LiDAR point cloud semantic segmentation plays a crucial role in autonomous driving. In recent years, semi-supervised methods have gained popularity due to their significant reduction in annotation labor and time costs. Current semi-supervised methods typically focus on point cloud spatial distribution or consider short-term temporal representations, e.g., only two adjacent frames, often overlooking the rich long-term temporal properties inherent in autonomous driving scenarios. In driving experience, we observe that nearby objects, such as roads and vehicles, remain stable while driving, whereas distant objects exhibit greater variability in category and shape. This natural phenomenon is also captured by Li-DAR, which reflects lower temporal sensitivity for nearby objects and higher sensitivity for distant ones. To lever-age these characteristics, we propose HiLoTs, which learns high-temporal sensitivity and low-temporal sensitivity representations from continuous LiDAR frames. These representations are further enhanced and fused using a cross-attention mechanism. Additionally, we employ a teacher-student framework to align the representations learned by the labeled and unlabeled branches, effectively utilizing the large amounts of unlabeled data. Experimental results on the SemanticKITTI and nuScenes datasets demonstrate that our proposed HiLoTs outperforms state-of-the-art semi-supervised methods, and achieves performance close to Li-DAR+Camera multimodal approaches.

Estimating the 3D pose of hand and potential hand-held object from monocular images is a longstanding challenge. Yet, existing methods are specialized, focusing on either bare-hand or hand interacting with object. No method can flexibly handle both scenarios and their performance degrades when applied to the other scenario. In this paper, we propose UniHOPE, a unified approach for general 3D hand-object pose estimation, flexibly adapting both scenarios. Technically, we design a grasp-aware feature fusion module to integrate hand-object features with an object switcher to dynamically control the hand-object pose estimation according to grasping status. Further, to uplift the robustness of hand pose estimation regardless of object presence, we generate realistic de-occluded image pairs to train the model to learn object-induced hand occlusions, and formulate multi-level feature enhancement techniques for learning occlusion-invariant features. Extensive experiments on three commonly-used benchmarks demonstrate UniHOPE’s SOTA performance in addressing hand-only and hand-object scenarios. Code will be released on https://github.com/JoyboyWang/UniHOPE_Pytorch.

Robustly reconstructing 3D hand mesh from a single image is very challenging, due to (i) the lack of diversity in existing real-world datasets and (ii) the ambiguity in occluded hand regions. While data synthesis helps relieve issue (i), the syn-to-real gap still hinders its usage. For issue (ii), most previous works produce deterministic results while other probabilistic methods rely on ground truths to choose the best hypothesis. In this work, we explore the diffusion model to alleviate these problems by collectively considering two perspectives: (i) conditional synthesis and sampling approach for realistic data generation and (ii) probabilistic modeling with progressive multi-hypothesis aggregation. First, we present HandBooster, a new approach to uplift the data diversity by training a conditional generative space on hand-object interactions and sampling the space to synthesize effective data with reliable 3D annotations and diverse hand appearances, poses, views, and backgrounds. Second, we design HandBooster+, a probabilistic diffusion-based model to further boost the 3D hand-mesh reconstruction performance by progressively aggregating the multiple hypotheses. Extensive experimental results show that our method significantly improves several baselines and achieves SOTA on the HO3D and DexYCB benchmarks.

Hand shadow art is a captivating art form, creatively using hand shadows to reproduce expressive shapes on the wall. In this work, we study an inverse problem: given a target shape, find the poses of left and right hands that together best produce a shadow resembling the input. This problem is nontrivial, since the design space of 3D hand poses is huge while being restrictive due to anatomical constraints. Also, we need to attend to the input's shape and crucial features, though the input is colorless and textureless. To meet these challenges, we design Hand-Shadow Poser, a three-stage pipeline, to decouple the anatomical constraints (by hand) and semantic constraints (by shadow shape): (i) a generative hand assignment module to explore diverse but reasonable left/right-hand shape hypotheses; (ii) a generalized hand-shadow alignment module to infer coarse hand poses with a similarity-driven strategy for selecting hypotheses; and (iii) a shadow-feature-aware refinement module to optimize the hand poses for physical plausibility and shadow feature preservation. Further, we design our pipeline to be trainable on generic public hand data, thus avoiding the need for any specialized training dataset. For method validation, we build a benchmark of 210 diverse shadow shapes of varying complexity and a comprehensive set of metrics, including a novel DINOv2-based evaluation metric. Through extensive comparisons with multiple baselines and user studies, our approach is demonstrated to effectively generate bimanual hand poses for a large variety of hand shapes for over 85% of the benchmark cases.

Estimating 3D hand mesh from RGB images is a longstanding track, in which occlusion is one of the most challenging problems. Existing attempts towards this task often fail when the occlusion dominates the image space. In this paper, we propose SiMA-Hand, aiming to boost the mesh reconstruction performance by Single-to-Multi-view Adaptation. First, we design a multi-view hand reconstructor to fuse information across multiple views by holistically adopting feature fusion at image, joint, and vertex levels. Then, we introduce a single-view hand reconstructor equipped with SiMA. Though taking only one view as input at inference, the shape and orientation features in the single-view reconstructor can be enriched by learning non-occluded knowledge from the extra views at training, enhancing the reconstruction precision on the occluded regions. We conduct experiments on the Dex-YCB and HanCo benchmarks with challenging object- and self-caused occlusion cases, manifesting that SiMA-Hand consistently achieves superior performance over the state of the arts. Code will be released on https://github.com/JoyboyWang/SiMA-Hand Pytorch.

Reconstructing 3D hand mesh robustly from a single image is very challenging, due to the lack of diversity in existing real-world datasets. While data synthesis helps relieve the issue, the syn-to-real gap still hinders its usage. In this work, we present HandBooster, a new approach to uplift the data diversity and boost the 3D hand-mesh reconstruction performance by training a conditional generative space on hand-object interactions and purposely sampling the space to synthesize effective data samples. First, we construct versatile content-aware conditions to guide a diffusion model to produce realistic images with diverse hand appearances, poses, views, and backgrounds; favorably, accurate 3D an-notations are obtained for free. Then, we design a novel condition creator based on our similarity-aware distribution sampling strategies to deliberately find novel and realistic interaction poses that are distinctive from the training set. Equipped with our method, several baselines can be significantly improved beyond the SOTA on the HO3D and DexYCB benchmarks. Our code will be released on https://github.com/hxwork/HandBooster_Pytorch.

We present Joint t-Stochastic Neighbor Embedding (Joint t-SNE), a technique to generate comparable projections of multiple high-dimensional datasets. Although t-SNE has been widely employed to visualize high-dimensional datasets from various domains, it is limited to projecting a single dataset. When a series of high-dimensional datasets, such as datasets changing over time, is projected independently using t-SNE, misaligned layouts are obtained. Even items with identical features across datasets are projected to different locations, making the technique unsuitable for comparison tasks. To tackle this problem, we introduce edge similarity, which captures the similarities between two adjacent time frames based on the Graphlet Frequency Distribution (GFD). We then integrate a novel loss term into the t-SNE loss function, which we call vector constraints, to preserve the vectors between projected points across the projections, allowing these points to serve as visual landmarks for direct comparisons between projections. Using synthetic datasets whose ground-truth structures are known, we show that Joint t-SNE outperforms existing techniques, including Dynamic t-SNE, in terms of local coherence error, Kullback-Leibler divergence, and neighborhood preservation. We also showcase a real-world use case to visualize and compare the activation of different layers of a neural network.

Colormapping is an effective and popular visualization technique for analyzing patterns in scalar fields. Scientists usually adjust a default colormap to show hidden patterns by shifting the colors in a trial-and-error process. To improve efficiency, efforts have been made to automate the colormap adjustment process based on data properties (e.g., statistical data value or histogram distribution). However, as the data properties have no direct correlation to the spatial variations, previous methods may be insufficient to reveal the dynamic range of spatial variations hidden in the data. To address the above issues, we conduct a pilot analysis with domain experts and summarize three requirements for the colormap adjustment process. Based on the requirements, we formulate colormap adjustment as an objective function, composed of a boundary term and a fidelity term, which is flexible enough to support interactive functionalities. We compare our approach with alternative methods under a quantitative measure and a qualitative user study (25 participants), based on a set of data with broad distribution diversity. We further evaluate our approach via three case studies with six domain experts. Our method is not necessarily more optimal than alternative methods of revealing patterns, but rather is an additional color adjustment option for exploring data with a dynamic range of spatial variations.

In this paper, we present a novel design of the wind instrument, Harmonicare, which makes everybody playing the wind instrument easily, having a lot of fun and doing the respiratory training simultaneously. The device contains many valves for all reed chambers of harmonica, they control when and which note should be played according to the music notation. What the player needs to do is exhaling and inhaling rhythmically according to the hints on the device screen. The design combines the technology, musical arts and health care together. A bundle of Volunteers' experiences show that our novel design is easy to master and full of fun.