Rich Embedding Features for One-Shot Semantic Segmentation

CMFAN: Cross-Modal Feature Alignment Network for Few-Shot Single-View 3D Reconstruction

Few-shot single-view 3D reconstruction learns to reconstruct the novel category objects based on a query image and a few support shapes. However, since the query image and the support shapes are of different modalities, there is an inherent feature misalignment problem damaging the reconstruction. Previous works in the literature do not consider this problem. To this end, we propose the cross-modal feature alignment network (CMFAN) with two novel techniques. One is a strategy for model pretraining, namely, cross-modal contrastive learning (CMCL), here the 2D images and 3D shapes of the same objects compose the positives, and those from different objects form the negatives. With CMCL, the model learns to embed the 2D and 3D modalities of the same object into a tight area in the feature space and push away those from different objects, thus effectively aligning the global cross-modal features. The other is cross-modal feature fusion (CMFF), which further aligns and fuses the local features. Specifically, it first re-represents the local features with the cross-attention operation, making the local features share more information. Then, CMFF generates a descriptor for the support features and attaches it to each local feature vector of the query image with dense concatenation. Moreover, CMFF can be applied to multilevel local features and brings further advantages. We conduct extensive experiments to evaluate the effectiveness of our designs, and CMFAN sets new state-of-the-art performance in all of the 1-/10-/25-shot tasks of ShapeNet and ModelNet datasets.

One-Click-Based Perception for Interactive Image Segmentation

Existing deep learning-based interactive image segmentation methods have significantly reduced the user's interaction burden with simple click interactions. However, they still require excessive numbers of clicks to continuously correct the segmentation for satisfactory results. This article explores how to harvest accurate segmentation of interested targets while minimizing the user interaction cost. To achieve the above goal, we propose a one-click-based interactive segmentation approach in this work. For this particularly challenging problem in the interactive segmentation task, we build a top-down framework dividing the original problem into a one-click-based coarse localization followed by a fine segmentation. A two-stage interactive object localization network is first designed, which aims to completely enclose the target of interest based on the supervision of object integrity (OI). Click centrality (CC) is also utilized to overcome the overlapping problem between objects. This coarse localization helps to reduce the search space and increase the focus of the click at a higher resolution. A principled multilayer segmentation network is then designed by a progressive layer-by-layer structure, which aims to accurately perceive the target with extremely limited prior guidance. A diffusion module is also designed to enhance the information flow between layers. Besides, the proposed model can be naturally extended to multiobject segmentation task. Our method achieves the state-of-the-art performance under one-click interaction on several benchmarks.

Task-Oriented Robot Cognitive Manipulation Planning Using Affordance Segmentation and Logic Reasoning

The purpose of task-oriented robot cognitive manipulation planning is to enable robots to select appropriate actions to manipulate appropriate parts of an object according to different tasks, so as to complete the human-like task execution. This ability is crucial for robots to understand how to manipulate and grasp objects under given tasks. This article proposes a task-oriented robot cognitive manipulation planning method using affordance segmentation and logic reasoning, which can provide robots with semantic reasoning skills about the most appropriate parts of the object to be manipulated and oriented by tasks. Object affordance can be obtained by constructing a convolutional neural network based on the attention mechanism. In view of the diversity of service tasks and objects in service environments, object/task ontologies are constructed to realize the management of objects and tasks, and the object-task affordances are established through causal probability logic. On this basis, the Dempster-Shafer theory is used to design a robot cognitive manipulation planning framework, which can reason manipulation regions' configuration for the intended task. The experimental results demonstrate that our proposed method can effectively improve the cognitive manipulation ability of robots and make robots preform various tasks more intelligently.

A Self-Supervised Few-Shot Semantic Segmentation Method Based on Multi-Task Learning and Dense Attention Computation

Nowadays, autonomous driving technology has become widely prevalent. The intelligent vehicles have been equipped with various sensors (e.g., vision sensors, LiDAR, depth cameras etc.). Among them, the vision systems with tailored semantic segmentation and perception algorithms play critical roles in scene understanding. However, the traditional supervised semantic segmentation needs a large number of pixel-level manual annotations to complete model training. Although few-shot methods reduce the annotation work to some extent, they are still labor intensive. In this paper, a self-supervised few-shot semantic segmentation method based on Multi-task Learning and Dense Attention Computation (dubbed MLDAC) is proposed. The salient part of an image is split into two parts; one of them serves as the support mask for few-shot segmentation, while cross-entropy losses are calculated between the other part and the entire region with the predicted results separately as multi-task learning so as to improve the model's generalization ability. Swin Transformer is used as our backbone to extract feature maps at different scales. These feature maps are then input to multiple levels of dense attention computation blocks to enhance pixel-level correspondence. The final prediction results are obtained through inter-scale mixing and feature skip connection. The experimental results indicate that MLDAC obtains 55.1% and 26.8% one-shot mIoU self-supervised few-shot segmentation on the PASCAL-5i and COCO-20i datasets, respectively. In addition, it achieves 78.1% on the FSS-1000 few-shot dataset, proving its efficacy.

Diversity-Learning Block: Conquer Feature Homogenization of Multibranch

Visual Geometry Group (VGG)-style ConvNet is an neural-network process units (NPU)-friendly network; however, the accuracy of this architecture cannot keep up with other well-designed network structures. Although some reparameterization methods are proposed to remedy this weakness, their performance suffers from the homogenization issue of parallel branches, and the preset shape of convolution kernels also influences spatial perception. To address this problem, we propose a diversity-learning (DL) block to build the DLNet, which could adaptively learn various features to enrich the feature space. To balance floating point of operations (FLOPs) and accuracy, groupwise operation is introduced and finally, a lightweight DL ConvNet DLGNet is obtained. Extensive evaluations have been conducted on different computer vision tasks, e.g., image classification [Canadian Institute For Advanced Research (CIFAR) and ImageNet], object detection [PASCAL visual object classes (VOC) and Microsoft Common Objects in Context (MS COCO)], and semantic segmentation (Cityscapes). The experimental results show that our proposed DLGNet can achieve comparable performance with the state-of-the-art networks while the speed is 183% faster than GhostNet and even over 600% faster than MobileNetV3 with similar accuracy when running on NPU.