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The recently proposed open-world object and open-set detection have achieved a breakthrough in finding never-seen-before objects and distinguishing them from known ones. However, their studies on knowledge transfer from known classes to unknown ones are not deep enough, resulting in the scanty capability for detecting unknowns hidden in the background. In this paper, we propose the unknown sniffer (UnSniffer) to find both unknown and known objects. Firstly, the generalized object confidence (GOC) score is introduced, which only uses known samples for supervision and avoids improper suppression of unknowns in the background. Significantly, such confidence score learned from known objects can be generalized to unknown ones. Additionally, we propose a negative energy suppression loss to further suppress the non-object samples in the background. Next, the best box of each unknown is hard to obtain during inference due to lacking their semantic information in training. To solve this issue, we introduce a graph-based determination scheme to replace hand-designed non-maximum suppression (NMS) post-processing. Finally, we present the Unknown Object Detection Benchmark, the first publicly benchmark that encompasses precision evaluation for unknown detection to our knowledge. Experiments show that our method is far better than the existing state-of-the-art methods., CVPR 2023 camera-ready; Code: https://github.com/Went-Liang/UnSniffer Project: https://xuefengbupt.github.io/project_page/unsniffer_cvpr23.html Demo: https://www.bilibili.com/video/BV1xM4y1z7Hv Supplymentary: https://xuefengbupt.github.io/project_page/pdf/supplementary_cvpr2023.pdf

Line coverage is to cover linear infrastructure modeled as 1D segments by robots, which received attention in recent years. With the increasing urbanization, the area of the city and the density of infrastructure continues to increase, which brings two issues: (1) Due to the energy constraint, it is hard for the homogeneous robot team to cover the large-scale linear infrastructure starting from one depot; (2) In the large urban scene, the imbalance of robots' path greatly extends the time cost of the multi-robot system, which is more serious than that in smaller-size scenes. To address these issues, we propose a heterogeneous multi-robot approach consisting of several teams, each of which contains one transportation robot (TRob) and several coverage robots (CRobs). Firstly, a balanced graph partitioning (BGP) algorithm is proposed to divide the road network into several similar-size sub-graphs, and then the TRob delivers a group of CRobs to the subgraph region quickly. Secondly, a balanced ulusoy partitioning (BUP) algorithm is proposed to extract similar-length tours for each CRob from the sub-graph. Abundant experiments are conducted on seven road networks ranging in scales that are collected in this paper. Our method achieves robot utilization of 90% and the best maximal tour length at the cost of a small increase in total tour length, which further minimizes the time cost of the whole system. The source code and the road networks are available at https://github.com/suhangsong/BLC-LargeScale.

Understanding semantic information is an essential step in knowing what is being learned in both full-reference (FR) and no-reference (NR) image quality assessment (IQA) methods. However, especially for many severely distorted images, even if there is an undistorted image as a reference (FR-IQA), it is difficult to perceive the lost semantic and texture information of distorted images directly. In this paper, we propose a Mask Reference IQA (MR-IQA) method that masks specific patches of a distorted image and supplements missing patches with the reference image patches. In this way, our model only needs to input the reconstructed image for quality assessment. First, we design a mask generator to select the best candidate patches from reference images and supplement the lost semantic information in distorted images, thus providing more reference for quality assessment; in addition, the different masked patches imply different data augmentations, which favors model training and reduces overfitting. Second, we provide a Mask Reference Network (MRNet): the dedicated modules can prevent disturbances due to masked patches and help eliminate the patch discontinuity in the reconstructed image. Our method achieves state-of-the-art performances on the benchmark KADID-10k, LIVE and CSIQ datasets and has better generalization performance across datasets. The code and results are available in the supplementary material., Comment: 10 pages, 6 figures

The performance of monocular depth estimation generally depends on the amount of parameters and computational cost. It leads to a large accuracy contrast between light-weight networks and heavy-weight networks, which limits their application in the real world. In this paper, we model the majority of accuracy contrast between them as the difference of depth distribution, which we call "Distribution drift". To this end, a distribution alignment network (DANet) is proposed. We firstly design a pyramid scene transformer (PST) module to capture inter-region interaction in multiple scales. By perceiving the difference of depth features between every two regions, DANet tends to predict a reasonable scene structure, which fits the shape of distribution to ground truth. Then, we propose a local-global optimization (LGO) scheme to realize the supervision of global range of scene depth. Thanks to the alignment of depth distribution shape and scene depth range, DANet sharply alleviates the distribution drift, and achieves a comparable performance with prior heavy-weight methods, but uses only 1% floating-point operations per second (FLOPs) of them. The experiments on two datasets, namely the widely used NYUDv2 dataset and the more challenging iBims-1 dataset, demonstrate the effectiveness of our method. The source code is available at https://github.com/YiLiM1/DANet., Comment: Accepted by ICRA 2022

Retrieving occlusion relation among objects in a single image is challenging due to sparsity of boundaries in image. We observe two key issues in existing works: firstly, lack of an architecture which can exploit the limited amount of coupling in the decoder stage between the two subtasks, namely occlusion boundary extraction and occlusion orientation prediction, and secondly, improper representation of occlusion orientation. In this paper, we propose a novel architecture called Occlusion-shared and Path-separated Network (OPNet), which solves the first issue by exploiting rich occlusion cues in shared high-level features and structured spatial information in task-specific low-level features. We then design a simple but effective orthogonal occlusion representation (OOR) to tackle the second issue. Our method surpasses the state-of-the-art methods by 6.1%/8.3% Boundary-AP and 6.5%/10% Orientation-AP on standard PIOD/BSDS ownership datasets. Code is available at https://github.com/fengpanhe/MT-ORL., Accepted by ICCV 2021

Occlusion relationship reasoning based on convolution neural networks consists of two subtasks: occlusion boundary extraction and occlusion orientation inference. Due to the essential differences between the two subtasks in the feature expression at the higher and lower stages, it is challenging to carry on them simultaneously in one network. To address this issue, we propose a novel Dual-path Decoder Network, which uniformly extracts occlusion information at higher stages and separates into two paths to recover boundary and occlusion orientation respectively in lower stages. Besides, considering the restriction of occlusion orientation presentation to occlusion orientation learning, we design a new orthogonal representation for occlusion orientation and proposed the Orthogonal Orientation Regression loss which can get rid of the unfitness between occlusion representation and learning and further prompt the occlusion orientation learning. Finally, we apply a multi-scale loss together with our proposed orientation regression loss to guide the boundary and orientation path learning respectively. Experiments demonstrate that our proposed method achieves state-of-the-art results on PIOD and BSDS ownership datasets., The new one has been republished as arXiv:2108.05722