Publications

Class Relevance Learning For Out-of-distribution Detection

Published in ICASSP 2025, 2025

Image classification plays a pivotal role across diverse robotic applications, yet challenges persist when models are deployed in real-world scenarios. These models often fail to detect out-of-distribution (OOD) samples, classes not included in their training. This makes OOD detection a significant challenge for safe and effective real-world use. While existing techniques, like max logits, aim to leverage logits for OOD identification, they often disregard the intricate interclass relationships that underlie effective detection. This paper presents an innovative class relevance learning (CRL) method tailored for OOD detection. Our method establishes a comprehensive class relevance learning framework, strategically harnessing interclass relationships within the OOD pipeline. This framework significantly augments OOD detection capabilities. Extensive experimentation on diverse datasets, encompassing generic image classification datasets (Near OOD and Far OOD datasets), demonstrates the superiority of our method over state-of-the-art alternatives for OOD detection. The code is available on GitHub at: CRL.

Recommended citation: Zhou, Liguang, et al. "Class Relevance Learning for Out-of-Distribution Detection." ICASSP 2025-2025 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP). IEEE, 2025. https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=10888174

SA-GS: Semantic-Aware Gaussian Splatting for Large Scene Reconstruction with Geometry Constrain

Published in Arxiv, 2024

With the emergence of Gaussian Splats, recent efforts have focused on large-scale scene geometric reconstruction. However, most of these efforts either concentrate on memory reduction or spatial space division, neglecting information in the semantic space. In this paper, we propose a novel method, named SA-GS, for fine-grained 3D geometry reconstruction using semantic-aware 3D Gaussian Splats. Specifically, we leverage prior information stored in large vision models such as SAM and DINO to generate semantic masks. We then introduce a geometric complexity measurement function to serve as soft regularization, guiding the shape of each Gaussian Splat within specific semantic areas. Additionally, we present a method that estimates the expected number of Gaussian Splats in different semantic areas, effectively providing a lower bound for Gaussian Splats in these areas. Subsequently, we extract the point cloud using a novel probability density-based extraction method, transforming Gaussian Splats into a point cloud crucial for downstream tasks. Our method also offers the potential for detailed semantic inquiries while maintaining high image-based reconstruction results. We provide extensive experiments on publicly available large-scale scene reconstruction datasets with highly accurate point clouds as ground truth and our novel dataset. Our results demonstrate the superiority of our method over current state-of-the-art Gaussian Splats reconstruction methods by a significant margin in terms of geometric-based measurement metrics. Code and additional results will soon be available on our project page.

Recommended citation: Xiong, Butian, et al. "SA-GS: Semantic-Aware Gaussian Splatting for Large Scene Reconstruction with Geometry Constrain." arXiv preprint arXiv:2405.16923 (2024). https://arxiv.org/pdf/2405.16923

GauU-Scene V2: Assessing the Reliability of Image-Based Metrics with Expansive Lidar Image Dataset Using 3DGS and NeRF

Published in arXiv, 2024

We introduce a novel, multimodal large-scale scene reconstruction benchmark that utilizes newly developed 3D representation approaches: Gaussian Splatting and Neural Radiance Fields (NeRF). Our expansive U-Scene dataset surpasses any previously existing real large-scale outdoor LiDAR and image dataset in both area and point count. GauU-Scene encompasses over 6.5 square kilometers and features a comprehensive RGB dataset coupled with LiDAR ground truth. Additionally, we are the first to propose a LiDAR and image alignment method for a drone-based dataset. Our assessment of GauU-Scene includes a detailed analysis across various novel viewpoints, employing image-based metrics such as SSIM, LPIPS, and PSNR on NeRF and Gaussian Splatting based methods. This analysis reveals contradictory results when applying geometric-based metrics like Chamfer distance. The experimental results on our multimodal dataset highlight the unreliability of current image-based metrics and reveal significant drawbacks in geometric reconstruction using the current Gaussian Splatting-based method, further illustrating the necessity of our dataset for assessing geometry reconstruction tasks. We also provide detailed supplementary information on data collection protocols and make the dataset available on the following anonymous project page

Recommended citation: Xiong, Butian, Nanjun Zheng, and Zhen Li."GauU-Scene V2 Expanse Lidar Image Dataset Shows Unreliable Geometric Reconstruction Using Gaussian Splatting and NeRF." arXiv preprint arXiv:2404.04880 (2024). https://arxiv.org/abs/2404.04880

GauU-Scene: A Scene Reconstruction Benchmark on Large Scale 3D Reconstruction Dataset Using Gaussian Splatting

Published in arXiv, 2024

We introduce a novel large-scale scene reconstruction benchmark using the newly developed 3D representation approach, Gaussian Splatting, on our expansive U-Scene dataset. U-Scene encompasses over one and a half square kilometres, featuring a comprehensive RGB dataset coupled with LiDAR ground truth. For data acquisition, we employed the Matrix 300 drone equipped with the high-accuracy Zenmuse L1 LiDAR, enabling precise rooftop data collection. This dataset, offers a unique blend of urban and academic environments for advanced spatial analysis convers more than 1.5 km2. Our evaluation of U-Scene with Gaussian Splatting includes a detailed analysis across various novel viewpoints. We also juxtapose these results with those derived from our accurate point cloud dataset, highlighting significant differences that underscore the importance of combine multi-modal information

Recommended citation: Xiong, Butian, et al. "A Scene Reconstruction Benchmark on Large Scale 3D Reconstruction Dataset Using Gaussian Splatting" arXiv preprint arXiv:2401.14032 (2024). https://arxiv.org/abs/2401.14032

MoCapDT: Temporal Guided Motion Capture Solving with Diffusion Transfer

Published in Journal of Electronics and Information Science Vol 8, Issue 3, 2023, 2023

We present an approach to reconstruct the joint location from noisy marker position in 4D data. The 4D data means the 3D location of different markers and time sequence. At the core of our approach, we apply a modified diffusion model architecture to transfer and denoise the raw marker information in the latent space under the guidance of other temporal data. Then we decode the latent space to not real skeleton 3D space. This enable us not only utilize the temporal guidance, we further utilize the iterative denoising technique to exploit the potential in the diffusion network. Furthermore, we demonstrate that our work outperform auto- encoder based deep learning model by large margin during our experiment on CMU-Synthesized data set and some real-world dataset provided by NC-SOFT.

Recommended citation: Xiong, Butian. "MoCapDT: Temporal Guided Motion Capture Solving with Diffusion Transfer." Journal of Electronics and Information Science 8.3 (2023): 75-82. https://www.clausiuspress.com/assets/default/article/2023/09/04/article_1693817848.pdf

Butian Xiong