Recent self-supervised stereo matching methods have made significant progress, but their performance significantly degrades under adverse weather conditions such as night, rain, and fog. We identify two primary weaknesses contributing to this performance degradation. First, adverse weather introduces noise and reduces visibility, making CNN-based feature extractors struggle with degraded regions like reflective and textureless areas. Second, these degraded regions can disrupt accurate pixel correspondences, leading to ineffective supervision based on the photometric consistency assumption. To address these challenges, we propose injecting robust priors derived from the visual foundation model into the CNN-based feature extractor to improve feature representation under adverse weather conditions. We then introduce scene correspondence priors to construct robust supervisory signals rather than relying solely on the photometric consistency assumption. Specifically, we create synthetic stereo datasets with realistic weather degradations. These datasets feature clear and adverse image pairs that maintain the same semantic context and disparity, preserving the scene correspondence property. With this knowledge, we propose a robust self-supervised training paradigm, consisting of two key steps: robust self-supervised scene correspondence learning and adverse weather distillation. Both steps aim to align underlying scene results from clean and adverse image pairs, thus improving model disparity estimation under adverse weather effects. Extensive experiments demonstrate the effectiveness and versatility of our proposed solution, which outperforms existing state-of-the-art self-supervised methods. Codes are available at https://github.com/cocowy1/RoSe-Robust-Self-supervised-Stereo-Matching-under-Adverse-Weather-Conditions.

Self-supervised stereo matching has drawn attention due to its ability to estimate disparity without needing ground-truth data. However, existing self-supervised stereo matching methods heavily rely on the photo-metric consistency assumption, which is vulnerable to natural disturbances, resulting in ambiguous supervision and inferior performance compared to the supervised ones. To relax the limitation of the photo-metric consistency assumption and even bypass this assumption, we propose a novel self-supervised framework named DualNet, which consists of two key steps: robust self-supervised teacher learning and pseudo-label supervised student training. Specifically, the teacher model is first trained in a self-supervised manner with a focus on feature-metric consistency and data augmentation consistency. Then, the output of the teacher model is geometrically constrained to obtain high-quality pseudo labels. Benefiting from these high-quality pseudo labels, the student model can outperform its teacher model by a large margin. With the two well-designed steps, the proposed framework DualNet ranks 1st among all self-supervised methods on multiple benchmarks, surprisingly even outperforming several supervised counterparts.

Recently, learning-based stereo matching networks have advanced significantly. However, they often lack robustness and struggle to achieve impressive cross-domain performance due to domain shifts and imbalanced disparity distributions among diverse datasets. Leveraging Vision Foundation Models (VFMs) can intuitively enhance the model's robustness, but integrating such a model into stereo matching cost-effectively to fully realize their robustness remains a key challenge. To address this, we propose SMoEStereo, a novel framework that adapts VFMs for stereo matching through a tailored, scene-specific fusion of Low-Rank Adaptation (LoRA) and Mixture-of-Experts (MoE) modules. SMoEStereo introduces MoE-LoRA with adaptive ranks and MoE-Adapter with adaptive kernel sizes. The former dynamically selects optimal experts within MoE to adapt varying scenes across domains, while the latter injects inductive bias into frozen VFMs to improve geometric feature extraction. Importantly, to mitigate computational overhead, we further propose a lightweight decision network that selectively activates MoE modules based on input complexity, balancing efficiency with accuracy. Extensive experiments demonstrate that our method exhibits state-of-the-art cross-domain and joint generalization across multiple benchmarks without dataset-specific adaptation. The code is available at \textcolor{red}{https://github.com/cocowy1/SMoE-Stereo}.

Recent advancements in Large Vision Language Models (LVLMs) have significantly improved performance in Visual Question Answering (VQA) tasks through multimodal Retrieval-Augmented Generation (RAG). However, existing methods still face challenges, such as the scarcity of knowledge with reasoning examples and erratic responses from retrieved knowledge. To address these issues, in this study, we propose a multimodal RAG framework, termed RCTS, which enhances LVLMs by constructing a Reasoning Context-enriched knowledge base and a Tree Search re-ranking method. Specifically, we introduce a self-consistent evaluation mechanism to enrich the knowledge base with intrinsic reasoning patterns. We further propose a Monte Carlo Tree Search with Heuristic Rewards (MCTS-HR) to prioritize the most relevant examples. This ensures that LVLMs can leverage high-quality contextual reasoning for better and more consistent responses. Extensive experiments demonstrate that our framework achieves state-of-the-art performance on multiple VQA datasets, significantly outperforming In-Context Learning (ICL) and Vanilla-RAG methods. It highlights the effectiveness of our knowledge base and re-ranking method in improving LVLMs.

Continual learning (CL) aims to empower models to learn new tasks without forgetting previously acquired knowledge. Most prior works concentrate on the techniques of architectures, replay data, regularization, etc. However, the category name of each class is largely neglected. Existing methods commonly utilize the one-hot labels and randomly initialize the classifier head. We argue that the scarce semantic information conveyed by the one-hot labels hampers the effective knowledge transfer across tasks. In this paper, we revisit the role of the classifier head within the CL paradigm and replace the classifier with semantic knowledge from pretrained language models (PLMs). Specifically, we use PLMs to generate semantic targets for each class, which are frozen and serve as supervision signals during training. Such targets fully consider the semantic correlation between all classes across tasks. Empirical studies show that our approach mitigates forgetting by alleviating representation drifting and facilitating knowledge transfer across tasks. The proposed method is simple to implement and can seamlessly be plugged into existing methods with negligible adjustments. Extensive experiments based on eleven mainstream baselines demonstrate the effectiveness and generalizability of our approach to various protocols. For example, under the class-incremental learning setting on ImageNet-100, our method significantly improves the Top-1 accuracy by 3.2% to 6.1% while reducing the forgetting rate by 2.6% to 13.1%.

The remarkable performance of recent stereo depth estimation models benefits from the successful use of convolutional neural networks to regress dense disparity. Akin to most tasks, this needs gathering training data that covers a number of heterogeneous scenes at deployment time. However, training samples are typically acquired continuously in practical applications, making the capability to learn new scenes continually even more crucial. For this purpose, we propose to perform continual stereo matching where a model is tasked to 1) continually learn new scenes, 2) overcome forgetting previously learned scenes, and 3) continuously predict disparities at inference. We achieve this goal by introducing a Reusable Architecture Growth (RAG) framework. RAG leverages task-specific neural unit search and architecture growth to learn new scenes continually in both supervised and self-supervised manners. It can maintain high reusability during growth by reusing previous units while obtaining good performance. Additionally, we present a Scene Router module to adaptively select the scene-specific architecture path at inference. Comprehensive experiments on numerous datasets show that our framework performs impressively in various weather, road, and city circumstances and surpasses the state-of-the-art methods in more challenging cross-dataset settings. Further experiments also demonstrate the adaptability of our method to unseen scenes, which can facilitate end-to-end stereo architecture learning and practical deployment.

Continual learning strives to acquire knowledge across sequential tasks without forgetting previously assimilated knowledge. Current state-of-the-art methodologies utilize dynamic architectural strategies to increase the network capacity for new tasks. However, these approaches often suffer from a rapid growth in the number of parameters. While some methods introduce an additional network compression stage to address this, they tend to construct complex and hyperparameter-sensitive systems. In this work, we introduce a novel solution to this challenge by proposing Memory-Boosted transformer (MoBoo), instead of conventional architecture expansion and compression. Specifically, we design a memory-augmented attention mechanism by establishing a memory bank where the “key” and “value” linear projections are stored. This memory integration prompts the model to leverage previously learned knowledge, thereby enhancing stability during training at a marginal cost. The memory bank is lightweight and can be easily managed with a straightforward queue. Moreover, to increase the model’s plasticity, we design a memory-attentive aggregator, which leverages the cross-attention mechanism to adaptively summarize the image representation from the encoder output that has historical knowledge involved. Extensive experiments on challenging benchmarks demonstrate the effectiveness of our method. For example, on ImageNet-100 under 10 tasks, our method outperforms the current state-of-the-art methods by +3.74% in average accuracy and using fewer parameters.

The sparse signals provided by external sources have been leveraged as guidance for improving dense disparity estimation. However, previous methods assume depth measurements to be randomly sampled, which restricts performance improvements due to under-sampling in challenging regions and over-sampling in well-estimated areas. In this work, we introduce an Active Disparity Sampling problem that selects suitable sampling patterns to enhance the utility of depth measurements given arbitrary sampling budgets. We achieve this goal by learning an Adjoint Network for a deep stereo model to measure its pixel-wise disparity quality. Specifically, we design a hard-soft prior supervision mechanism to provide hierarchical supervision for learning the quality map. A Bayesian optimized disparity sampling policy is further proposed to sample depth measurements with the guidance of the disparity quality. Extensive experiments on standard datasets with various stereo models demonstrate that our method is suited and effective in different stereo architectures and outperforms existing fixed and adaptive sampling methods under different sampling rates. Remarkably, the proposed method makes substantial improvements when generalized to heterogeneous unseen domains.

The deep stereo models have achieved state-of-the-art performance on driving scenes, but they suffer from severe performance degradation when tested on unseen scenes. Although recent work has narrowed this performance gap through continuous online adaptation, this setup requires continuous gradient updates at inference and can hardly deal with rapidly changing scenes. To address these challenges, we propose to perform continual stereo matching where a model is tasked to 1) continually learn new scenes, 2) overcome forgetting previously learned scenes, and 3) continuously predict disparities at deployment. We achieve this goal by introducing a Reusable Architecture Growth (RAG) framework. RAG leverages task-specific neural unit search and architecture growth for continual learning of new scenes. During growth, it can maintain high reusability by reusing previous neural units while achieving good performance. A module named Scene Router is further introduced to adaptively select the scene-specific architecture path at inference. Experimental results demonstrate that our method achieves compelling performance in various types of challenging driving scenes.

With the thriving of deep learning, CNN-based object detectors have made great progress in the past decade. However, the domain gap between training and testing data leads to a prominent performance degradation and thus hinders their application in the real world. To alleviate this problem, Knowledge Transfer Network (KTNet) is proposed as a new paradigm for domain adaption. Specifically, KT-Net is constructed on a base detector with intrinsic knowledge mining and relational knowledge constraints. First, we design a foreground/background classifier shared by source domain and target domain to extract the common attribute knowledge of objects in different scenarios. Second, we model the relational knowledge graph and explicitly constrain the consistency of category correlation under source domain, target domain, as well as cross-domain conditions. As a result, the detector is guided to learn object-related and domain-independent representation. Extensive experiments and visualizations confirm that transferring object-specific knowledge can yield notable performance gains. The proposed KTNet achieves state-of-the-art results on three cross-domain detection benchmarks.