Moving object segmentation (MOS) provides a reliable solution for detecting traffic participants and thus is of great interest in the autonomous driving field. Dynamic capture is always critical in the MOS problem. Previous methods capture motion features from the range images directly. Differently, we argue that the residual maps provide greater potential for motion information, while range images contain rich semantic guidance. Based on this intuition, we propose MF-MOS, a novel motion-focused model with a dual-branch structure for LiDAR moving object segmentation. Novelly, we decouple the spatial-temporal information by capturing the motion from residual maps and generating semantic features from range images, which are used as movable object guidance for the motion branch. Our straightforward yet distinctive solution can make the most use of both range images and residual maps, thus greatly improving the performance of the LiDAR-based MOS task. Remarkably, our MF-MOS achieved a leading IoU of 76.7% on the MOS leaderboard of the SemanticKITTI dataset upon submission, demonstrating the current state-of-the-art performance. The implementation of our MF-MOS has been released at https://github.com/SCNU-RISLAB/MF-MOS.

Class incremental learning (CIL) strives to emulate the human cognitive process of continuously learning and adapting to new tasks while retaining knowledge from past experiences. Despite significant advancements in this field, Transformer-based models have not fully leveraged the potential of attention mechanisms to balance the transferable knowledge between tokens and the associated information. This paper addresses this gap by using a dual variational knowledge attention (DVKA) mechanism within a Transformer-based encoder-decoder framework, tailored for CIL. DVKA mechanism aims to manage the information flow through the attention maps, ensuring a balanced representation of all classes, and mitigating the risk of information dilution as new classes are incrementally introduced. This method, leverage the information bottleneck and mutual information principle, selectively filters less relevant information, directing the model’s focus towards the most significant details for each class. The DVKA is designed with two distinct attentions: one focused on the feature level and the other on the token dimension. The feature-focused attention aims to purify the complex nature of various classification tasks, ensuring a comprehensive representation of both old and new tasks. The token-focused attention mechanism highlights specific tokens, facilitating local discrimination among disparate patches and fostering global coordination for a spectrum of task tokens. Our work is a major stride towards improving transformer models for class incremental learning, presenting a theoretical rationale and effective experimental results on three widely-used datasets.

Accurate 2D human pose estimation from images is vital for understanding human actions. However, deploying the latest models, e.g., regression-based models, on resource-limited devices remains challenging due to their high computational requirements. In this paper, we address the resolution dilemma in regression-based multiperson pose estimation, where low-resolution inputs cause performance degradation, while high-resolution inputs drastically increase computational costs. To achieve a lightweight regression approach, it becomes crucial to enhance the model's capabilities in low-resolution scenarios. We propose the staggered alignment self-distillation (SASD) method and a corresponding network architecture. Our approach involves training two twin networks with shared weights: a high-resolution network and a low-resolution network. The high-resolution network serves as a teacher, guiding the learning process of the low-resolution network through feature map staggered alignment. The knowledge from the high-resolution network enhances the performance of the low-resolution network during low-resolution inference. Additionally, we employ a normalized skeleton loss to capture the loss of bone-related structure during training. Through extensive experiments on the MS-COCO and CrowdPose datasets, we demonstrate the superiority of our proposed method over state-of-the-art, lightweight multiperson pose estimation techniques, achieving much better performance with lower computational costs. Furthermore, our method achieves comparable performance to recent advanced regression-based pose estimation methods but with only 1/4 of the computational cost.

Transformer with its underlying attention mechanism and the ability to capture long-range dependencies makes it become a natural choice for unordered point cloud data. However, local regions separated from the general sampling architecture corrupt the structural information of the instances, and the inherent relationships between adjacent local regions lack exploration. In other words, the transformer only focuses on the long-range dependence, while local structural information is still crucial in a transformer-based 3D point cloud model. To enable transformers to incorporate local structural information, we proposed a straightforward solution based on the natural structure of the point clouds to exploit the message passing between neighboring local regions, thus making their representations more comprehensive and discriminative. Concretely, the proposed module, named Local Context Propagation (LCP), is inserted between two transformer layers. It takes advantage of the overlapping points of adjacent local regions (statistically shown to be prevalent) as intermediaries, then re-weighs the features of these shared points from different local regions before passing them to the next layers. Finally, we design a flexible LCPFormer architecture equipped with the LCP module, which is applicable to several different tasks. Experimental results demonstrate that our proposed LCPFormer outperforms various transformer-based methods in benchmarks including 3D shape classification and dense prediction tasks such as 3D object detection and semantic segmentation. Code will be released for reproduction.