In recent years, Gaussian scene representations have achieved a series of promising results in 3D reconstruction. Compared to the previous 3DGS paradigm, the latest reconstruction approach 2DGS can achieve more accurate geometric representation using fewer Gaussian points. Accordingly, developing a panoramic segmentation algorithm suitable for 2DGS-reconstructed scenes is of significant importance. However, existing segmentation methods are primarily designed for 3DGS. They either fail to account for all objects in complex segmentation scenes or suffer from significant performance degradation when applied to 2D Gaussian scenes. Moreover, these methods consistently exhibit poor cross-dataset generalization. To address these issues, we propose IQGS, a segmentation framework applicable to 2DGS representations. Specifically, IQGS employs per-instance query and relaxed object-level supervision instead of strict pixel-level ID supervision, effectively mitigating the segmentation performance degradation that occurs when applied to 2DGS. At the same time, by learning features independent of specific object ID assignments, IQGS enhances its ability to generalize across diverse datasets. Our method achieves impressive panoramic segmentation results across multiple datasets, with an average mIoU of 66.6%, surpassing the state-of-the-art method Gaussian Grouping, which achieves 57.17%.

Panoramic images have been used in various applications because of their ability to provide comprehensive spatial information. However, the high cost of obtaining panoramic images and the complexity of annotation pose serious obstacles to enhancing the performance of panoramic tasks by restricting the size and quality of datasets. The use of annotated planar images to synthesize panoramic images proves to be an effective approach to narrow this gap. Prior synthesis methods introduced new distortions that lead to inconsistent object shapes before and after synthesis. Concurrently, since the angle of view of the planar image is much smaller than that of the panoramic image, there is an issue of missing spatial information in the synthesized panoramic image. To address these challenges, we introduce a novel approach for converting planar images into panoramic ones with reduced deformation. For annotating targets in synthetic images, we develop a new algorithm based on determining the minimum spherical area to calculate spherical bounding boxes that closely adhere to object boundaries, rather than relying on an estimated target center point which results in inevitable calculation errors as in previous studies. Subsequently, we propose a new method for effectively filling any blank areas in the synthetic panoramic images to compensate for the loss of precision caused by absence of spatial information. Additionally, with a focus on the distortion characteristics of panoramic images, an innovative data augmentation strategy is devised to further enhance the model's ability to recognize objects in different positions. These methods are conducive to a more effective utilization of the rich planar image datasets for panoramic object detection tasks. In the experiments, we generated two synthetic panoramic datasets based on COCO for training models. Experimental results demonstrate that training with these synthetic datasets significantly improves prediction accuracy, far surpasses the state-of-the-art methods, and helps to unleash the full potential of panoramic object detection models. Source code is available athttps://github.com/longlong-yu/official-panorama-coco.git.

Topology reasoning, which unifies perception and structured reasoning, plays a vital role in understanding intersections for autonomous driving. However, its performance heavily relies on the accuracy of lane detection, particularly at connected lane endpoints. Existing methods often suffer from lane endpoints deviation, leading to incorrect topology construction. To address this issue, we propose TopoPoint, a novel framework that explicitly detects lane endpoints and jointly reasons over endpoints and lanes for robust topology reasoning. During training, we independently initialize point and lane query, and proposed Point-Lane Merge Self-Attention to enhance global context sharing through incorporating geometric distances between points and lanes as an attention mask . We further design Point-Lane Graph Convolutional Network to enable mutual feature aggregation between point and lane query. During inference, we introduce Point-Lane Geometry Matching algorithm that computes distances between detected points and lanes to refine lane endpoints, effectively mitigating endpoint deviation. Extensive experiments on the OpenLane-V2 benchmark demonstrate that TopoPoint achieves state-of-the-art performance in topology reasoning (48.8 on OLS). Additionally, we propose DET$_p$ to evaluate endpoint detection, under which our method significantly outperforms existing approaches (52.6 v.s. 45.2 on DET$_p$). The code is released at https://github.com/Franpin/TopoPoint.

Oriented object detection has been developed rapidly in the past few years, where rotation equivariance is crucial for detectors to predict rotated boxes. It is expected that the prediction can maintain the corresponding rotation when objects rotate, but severe mutation in angular prediction is sometimes observed when objects rotate near the boundary angle, which is well-known boundary discontinuity problem. The problem has been long believed to be caused by the sharp loss increase at the angular boundary, and widely used joint-optim IoU-like methods deal with this problem by loss-smoothing. However, we experimentally find that even state-of-the-art IoU-like methods actually fail to solve the problem. On further analysis, we find that the key to solution lies in encoding mode of the smoothing function rather than in joint or independent optimization. In existing IoU-like methods, the model essentially attempts to fit the angular relationship between box and object, where the break point at angular boundary makes the predictions highly unstable. To deal with this issue, we propose a dual-optimization paradigm for angles. We decouple reversibility and joint-optim from single smoothing function into two distinct entities, which for the first time achieves the objectives of both correcting angular boundary and blending angle with other parameters. Extensive experiments on multiple datasets show that boundary discontinuity problem is well-addressed. More-over, typical IoU-like methods are improved to the same level without obvious performance gap. The code is available at https://github.com/hangxu-cv/cvpr24acm.

As an emerging task that integrates perception and reasoning, topology reasoning in autonomous driving scenes has recently garnered widespread attention. However, existing work often emphasizes "perception over reasoning": they typically boost reasoning performance by enhancing the perception of lanes and directly adopt vanilla MLPs to learn lane topology from lane query. This paradigm overlooks the geometric features intrinsic to the lanes themselves and are prone to being influenced by inherent endpoint shifts in lane detection. To tackle this issue, we propose an interpretable method for lane topology reasoning based on lane geometric distance and lane query similarity, named TopoLogic. This method mitigates the impact of endpoint shifts in geometric space, and introduces explicit similarity calculation in semantic space as a complement. By integrating results from both spaces, our methods provides more comprehensive information for lane topology. Ultimately, our approach significantly outperforms the existing state-of-the-art methods on the mainstream benchmark OpenLane-V2 (23.9 v.s. 10.9 in TOP$_{ll}$ and 44.1 v.s. 39.8 in OLS on subsetA). Additionally, our proposed geometric distance topology reasoning method can be incorporated into well-trained models without re-training, significantly enhancing the performance of lane topology reasoning. The code is released at https://github.com/Franpin/TopoLogic.

Spherical image object detection emerges in many applications from virtual reality to robotics and automatic driving, while many existing detectors use$l_{n}$-norms loss for regression of spherical bounding boxes. There are two intrinsic flaws for$l_{n}$-norms loss, i.e., independent optimization of parameters and inconsistency between metric (dominated by IoU) and loss. These problems are common in planar image detection but more significant in spherical image detection. Solution for these problems has been extensively discussed in planar image detection by using IoU loss and related variants. However, these solutions cannot be migrated to spherical image object detection due to the undifferentiable of the Spherical IoU (SphIoU). In this paper, we design a simple but effective regression loss based on Gaussian Label Distribution Learning (GLDL) for spherical image object detection. Besides, we observe that the scale of the object in a spherical image varies greatly. The huge differences among objects from different categories make the sample selection strategy based on SphIoU challenging. Therefore, we propose GLDL-ATSS as a better training sample selection strategy for objects of the spherical image, which can alleviate the drawback of IoU threshold-based strategy of scale-sample imbalance. Extensive results on various two datasets with different baseline detectors show the effectiveness of our approach.

Object detection on panoramic/spherical images has been developed rapidly in the past few years, where IoU-calculator is a fundamental part of various detector components, i.e. Label Assignment, Loss and NMS. Due to the low efficiency and non-differentiability of spherical Unbiased IoU, spherical approximate IoU methods have been proposed recently. We find that the key of these approximate methods is to map spherical boxes to planar boxes. However, there exists two problems in these methods: (1) they do not eliminate the influence of panoramic image distortion; (2) they break the original pose between bounding boxes. They lead to the low accuracy of these methods. Taking the two problems into account, we propose a new sphere-plane boxes transform, called Sph2Pob. Based on the Sph2Pob, we propose (1) an differentiable IoU, Sph2Pob-IoU, for spherical boxes with low time-cost and high accuracy and (2) an agent Loss, Sph2Pob-Loss, for spherical detection with high flexibility and expansibility. Extensive experiments verify the effectiveness and generality of our approaches, and Sph2Pob-IoU and Sph2Pob-Loss together boost the performance of spherical detectors. The source code is available at https://github.com/AntXinyuan/sph2pob.