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We present a marker-based geometric estimation framework for the absolute pose of a camera by analyzing the 1D observations in a single radially distorted pixel scanline.We leverage a pair of known co-planar pencils of lines, along with lens distortion parameters, to propose an ensemble of solvers exploring the space of estimation strategies applicable to our setup.First, we present a minimal algebraic solver requiring only six measurements and yielding eight solutions, which relies on the intersection of two conics defined by one of the pencils of lines.Then, we present a unique closed-form geometric solver from seven measurements.Finally, we present an homography-based formulation amenable to linear least-squares from eight or more measurements.Our geometric framework constitutes a theoretical analysis on the minimum geometric context necessary to solve in closed form for the absolute pose of a single camera from a single radially distorted scanline.
Recent advancements in multimodal large language models (MLLMs) have significantly improved performance in visual question answering. However, they often suffer from hallucinations. In this work, hallucinations are categorized into two main types: initial hallucinations and snowball hallucinations. We argue that adequate contextual information can be extracted directly from the token interaction process. Inspired by causal inference in decoding strategy, we propose to leverage causal masks to establish information propagation between multimodal tokens. The hypothesis is that insufficient interaction between those tokens may lead the model to rely on outlier tokens, overlooking dense and rich contextual cues. Therefore, we propose to intervene in the propagation process by tackling outlier tokens to enhance in-context inference. With this goal, we present FarSight, a versatile plug-and-play decoding strategy to reduce attention interference from outlier tokens merely by optimizing the causal mask. The heart of our method is effective token propagation. We design an attention register structure within the upper triangular matrix of the causal mask, dynamically allocating attention capture attention diverted to outlier tokens. Moreover, a positional awareness encoding method with a diminishing masking rate is proposed, allowing the model to attend to further preceding tokens, especially for video sequence tasks. With extensive experiments, FarSight demonstrates significant hallucination-mitigating performance across different MLLMs on both image and video benchmarks, proving its effectiveness.
Distributed learning is commonly used for training deep learning models, especially large models. In distributed learning, manual parallelism (MP) methods demand considerable human effort and have limited flexibility. Hence, automatic parallelism (AP) methods have recently been proposed for automating the parallel strategy optimization process. Existing AP methods suffer from sub-optimal solutions because they do not jointly optimize the two categories of parallel strategies (i.e., inter-layer parallelism and intra-layer parallelism). In this paper, we propose a novel AP method called UniAP, which unifies inter- and intra-layer automatic parallelism by mixed integer quadratic programming. To the best of our knowledge, UniAP is the first parallel method that can jointly optimize the two categories of parallel strategies to find an optimal solution. Experimental results show that UniAP outperforms state-of-the-art methods by up to 3.80× in throughput and reduces strategy optimization time by up to 107× across five Transformer-based models.
Current remote sensing semantic segmentation methods are mostly built on the close-set assumption, meaning that the model can only recognize pre-defined categories that exist in the training set. However, in practical Earth observation, there are countless unseen categories, and manual annotation is impractical. To address this challenge, we first attempt to introduce training-free open-vocabulary semantic segmentation (OVSS) into the remote sensing context. However, due to the sensitivity of remote sensing images to low-resolution features, distorted target shapes and ill-fitting boundaries are exhibited in the prediction mask. To tackle these issues, we propose a simple and universal upsampler, i.e. SimFeatUp, to restore lost spatial information of deep features. Specifically, SimFeatUp only needs to learn from a few unlabeled images, and can upsample arbitrary remote sensing image features. Furthermore, based on the observation of the abnormal response of patch tokens to the [CLS] token in CLIP, we propose to execute a simple subtraction operation to alleviate the global bias in patch tokens. Extensive experiments are conducted on 17 remote sensing datasets of 4 tasks, including semantic segmentation, building extraction, road detection, and flood detection. Our method achieves an average of 5.8\%, 8.2\%, 4.0\%, and 15.3\% improvement over state-of-the-art methods on the 4 tasks.
We present VGGN, a feed-forward neural network that infers directly all key 3D attributes of a scene, such as camera poses, point maps, depth maps, and 3D point tracks, from few or hundreds of its views. Unlike recent alternatives, VGGN does not need to use visual geometry optimization techniques to refine the results in post-processing, obtaining all quantities of interest directly. This approach is simple and more efficient, reconstructing hundreds of images in seconds. We train VGGN on a large number of publicly available datasets with 3D annotations and demonstrate its ability to achieve state-of-the-art results in multiple 3D tasks, including camera pose estimation, multi-view depth estimation, dense point cloud reconstruction, and 3D point tracking. This is a step forward in 3D computer vision, where models have been typically constrained to and specialized for single tasks. We extensively evaluate our method on unseen datasets to demonstrate its superior performance. We will release the code and trained model.
In this paper, we introduce a method for reconstructing humans in 3D from a single image using a biomechanically accurate skeleton model. To achieve this, we train a transformer that takes an image as input and estimates the parameters of the model. Due to the lack of training data for this task, we build a pipeline to generate pseudo ground truth data and implement a training procedure that iteratively refines these pseudo labels for improved accuracy. Compared to state-of-the-art methods in 3D human pose estimation, our model achieves competitive performance on standard benchmarks, while it significantly outperforms them in settings with extreme 3D poses and viewpoints. This result highlights the benefits of using a biomechanical skeleton with realistic degrees of freedom for robust pose estimation. Additionally, we show that previous models frequently violate joint angle limits, leading to unnatural rotations. In contrast, our approach leverages the biomechanically plausible degrees of freedom leading to more realistic joint rotation estimates. We validate our approach across multiple human pose estimation benchmarks. We will make all code, models and data publicly available upon publication.
We present a novel generative 3D modeling system, coined CraftsMan, which can generate high-fidelity 3D geometries with highly varied shapes, regular mesh topologies, and detailed surfaces, and, notably, allows for refining the geometry in an interactive manner. Despite the significant advancements in 3D generation, existing methods still struggle with lengthy optimization processes, self-occlusion, irregular mesh topologies, and difficulties in accommodating user edits, consequently impeding their widespread adoption and implementation in 3D modeling softwares. Our work is inspired by the craftsman, who usually roughs out the holistic figure of the work first and elaborates the surface details subsequently. Specifically, we first introduce a robust data preprocessing pipeline that utilizes visibility check and winding mumber to maximize the use of existing 3D data. Leveraging this data, we employ a 3D-native DiT model that directly models the distribution of 3D data in latent space, generating coarse geometries with regular mesh topology in seconds. Subsequently, a normal-based geometry refiner enhances local surface details, which can be applied automatically or interactively with user input. Extensive experiments demonstrate that our method achieves high efficacy in producing superior quality 3D assets compared to existing methods.
While remarkable success has been achived through diffusion-based 3D generative models for shapes, 4D generative modeling remains challenging due to the complexity of object deformations over time. We propose DNF, a new 4D representation for unconditional generative modeling that efficiently models deformable shapes with disentangled shape and motion while capturing high-fidelity details in the deforming objects. To achieve this, we propose a dictionary learning approach to disentangle 4D motion from shape as neural fields.Both shape and motion are represented as learned latent spaces, where each deformable shape is represented by its shape and motion global latent codes, shape-specific coefficient vectors, and shared dictionary information. This captures both shape-specific detail and global shared information in the learned dictionary. Our dictionary-based representation well balances fidelity, contiguity and compression -- combined with a transformer-based diffusion model, our method is able to generate effective, high-fidelity 4D animations.
We describe a system to remove real-world reflections from images for consumer photography. Our system operates on linear (RAW) photos, and accepts an optional contextual photo looking in the opposite direction (e.g., the "selfie" camera on a mobile device). This optional photo helps disambiguate what should be considered the reflection. The system is trained solely on synthetic mixtures of real-world RAW images, which we combine using a reflection simulation that is photometrically and geometrically accurate. Our system comprises a base model that accepts the captured photo and optional context photo as input, and runs at 256p, followed by an up-sampling model that transforms 256p images to full resolution. The system can produce images for review at 1K in 4.5 to 6.5 seconds on a MacBook or iPhone 14 Pro. We test on RAW photos that were captured in the field and embody typical consumer photos, and show that our RAW-image simulation yields SOTA performance.
Foundational models such as the Segment Anything Model (SAM) are gaining traction in medical imaging segmentation, supporting multiple downstream tasks. However, such models are supervised in nature, still relying on large annotated datasets or prompts supplied by experts. Conventional techniques such as active learning to alleviate such limitations are limited in scope and still necessitate continuous human involvement and complex domain knowledge for label refinement or establishing reward ground truth. To address these challenges, we propose an enhanced Segment Anything Model (SAM) framework that utilizes annotation-efficient prompts generated in a fully unsupervised fashion, while still capturing essential semantic, location, and shape information through contrastive language-image pretraining and visual question answering. We adopt the direct preference optimization technique to design an optimal policy that enables the model to generate high-fidelity segmentations with simple ratings or rankings provided by a virtual annotator simulating the human annotation process. State-of-the-art performance of our framework in tasks such as lung segmentation, breast tumor segmentation, and organ segmentation across various modalities, including X-ray, ultrasound, and abdominal CT, justifies its effectiveness in low-annotation data scenarios.
In this paper, we present DesignDiffusion, a simple yet effective framework for the novel task of synthesizing design images from textual descriptions. A primary challenge lies in generating accurate and style-consistent textual and visual content. Existing works in a related task of visual text generation often focus on generating text within given specific regions, which limits the creativity of generation models, resulting in style or color inconsistencies between textual and visual elements if applied to design image generation. To address this issue, we propose an end-to-end, one-stage diffusion-based framework that avoids intricate components like position and layout modeling. Specifically, the proposed framework directly synthesizes textual and visual design elements from user prompts. It utilizes a distinctive character embedding derived from the visual text to enhance the input prompt, along with a character localization loss for enhanced supervision during text generation. Furthermore, we employ a self-play Direct Preference Optimization fine-tuning strategy to improve the quality and accuracy of the synthesized visual text. Extensive experiments demonstrate that DesignDiffusion achieves state-of-the-art performance in design image generation.
Video-text retrieval, the task of retrieving videos based on a textual query or vice versa, is of paramount importance for video understanding and multimodal information retrieval. Recent methods in this area rely primarily on visual and textual features and often ignore audio, although it helps enhance overall comprehension of video content.Moreover, traditional models that incorporate audio blindly utilize the audio input regardless of whether it is useful or not, resulting in suboptimal video representation. To address these limitations, we propose a novel video-text retrieval framework, Audio-guided VIdeo representation learning with GATEd attention (AVIGATE), that effectively leverages audio cues through a gated attention mechanism that selectively filters out uninformative audio signals.In addition, we propose an adaptive margin-based contrastive loss to deal with the inherently unclear positive-negative relationship between video and text, which facilitates learning better video-text alignment.Our extensive experiments demonstrate that AVIGATE achieves state-of-the-art performance on all the public benchmarks.
We introduce RandAR, a decoder-only visual autoregressive (AR) model capable of generatng images in arbitrary token orders. Unlike previous decoder-only AR models that rely on a predefined generation order, RandAR removes this inductive bias, unlocking new capabilities in decoder-only generation. Our essential design enabling random order is to insert a "position instruction token" before each image token to be predicted, representing the spatial location of the next image token. Trained on randomly permuted token sequences -- a more challenging task than fixed-order generation, RandAR achieves comparable performance to conventional raster-order counterpart. More importantly, decoder-only transformers trained from random orders acquire new capabilities. For the efficiency bottleneck of AR models, RandAR adopts parallel decoding with KV-Cache at inference time, enjoying 2.5x acceleration without sacrificing generation quality. Additionally, RandAR supports in-painting, outpainting and resolution extrapolation in a zero-shot manner.We hope RandAR inspires new directions for decoder-only visual generation models and broadens their applications across diverse scenarios.
We present a system that allows for accurate, fast, and robust estimation of camera parameters and depth maps from casual monocular videos of dynamic scenes. Most conventional structure from motion and monocular SLAM techniques assume input videos that feature predominantly static scenes with large amounts of parallax. Such methods tend to produce erroneous estimates in the absence of these conditions. Recent neural network based approaches attempt to overcome these challenges; however, such methods are either computationally expensive or brittle when run on dynamic videos with uncontrolled camera motion or unknown field of view. We demonstrate the surprising effectiveness of the deep visual SLAM framework, and with careful modifications to its training and inference schemes, this system can scale to real-world videos of complex dynamic scenes with unconstrained camera paths, including videos with little camera parallax. Extensive experiments on both synthetic and real videos demonstrate that our system is significantly more accurate and robust at camera pose and depth estimation when compared with prior and concurrent work, with faster or comparable running times.
Tremendous progress has been made in deep stereo matching to excel on benchmark datasets through per-domain fine-tuning. However, achieving strong zero-shot generalization — a hallmark of foundation models in other computer vision tasks — remains challenging for stereo matching. We introduce StereoAnything, a foundation model for stereo depth estimation designed to achieve strong zero-shot generalization. To this end, we first construct a large-scale (1M stereo pairs) synthetic training dataset featuring large diversity and high photorealism, followed by an automatic self-curation pipeline to remove ambiguous samples. We then design a number of network architecture components to enhance scalability, including a side-tuning feature backbone that adapts rich monocular priors from vision foundation models to mitigate the sim-to-real gap, and long-range context reasoning for effective cost volume filtering. Together, these components lead to strong robustness and accuracy across domains, establishing a new standard in zero-shot stereo depth estimation.
Motion control is crucial for generating expressive and compelling video content; however, most existing video generation models rely mainly on text prompts for control, which struggle to capture the nuances of dynamic actions and temporal compositions. To this end, we train a video generation model conditioned on spatio-temporally sparse _or_ dense motion trajectories. In contrast to prior motion conditioning work, this flexible representation can encode any number of trajectories, object-specific or global scene motion, and temporally sparse motion; due to its flexibility we refer to this conditioning as _motion prompts_. While users may directly specify sparse trajectories, we also show how to translate high-level user requests into detailed, semi-dense motion prompts, a process we term _motion prompt expansion_. We demonstrate the versatility of our approach through various applications, including camera and object motion control, "interacting" with an image, motion transfer, and image editing. Our results showcase emergent behaviors, such as realistic physics, suggesting the potential of motion prompts for probing video models and interacting with future generative world models. Finally, we evaluate quantitatively, conduct a human study, and demonstrate strong performance.
Image tokenization, the process of transforming raw image pixels into a compact low-dimensional latent representation, has proven crucial for scalable and efficient image generation. However, mainstream image tokenization methods generally have limited compression rates, making high-resolution image generation computationally expensive. To address this challenge, we propose to leverage language for efficient image tokenization, and we call our method Text-Conditioned Image Tokenization (TexTok). TexTok is a simple yet effective tokenization framework that leverages language to provide high-level semantics. By conditioning the tokenization process on descriptive text captions, TexTok allows the tokenization process to focusing on encoding fine-grained visual details into latent tokens, leading to enhanced reconstruction quality and higher compression rates. Compared to the conventional tokenizer without text conditioning, TexTok achieves average reconstruction FID improvements of 29.2\% and 48.1\% on ImageNet 256×256 and 512×512 benchmarks respectively, across varying number of tokens. These tokenization improvements consistently translate to 16.3\% and 34.3\% average improvements in generation FID. By simply replacing the tokenizer in Diffusion Transformer (DiT) with TexTok, our system can achieve 93.5× inference speedup while still outperforming the original DiT using only 32 tokens on ImageNet-512. TexTok with a vanilla DiT generator achieves state-of-the-art FID scores of 1.46 and 1.62 on ImageNet-256 and -512 respectively. Furthermore, we demonstrate TexTok's superiority on the text-to-image generation task, effectively utilizing the off-the-shelf text captions in tokenization.
Recent endeavors in Multimodal Large Language Models (MLLMs) aim to unify visual comprehension and generation by combining LLM and diffusion models, the state-of-the-art in each task, respectively. Existing approaches rely on spatial visual tokens, where image patches are encoded and arranged according to a spatial order (e.g., raster scan). However, we show that spatial tokens lack the recursive structure inherent to languages, hence form an impossible language for LLM to master. In this paper, we build a proper visual language by leveraging diffusion timesteps to learn discrete, recursive visual tokens. Our proposed tokens recursively compensate for the progressive attribute loss in noisy images as timesteps increase, enabling the diffusion model to reconstruct the original image at any timestep. This approach allows us to effectively integrate the strengths of LLMs in autoregressive reasoning and diffusion models in precise image generation, achieving seamless multimodal comprehension and generation within a unified framework. Extensive experiments show that we achieve a new SOTA for multimodal comprehension and generation simultaneously compared with other MLLMs.
Unsupervised object-centric learning from videos is a promising approach to extract structured representations from large, unlabeled collections of videos. To support downstream tasks like autonomous control, these representations must be both compositional and temporally consistent. Existing approaches based on recurrent processing often lack long-term stability across frames because their training objective does not enforce temporal consistency. In this work, we introduce a novel object-level temporal contrastive loss for video object-centric models that explicitly promotes temporal consistency. Our method significantly improves the temporal consistency of the learned object-centric representations, yielding more reliable video decompositions that facilitate challenging downstream tasks such as unsupervised object dynamics prediction. Furthermore, the inductive bias added by our loss strongly improves object discovery, leading to state-of-the-art results on both synthetic and real-world datasets, outperforming even weakly-supervised methods that leverage motion masks as additional cues.
While computer vision models have made incredible strides in static image recognition, they still do not match human performance in tasks that require the understanding of complex, dynamic motion. This is notably true for real-world scenarios where embodied agents face complex and motion-rich environments. Our approach leverages state-of-the-art video diffusion models to decouple static image representation from motion generation, enabling us to utilize fMRI brain activity for a deeper understanding of human responses to dynamic visual stimuli. Conversely, we also demonstrate that information about the brain's representation of motion can enhance the prediction of optical flow in artificial systems. Our novel approach leads to four main findings: (1) Visual motion, represented as fine-grained, object-level resolution optical flow, can be decoded from brain activity generated by participants viewing video stimuli; (2) Video encoders outperform image-based models in predicting video-driven brain activity; (3) Brain-decoded motion signals enable realistic video reanimation based only on the initial frame of the video; and (4) We extend prior work to achieve full video decoding from video-driven brain activity. This framework advances our understanding of how the brain represents spatial and temporal information in dynamic visual scenes. Our findings demonstrate the potential of combining brain imaging with video diffusion models for developing more robust and biologically-inspired computer vision systems.
Dataset distillation (DD) condenses key information from large-scale datasets into smaller synthetic datasets, reducing storage and computational costs for training networks. However, recent research has primarily focused on image classification tasks, with limited expansion to detection and segmentation. Two key challenges remain: (i) Task Optimization Heterogeneity, where existing methods focus on class-level information and fail to address the diverse needs of detection and segmentation and (ii) Inflexible Image Generation, where current generation methods rely on global updates for single-class targets and lack localized optimization for specific object regions.To address these challenges, we propose a universal dataset distillation framework, named UniDD, a task-driven diffusion model for diverse DD tasks, as illustrated in Fig.1. Our approach operates in two stages: Universal Task Knowledge Mining, which captures task-relevant information through task-specific proxy model training, and Universal Task-Driven Diffusion, where these proxies guide the diffusion process to generate task-specific synthetic images.Extensive experiments across ImageNet-1K, Pascal VOC, and MS COCO demonstrate that UniDD consistently outperforms state-of-the-art methods. In particular, on ImageNet-1K with IPC-10, UniDD surpasses previous diffusion-based methods by 6.1\%, while also reducing deployment costs.
The evolution of Large Vision-Language Models (LVLMs) has progressed from single-image understanding to multi-image reasoning. Despite this advancement, our findings indicate that LVLMs struggle to robustly utilize information across multiple images, with predictions significantly affected by the alteration of image positions. To further explore this issue, we introduce Position-wise Question Answering (PQA), a meticulously designed task to quantify reasoning capabilities at each position. Our analysis reveals a pronounced position bias in LVLMs: open-source models excel in reasoning with images positioned later but underperform with those in the middle or at the beginning, while proprietary models like GPT-4o show improved comprehension for images at the beginning and end but struggle with those in the middle. Motivated by these insights, we propose SoFt Attention (SoFA), a simple, training-free approach that mitigates this bias by employing linear interpolation between inter-image causal attention and bidirectional counterparts. Experimental results demonstrate that SoFA effectively reduces position bias and significantly enhances the reasoning performance of existing LVLMs.
Today's most advanced vision-language models (VLMs) remain proprietary. The strongest open-weight models rely heavily on synthetic data from proprietary VLMs to achieve good performance, effectively distilling these closed VLMs into open ones. As a result, the community has been missing foundational knowledge about how to build performant VLMs from scratch. We present \textbf{Molmo}, a new family of VLMs that are state-of-the-art in their class of openness. Our key contribution is a collection of new datasets, including a dataset of highly detailed image captions for pre-training called \textbf{PixMo}, a free-form image Q\&A dataset for fine-tuning, and an innovative 2D pointing dataset, all collected without the use of external VLMs. The success of our approach relies on careful modeling choices, a well-tuned training pipeline, and, most critically, the quality of our newly collected datasets. Our best-in-class 72B model not only outperforms others in the class of open weight and data models, but also outperforms larger proprietary models including Claude 3.5 Sonnet, and Gemini 1.5 Pro and Flash, second only to GPT-4o based on both academic benchmarks and on a large human evaluation. Our model weights, new datasets, and source code will all be released.
Computer vision analysis of camera trap video footage is essential for wildlife conservation, as captured behaviours offer some of the earliest indicators of changes in population health. Recently, several high-impact animal behaviour datasets and methods have been introduced to encourage their use; however, the role of behaviour-correlated background information and its significant effect on out-of-distribution generalisation remain unexplored. In response, we present the PanAf-FGBG dataset, featuring 20 hours of wild chimpanzee behaviours, recorded at over 350 individual camera locations. Uniquely, it pairs every video with a chimpanzee (referred to as a foreground video) with a corresponding background video (with no chimpanzee) from the same camera location. We present two views of the dataset: one with overlapping camera locations and one with disjoint locations. This setup enables, for the first time, direct evaluation of in-distribution and out-of-distribution conditions, and for the impact of backgrounds on behaviour recognition models to be quantified. All clips come with rich behavioural annotations and metadata including unique camera IDs and detailed textual scene descriptions. Additionally, we establish several baselines and present a highly effective latent-space normalisation technique that boosts out-of-distribution performance by +5.42\% mAP for convolutional and +3.75\% mAP for transformer-based models. Finally, we provide an in-depth analysis on the role of backgrounds in out-of-distribution behaviour recognition, including the so far unexplored impact of background durations (i.e., the count of background frames within foreground videos). The full dataset, baseline models, and weights will be available at `anonymous'.
Scattered light from pulsed lasers is increasingly part of our ambient illumination, as many devices rely on them for active 3D sensing. In this work, we ask: can these “ambient” light signals be detected and leveraged for passive 3D vision? We show that pulsed lasers, despite being weak and fluctuating at MHz to GHz frequencies, leave a distinctive sinc comb pattern in the temporal frequency domain of incident flux that is specific to each laser and invariant to the scene. This enables their passive detection and analysis with a free-running SPAD camera, even when they are unknown, asynchronous, out of sight, and emitting concurrently. We show how to synchronize with such lasers computationally, characterize their pulse emissions, separate their contributions, and—if many are present—localize them in 3D and recover a depth map of the camera’s field of view. We use our camera prototype to demonstrate (1) a first-of-its-kind visualization of asynchronously propagating light pulses from multiple lasers through the same scene, (2) passive estimation of a laser’s MHz-scale pulse repetition frequency with mHz precision, and (3) mm-scale 3D imaging over room-scale distances by passively harvesting photons from two or more out-of-view lasers.