consequently, in double-word multiplication and addition operations, we can safely omit the normalization step of double-word multiplication and replace the accurate addition algorithm with the sloppy one. Numerical experiments confirm that this approach nearly doubles the performance of double-word multiplication and addition operations, with negligible precision costs. Moreover, in directed rounding mode, the signs of the errors of the two algorithms are consistent with the rounding direction, even in the presence of input overlap. This allows us to avoid changing the rounding mode in interval arithmetic. We also prove that the relative error bound of the sloppy addition algorithm exceeds $3u^2$ if and only if the input meets the condition of Sterbenz's Lemma when rounding to nearest. These findings suggest that the two addition algorithms are more robust than previously believed.

Existing NeRF-based methods for large scene reconstruction often have limitations in visual quality and rendering speed. While the recent 3D Gaussian Splatting works well on small-scale and object-centric scenes, scaling it up to large scenes poses challenges due to limited video memory, long optimization time, and noticeable appearance variations. To address these challenges, we present VastGaussian, the first method for high-quality reconstruction and real-time rendering on large scenes based on 3D Gaussian Splatting. We propose a progressive partitioning strategy to divide a large scene into multiple cells, where the training cameras and point cloud are properly distributed with an airspace-aware visibility criterion. These cells are merged into a complete scene after parallel optimization. We also introduce decoupled appearance modeling into the optimization process to reduce appearance variations in the rendered images. Our approach outperforms existing NeRF-based methods and achieves state-of-the-art results on multiple large scene datasets, enabling fast optimization and high-fidelity real-time rendering., Comment: Accepted to CVPR 2024. Project website: https://vastgaussian.github.io

Recent advances in neural radiance fields enable novel view synthesis of photo-realistic images in dynamic settings, which can be applied to scenarios with human animation. Commonly used implicit backbones to establish accurate models, however, require many input views and additional annotations such as human masks, UV maps and depth maps. In this work, we propose ParDy-Human (Parameterized Dynamic Human Avatar), a fully explicit approach to construct a digital avatar from as little as a single monocular sequence. ParDy-Human introduces parameter-driven dynamics into 3D Gaussian Splatting where 3D Gaussians are deformed by a human pose model to animate the avatar. Our method is composed of two parts: A first module that deforms canonical 3D Gaussians according to SMPL vertices and a consecutive module that further takes their designed joint encodings and predicts per Gaussian deformations to deal with dynamics beyond SMPL vertex deformations. Images are then synthesized by a rasterizer. ParDy-Human constitutes an explicit model for realistic dynamic human avatars which requires significantly fewer training views and images. Our avatars learning is free of additional annotations such as masks and can be trained with variable backgrounds while inferring full-resolution images efficiently even on consumer hardware. We provide experimental evidence to show that ParDy-Human outperforms state-of-the-art methods on ZJU-MoCap and THUman4.0 datasets both quantitatively and visually.

Estimating 3D rotations is a common procedure for 3D computer vision. The accuracy depends heavily on the rotation representation. One form of representation -- rotation matrices -- is popular due to its continuity, especially for pose estimation tasks. The learning process usually incorporates orthogonalization to ensure orthonormal matrices. Our work reveals, through gradient analysis, that common orthogonalization procedures based on the Gram-Schmidt process and singular value decomposition will slow down training efficiency. To this end, we advocate removing orthogonalization from the learning process and learning unorthogonalized `Pseudo' Rotation Matrices (PRoM). An optimization analysis shows that PRoM converges faster and to a better solution. By replacing the orthogonalization incorporated representation with our proposed PRoM in various rotation-related tasks, we achieve state-of-the-art results on large-scale benchmarks for human pose estimation.

In this paper, we present a novel differentiable point-based rendering framework to achieve photo-realistic relighting. To make the reconstructed scene relightable, we enhance vanilla 3D Gaussians by associating extra properties, including normal vectors, BRDF parameters, and incident lighting from various directions. From a collection of multi-view images, the 3D scene is optimized through 3D Gaussian Splatting while BRDF and lighting are decomposed by physically based differentiable rendering. To produce plausible shadow effects in photo-realistic relighting, we introduce an innovative point-based ray tracing with the bounding volume hierarchies for efficient visibility pre-computation. Extensive experiments demonstrate our improved BRDF estimation, novel view synthesis and relighting results compared to state-of-the-art approaches. The proposed framework showcases the potential to revolutionize the mesh-based graphics pipeline with a point-based pipeline enabling editing, tracing, and relighting.

Due to the mutual occlusion, severe scale variation, and complex spatial distribution, the current multi-person mesh recovery methods cannot produce accurate absolute body poses and shapes in large-scale crowded scenes. To address the obstacles, we fully exploit crowd features for reconstructing groups of people from a monocular image. A novel hypergraph relational reasoning network is proposed to formulate the complex and high-order relation correlations among individuals and groups in the crowd. We first extract compact human features and location information from the original high-resolution image. By conducting the relational reasoning on the extracted individual features, the underlying crowd collectiveness and interaction relationship can provide additional group information for the reconstruction. Finally, the updated individual features and the localization information are used to regress human meshes in camera coordinates. To facilitate the network training, we further build pseudo ground-truth on two crowd datasets, which may also promote future research on pose estimation and human behavior understanding in crowded scenes. The experimental results show that our approach outperforms other baseline methods both in crowded and common scenarios. The code and datasets are publicly available at https://github.com/boycehbz/GroupRec., Comment: Accepted by ICCV2023

A deep learning-based computational method has been proposed for soft matter dynamics -- the deep Onsager-Machlup method (DOMM), which combines the brute forces of deep neural networks (DNNs) with the fundamental physics principle -- Onsager-Machlup variational principle (OMVP). In the DOMM, the trial solution to the dynamics is constructed by DNNs that allow us to explore a rich and complex set of admissible functions. It outperforms the Ritz-type variational method where one has to impose carefully-chosen trial functions. This capability endows the DOMM with the potential to solve rather complex problems in soft matter dynamics that involve multiple physics with multiple slow variables, multiple scales, and multiple dissipative processes. Actually, the DOMM can be regarded as an extension of the deep Ritz method constructed using variational formulations of physics models to solve static problems in physics as discussed in our former work [Wang et al, Soft Matter, 2022, 18, 6015-6031]. In this work, as the first step, we focus on the validation of the DOMM as a useful computational method by using it to solve several typical soft matter dynamic problems: particle diffusion in dilute solutions, and two-phase dynamics with and without hydrodynamics. The predicted results agree very well with the analytical solution or numerical solution from traditional computational methods. These results show the accuracy and convergence of DOMM and justify it as an alternative computational method for solving soft matter dynamics., Comment: 15 pages, 6 figures

Incorporating physics in human motion capture to avoid artifacts like floating, foot sliding, and ground penetration is a promising direction. Existing solutions always adopt kinematic results as reference motions, and the physics is treated as a post-processing module. However, due to the depth ambiguity, monocular motion capture inevitably suffers from noises, and the noisy reference often leads to failure for physics-based tracking. To address the obstacles, our key-idea is to employ physics as denoising guidance in the reverse diffusion process to reconstruct physically plausible human motion from a modeled pose probability distribution. Specifically, we first train a latent gaussian model that encodes the uncertainty of 2D-to-3D lifting to facilitate reverse diffusion. Then, a physics module is constructed to track the motion sampled from the distribution. The discrepancies between the tracked motion and image observation are used to provide explicit guidance for the reverse diffusion model to refine the motion. With several iterations, the physics-based tracking and kinematic denoising promote each other to generate a physically plausible human motion. Experimental results show that our method outperforms previous physics-based methods in both joint accuracy and success rate. More information can be found at \url{https://github.com/Me-Ditto/Physics-Guided-Mocap}., Comment: accepted by IJCAI2023

Point cloud registration is a task to estimate the rigid transformation between two unaligned scans, which plays an important role in many computer vision applications. Previous learning-based works commonly focus on supervised registration, which have limitations in practice. Recently, with the advance of inexpensive RGB-D sensors, several learning-based works utilize RGB-D data to achieve unsupervised registration. However, most of existing unsupervised methods follow a cascaded design or fuse RGB-D data in a unidirectional manner, which do not fully exploit the complementary information in the RGB-D data. To leverage the complementary information more effectively, we propose a network implementing multi-scale bidirectional fusion between RGB images and point clouds generated from depth images. By bidirectionally fusing visual and geometric features in multi-scales, more distinctive deep features for correspondence estimation can be obtained, making our registration more accurate. Extensive experiments on ScanNet and 3DMatch demonstrate that our method achieves new state-of-the-art performance. Code will be released at https://github.com/phdymz/PointMBF, Comment: Accepted to the ICCV 2023

Pulmonary nodules and masses are crucial imaging features in lung cancer screening that require careful management in clinical diagnosis. Despite the success of deep learning-based medical image segmentation, the robust performance on various sizes of lesions of nodule and mass is still challenging. In this paper, we propose a multi-scale neural network with scale-aware test-time adaptation to address this challenge. Specifically, we introduce an adaptive Scale-aware Test-time Click Adaptation method based on effortlessly obtainable lesion clicks as test-time cues to enhance segmentation performance, particularly for large lesions. The proposed method can be seamlessly integrated into existing networks. Extensive experiments on both open-source and in-house datasets consistently demonstrate the effectiveness of the proposed method over some CNN and Transformer-based segmentation methods. Our code is available at https://github.com/SplinterLi/SaTTCA, Comment: 11 pages, 3 figures, MICCAI 2023

As a promising field, Multi-Query Image Retrieval (MQIR) aims at searching for the semantically relevant image given multiple region-specific text queries. Existing works mainly focus on a single-level similarity between image regions and text queries, which neglects the hierarchical guidance of multi-level similarities and results in incomplete alignments. Besides, the high-level semantic correlations that intrinsically connect different region-query pairs are rarely considered. To address above limitations, we propose a novel Hierarchical Matching and Reasoning Network (HMRN) for MQIR. It disentangles MQIR into three hierarchical semantic representations, which is responsible to capture fine-grained local details, contextual global scopes, and high-level inherent correlations. HMRN comprises two modules: Scalar-based Matching (SM) module and Vector-based Reasoning (VR) module. Specifically, the SM module characterizes the multi-level alignment similarity, which consists of a fine-grained local-level similarity and a context-aware global-level similarity. Afterwards, the VR module is developed to excavate the potential semantic correlations among multiple region-query pairs, which further explores the high-level reasoning similarity. Finally, these three-level similarities are aggregated into a joint similarity space to form the ultimate similarity. Extensive experiments on the benchmark dataset demonstrate that our HMRN substantially surpasses the current state-of-the-art methods. For instance, compared with the existing best method Drill-down, the metric R@1 in the last round is improved by 23.4%. Our source codes will be released at https://github.com/LZH-053/HMRN.

Soft object manipulation tasks in domestic scenes pose a significant challenge for existing robotic skill learning techniques due to their complex dynamics and variable shape characteristics. Since learning new manipulation skills from human demonstration is an effective way for robot applications, developing prior knowledge of the representation and dynamics of soft objects is necessary. In this regard, we propose a pre-trained soft object manipulation skill learning model, namely SoftGPT, that is trained using large amounts of exploration data, consisting of a three-dimensional heterogeneous graph representation and a GPT-based dynamics model. For each downstream task, a goal-oriented policy agent is trained to predict the subsequent actions, and SoftGPT generates the consequences of these actions. Integrating these two approaches establishes a thinking process in the robot's mind that provides rollout for facilitating policy learning. Our results demonstrate that leveraging prior knowledge through this thinking process can efficiently learn various soft object manipulation skills, with the potential for direct learning from human demonstrations., Comment: 6 pages, 5 figures, accepted by IROS 2023

The recent multi-modality models have achieved great performance in many vision tasks because the extracted features contain the multi-modality knowledge. However, most of the current registration descriptors have only concentrated on local geometric structures. This paper proposes a method to boost point cloud registration accuracy by transferring the multi-modality knowledge of pre-trained multi-modality model to a new descriptor neural network. Different to the previous multi-modality methods that requires both modalities, the proposed method only requires point clouds during inference. Specifically, we propose an ensemble descriptor neural network combining pre-trained sparse convolution branch and a new point-based convolution branch. By fine-tuning on a single modality data, the proposed method achieves new state-of-the-art results on 3DMatch and competitive accuracy on 3DLoMatch and KITTI., Comment: Accepted to the 2023 IEEE International Conference on Robotics and Automation (ICRA 2023)

We report a systematic study of the dynamics of self-propelled particles (SPPs) over a one-dimensional periodic potential landscape, which is fabricated on a microgroove-patterned polydimethylsiloxane (PDMS) substrate. From the measured non-equilibrium probability density function of the SPPs, we find that the escape dynamics of the slow-rotating SPPs across the potential landscape can be described by an effective potential, once the self-propulsion force is included into the potential under the fixed angle approximation. This work demonstrates that the parallel microgrooves provide a versatile platform for a quantitative understanding of the interplay among the self-propulsion force, spatial confinement by the potential landscape, and thermal noise, as well as its effects on activity-assisted escape dynamics and transport of the SPPs.

Conventional cameras capture image irradiance on a sensor and convert it to RGB images using an image signal processor (ISP). The images can then be used for photography or visual computing tasks in a variety of applications, such as public safety surveillance and autonomous driving. One can argue that since RAW images contain all the captured information, the conversion of RAW to RGB using an ISP is not necessary for visual computing. In this paper, we propose a novel $\rho$-Vision framework to perform high-level semantic understanding and low-level compression using RAW images without the ISP subsystem used for decades. Considering the scarcity of available RAW image datasets, we first develop an unpaired CycleR2R network based on unsupervised CycleGAN to train modular unrolled ISP and inverse ISP (invISP) models using unpaired RAW and RGB images. We can then flexibly generate simulated RAW images (simRAW) using any existing RGB image dataset and finetune different models originally trained for the RGB domain to process real-world camera RAW images. We demonstrate object detection and image compression capabilities in RAW-domain using RAW-domain YOLOv3 and RAW image compressor (RIC) on snapshots from various cameras. Quantitative results reveal that RAW-domain task inference provides better detection accuracy and compression compared to RGB-domain processing. Furthermore, the proposed \r{ho}-Vision generalizes across various camera sensors and different task-specific models. Additional advantages of the proposed $\rho$-Vision that eliminates the ISP are the potential reductions in computations and processing times., Comment: Accepted by T-PAMI 2024. Homepage: https://njuvision.github.io/rho-vision

A computational fluid dynamics (CFD) model that solves the steady-state Reynolds-Averaged Navier-Stokes (RANS) equations for buoyant compressible pollution dispersion under different meteorological conditions is developed. A 6.4 km by 6.4 km computational domain over a complex terrain with a height of 1 km above the ground surface is created. Meteorological data from multiple available sources are utilized to obtain boundary conditions of wind speed, air temperature, turbulent kinetic energy (TKE), and its dissipation rate. To evaluate the model, a monitoring network of four anemometers is deployed. Model predictions are compared with measurements of wind speed and the concentration of SO2 emitted by a local coke plant. Comparisons show that the predicted wind speeds are reasonably close to the measured mean wind speeds and the average error is within 10 percent at one location where relative fast wind speeds are recorded. The CFD model also predicts the correct trend of varying wind speeds across multiple sites of different elevations. The model also provides good predictions of SO2 concentrations for multiple cases, considering the complex nature of the terrain and meteorological conditions.

Multi-instance point cloud registration is the problem of estimating multiple poses of source point cloud instances within a target point cloud. Solving this problem is challenging since inlier correspondences of one instance constitute outliers of all the other instances. Existing methods often rely on time-consuming hypothesis sampling or features leveraging spatial consistency, resulting in limited performance. In this paper, we propose PointCLM, a contrastive learning-based framework for mutli-instance point cloud registration. We first utilize contrastive learning to learn well-distributed deep representations for the input putative correspondences. Then based on these representations, we propose a outlier pruning strategy and a clustering strategy to efficiently remove outliers and assign the remaining correspondences to correct instances. Our method outperforms the state-of-the-art methods on both synthetic and real datasets by a large margin.