The integration of RGB and depth modalities significantly enhances the accuracy of segmenting complex indoor scenes, with depth data from RGB-D cameras playing a crucial role in this improvement. However, collecting an RGB-D dataset is more expensive than an RGB dataset due to the need for specialized depth sensors. Aligning depth and RGB images also poses challenges due to sensor positioning and issues like missing data and noise. In contrast, Pseudo Depth (PD) from high-precision depth estimation algorithms can eliminate the dependence on RGB-D sensors and alignment processes, as well as provide effective depth information and show significant potential in semantic segmentation. Therefore, to explore the practicality of utilizing pseudo depth instead of real depth for semantic segmentation, we design an RGB-PD segmentation pipeline to integrate RGB and pseudo depth and propose a Pseudo Depth Aggregation Module (PDAM) for fully exploiting the informative clues provided by the diverse pseudo depth maps. The PDAM aggregates multiple pseudo depth maps into a single modality, making it easily adaptable to other RGB-D segmentation methods. In addition, the pre-trained diffusion model serves as a strong feature extractor for RGB segmentation tasks, but multi-modal diffusion-based segmentation methods remain unexplored. Therefore, we present a Pseudo Depth Diffusion Model (PDDM) that adopts a large-scale text-image diffusion model as a feature extractor and a simple yet effective fusion strategy to integrate pseudo depth. To verify the applicability of pseudo depth and our PDDM, we perform extensive experiments on the NYUv2 and SUNRGB-D datasets. The experimental results demonstrate that pseudo depth can effectively enhance segmentation performance, and our PDDM achieves state-of-the-art performance, outperforming other methods by +6.98 mIoU on NYUv2 and +2.11 mIoU on SUNRGB-D.

Monocular video depth estimation is a key challenge in computer vision, highlighting its importance in visual understanding. Monocular depth estimation models trained on single images achieve impressive results on individual frames but often lack temporal consistency when applied to videos, leading to flickering and artifacts. Current video depth estimation methods often rely on additional optical flow or camera poses, which are limited by their accuracy, complex design, and lack robustness. Specially, we propose a plug-and-play method that seamlessly transfers the robustness of image depth estimation to video depth estimation. By leveraging powerful priors from image depth estimation, our method enhances the performance of video depth estimation without requiring additional conditional inputs or extensive pretraining on large and expensive video datasets. We introduce the Temporal Depth Stabilization Module (TDSM), which can seamlessly inflate an image monocular depth estimation model into a video depth estimation model, enabling unified modeling of depth across video sequences and capturing the temporal cues in video. We validate the effectiveness and efficiency of our method across various datasets (e.g., normal and challenging conditions) and different backbones. Extensive experiments demonstrate that our simple and effective method significantly improves monocular depth estimation networks, achieving new state-of-the-art accuracy in both spatial and temporal dimensions.

Despite significant advances in self-supervised monocular depth estimation methods, achieving temporally consistent and accurate depth maps from frame sequences remains a formidable challenge. Existing approaches often estimate depth maps for individual frames in isolation, neglecting the rich geometric and temporal coherence present across frames. Consequently, this oversight leads to temporally inconsistent outputs, resulting in noticeable temporal flickering artifacts. In response, this paper presents TCNet, a Temporal Consistent Network for self-supervised monocular depth estimation. Specifically, we propose an Inter-frame Temporal Fusion (ITF) module to emphasize the influence of preceding images on the depth estimation of the current frame. The Temporal Consistency Loss (TCL) is proposed to leverage the temporal constraints between the depth maps of adjacent frames. Besides, TCNet can also be applied to both single-frame and multi-frame scenarios during inference. Experimental evaluations on the KITTI dataset demonstrate that our method surpasses state-of-the-art depth estimation methods in accuracy and temporal consistency. Our code will be made public.

In Visual Indoor Navigation (VIN), Deep Reinforcement Learning (DRL) is commonly used by agents to achieve end-to-end mapping from vision to action when navigating toward a target based on observation. However, current DRL-based work suffers from two challenges: partial observability resulting from using solely a single first-person view and poor generalization in the case of unknown scenes and unknown objects. In light of these issues, this paper introduces the integration of multi-view as an expansion of observability and meta-learning as a primary generalization technique into the DRL framework and presents the meta-reinforcement learning method that leverages Multi-View Semantic Spatial Context (MVSSC). Specifically, aiming to explore the informative multi-view context for better efficiency in searching for and navigating to the target, we model the objects’ relationship from two aspects, multi-view semantic context (MVSEC) and multi-view spatial context (MVSPC). MVSEC enables agents to encode prior semantic relationships adaptively via a multi-view modulated graph. Meanwhile, MVSPC enhances the spatial representation of target-related objects’ correlation through similarity grids of multi-view. After adaptively fusing the multi-view and context information under the meta-reinforcement learning framework, our method can encourage efficient target search and robust navigation with stronger generalization performance to unknown scenes and unknown objects. Extensive experimental results on the AI2-THOR simulator demonstrate that our method outperforms the current state-of-the-art approaches.

One main challenge of visible-infrared person re-identification (VI Re-ID) lies in the large style discrepancy between the heterogeneous data. We present a STyle-Agnostic Representation learning (STAR) framework that bridges the modality gaps at both data and feature levels in a progressive manner. At the data level, we present Cross Modality Blending (CMB), a powerful and parameter-free data augmentation scheme that smoothly synthesizes intermediate modalities by conducting identity-preserving patch exchange and smooth cross-modality blending. At the feature level, we explore the inter-modality feature alignment problem from a new perspective of the style-related feature statistics. Specifically, we design a plug-and-play Adaptive Style Normalization (ASN) module to discard the intrinsic style distractors without losing discriminative content via dual-level adaptive distribution normalization and discriminability compensation. Moreover, considering that an appropriate modality intermediary can convey relevant information on the inter-modality distribution shift, we propose Reciprocal Modality Bridging Learning (RMBL) to better steer the modality bridging process. Two lightweight modality transformation modules are designed in RMBL to model an appropriate intermediate space by manipulating high-order statistics under our shortest distance constraint. Meanwhile, intermediary-guided distribution alignment is reciprocally conducted to align heterogeneous features to the modality intermediary. Experiments on VI Re-ID benchmarks demonstrate the superiority and flexibility of STAR over state-of-the-art methods.

3D human pose estimation errors would propagate along the human body topology and accumulate at the end joints of limbs. Inspired by the backtracking mechanism in automatic control systems, we design an Intra-Part Constraint module that utilizes the parent nodes as the reference to build topological constraints for end joints at the part level. Further considering the hierarchy of the human topology, joint-level and body-level dependencies are captured via graph convolutional networks and self-attentions, respectively. Based on these designs, we propose a novel Human Topology aware Network (HTNet), which adopts a channel-split progressive strategy to sequentially learn the structural priors of the human topology from multiple semantic levels: joint, part, and body. Extensive experiments show that the proposed method improves the estimation accuracy by 18.7% on the end joints of limbs and achieves state-of-the-art results on Human3.6M and MPI-INF-3DHP datasets. Code is available at https://github.com/vefalun/HTNet.

Owing to the large distribution gap between the heterogeneous data in Visible-Infrared Person Re-identification (VI Re-ID), we point out that existing paradigms often suffer from the inter-modal semantic misalignment issue and thus fail to align and compare local details properly. In this paper, we present Concordant Attention Learning (CAL), a novel framework that learns semantic-aligned representations for VI Re-ID. Specifically, we design the Target-aware Concordant Alignment paradigm, which allows target-aware attention adaptation when aligning heterogeneous samples (i.e., adaptive attention adjustment according to the target image being aligned). This is achieved by exploiting the discriminative clues from the modality counterpart and designing effective modality-agnostic correspondence searching strategies. To ensure semantic concordance during the cross-modal retrieval stage, we further propose MatchDistill, which matches the attention patterns across modalities and learns their underlying semantic correlations by bipartite-graph-based similarity modeling and cross-modal knowledge exchange. Extensive experiments on VI Re-ID benchmark datasets demonstrate the effectiveness and superiority of the proposed CAL.

Cloth-changing Person Re-Identification (CC-ReID) is a challenging task that aims to retrieve the target person across multiple surveillance cameras when clothing changes might happen. Despite recent progress in CC-ReID, existing approaches are still hindered by the interference of clothing variations since they lack effective constraints to keep the model consistently focused on clothing-irrelevant regions. To address this issue, we present a Semantic-aware Consistency Network (SCNet) to learn identity-related semantic features by proposing effective consistency constraints. Specifically, we generate the black-clothing image by erasing pixels in the clothing area, which explicitly mitigates the interference from clothing variations. In addition, to fully exploit the fine-grained identity information, a head-enhanced attention module is introduced, which learns soft attention maps by utilizing the proposed part-based matching loss to highlight head information. We further design a semantic consistency loss to facilitate the learning of high-level identity-related semantic features, forcing the model to focus on semantically consistent cloth-irrelevant regions. By using the consistency constraint, our model does not require any extra auxiliary segmentation module to generate the black-clothing image or locate the head region during the inference stage. Extensive experiments on four cloth-changing person Re-ID datasets (LTCC, PRCC, Vc-Clothes, and DeepChange) demonstrate that our proposed SCNet makes significant improvements over prior state-of-the-art approaches. Our code is available at: https://github.com/Gpn-star/SCNet.

Unsupervised domain adaptation (UDA) person re-identification (re-ID) aims to transfer knowledge learned from labeled source domain to unlabeled target domain and has been successfully applied into a wide range of real-world scenarios. However, existing methods are mainly ineffective at handling domain shift as well as being sensitive to camera styles due to the unannotated target domain. In this paper, we pro-pose a Camera-style Separation and Uncertainty Estimation (CSUE) model to address the problem from two perspectives. To alleviate the negative effect of cross-camera variation, we introduce the Camera-aware Style Decoupling module to im-pose inter-and-intra camera constraints on the feature extracting stage. It can better mine and describe the latent camera invariant features. Moreover, to avoid the inherent defect of clustering, an Uncertainty Modeling module is constructed via estimating the certainty, which helps progressively refine the pseudo labels. Extensive experiments on widely used datasets demonstrate the state-of-the-art performance of our model under the UDA re-ID setting.

Cloth-changing person re-identification (CC-ReID), which aims to match person identities under clothing changes, is a new rising research topic in recent years. However, typical biometrics-based CC-ReID methods often require cumber-some pose or body part estimators to learn cloth-irrelevant features from human biometric traits, which comes with high computational costs. Besides, the performance is significantly limited due to the resolution degradation of surveillance images. To address the above limitations, we propose an effective Identity-Sensitive Knowledge Propagation framework (DeSKPro) for CC-ReID. Specifically, a Cloth-irrelevant Spatial Attention module is introduced to eliminate the distraction of clothing appearance by acquiring knowledge from the human parsing module. To mitigate the resolution degradation issue and mine identity-sensitive cues from human faces, we propose to restore the missing facial details using prior facial knowledge, which is then propagated to a smaller network. After training, the extra computations for human parsing or face restoration are no longer required. Extensive experiments show that our framework outperforms state-of-the-art methods by a large margin. Our code is available at https://github.com/KimbingNg/DeskPro.

This paper presents a fast and robust centralized data center network (DCN) routing solution called Primus. For fast routing calculation, Primus uses centralized controller to collect/disseminates the network's link-states (LS), and offload the actual routing calculation onto each switch. Observing that the routing changes can be classified into a few fixed patterns in DCNs which have regular topologies, we simplify each switch's routing calculation into a table-lookup manner, i.e., comparing LS changes with pre-installed base topology and updating routing paths according to predefined rules. As such, the routing calculation time at each switch only needs 10s of us even in a large network topology containing 10K+ switches. For efficient controller fault-tolerance, Primus purposely uses reporter switch to ensure the LS updates successfully delivered to all affected switches. As such, Primus can use multiple stateless controllers and little redundant traffic to tolerate failures, which incurs little overhead under normal case, and keeps 10s of ms fast routing reaction time even under complex data-/control-plane failures. We design, implement and evaluate Primus with extensive experiments on Linux-machine controllers and white-box switches. Primus provides ~1200x and ~100x shorter convergence time than current distributed protocol BGP and the state-of-the-art centralized routing solution, respectively.

Persistent memory (PM) is increasingly being leveraged to build hash-based indexing structures featuring cheap persistence, high performance, and instant recovery, especially with the recent release of Intel Optane DC Persistent Memory Modules. However, most of them are evaluated on DRAM-based emulators with unreal assumptions, or focus on the evaluation of specific metrics with important properties sidestepped. Thus, it is essential to understand how well the proposed hash indexes perform on real PM and how they differentiate from each other if a wider range of performance metrics are considered. To this end, this paper provides a comprehensive evaluation of persistent hash tables. In particular, we focus on the evaluation of six state-of-the-art hash tables including Level hashing, CCEH, Dash, PCLHT, Clevel, and SOFT, with real PM hardware. Our evaluation was conducted using a unified benchmarking framework and representative workloads. Besides characterizing common performance properties, we also explore how hardware configurations (such as PM bandwidth, CPU instructions, and NUMA) affect the performance of PM-based hash tables. With our in-depth analysis, we identify design trade-offs and good paradigms in prior arts, and suggest desirable optimizations and directions for the future development of PM-based hash tables.