A recent endeavor in one class of video anomaly detection is to leverage diffusion models and posit the task as a generation problem, where the diffusion model is trained to recover normal patterns exclusively, thus reporting abnormal patterns as outliers. Yet, existing attempts neglect the various formations of anomaly and predict normal samples at the feature level regardless that abnormal objects in surveillance videos are often relatively small. To address this, a novel patch-based diffusion model is proposed, specifically engineered to capture fine-grained local information. We further observe that anomalies in videos manifest themselves as deviations in both appearance and motion. Therefore, we argue that a comprehensive solution must consider both of these aspects simultaneously to achieve accurate frame prediction. To address this, we introduce innovative motion and appearance conditions that are seamlessly integrated into our patch diffusion model. These conditions are designed to guide the model in generating coherent and contextually appropriate predictions for both semantic content and motion relations. Experimental results on four challenging video anomaly detection datasets empirically substantiate the efficacy of our proposed approach, demonstrating that it consistently outperforms most existing methods in detecting abnormal behaviors.

Object-level data association and pose estimation play a fundamental role in semantic SLAM, which remain unsolved due to the lack of robust and accurate algorithms. In this work, we propose an ensemble data associate strategy for integrating the parametric and nonparametric statistic tests. By exploiting the nature of different statistics, our method can effectively aggregate the information of different measurements, and thus significantly improve the robustness and accuracy of data association. We then present an accurate object pose estimation framework, in which an outliers-robust centroid and scale estimation algorithm and an object pose initialization algorithm are developed to help improve the optimality of pose estimation results. Furthermore, we build a SLAM system that can generate semi-dense or lightweight object-oriented maps with a monocular camera. Extensive experiments are conducted on three publicly available datasets and a real scenario. The results show that our approach significantly outperforms state-of-the-art techniques in accuracy and robustness. The source code is available on https://github.com/yanmin-wu/EAO-SLAM.

Monocular depth estimation is of vital importance in understanding the 3D geometry of a scene. However, inferring the underlying depth is ill‐posed and inherently ambiguous. In this study, two improvements to existing approaches are proposed. One is about a clean improved network architecture, for which the authors extend Densely Connected Convolutional Network (DenseNet) to work as end‐to‐end fully convolutional multi‐scale dense networks. The dense upsampling blocks are integrated to improve the output resolution and selected skip connection is incorporated to connect the downsampling and the upsampling paths efficiently. The other is about edge‐preserving loss functions, encompassing the reverse Huber loss, depth gradient loss and feature edge loss, which is particularly suited for estimation of fine details and clear boundaries of objects. Experiments on the NYU‐Depth‐v2 dataset and KITTI dataset show that the proposed model is competitive to the state‐of‐the‐art methods, achieving 0.506 and 4.977 performance in terms of root mean squared error respectively.