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Saturday 15 August

Computer Vision

A Multi-Annotator Study of Segmentation Noise and Uncertainty in Turbid Underwater Images

Galadrielle Humblot-Renaux, Vasiliki Ismiroglou and Malte Pedersen

Label uncertainty and annotator disagreement are common challenges in the field of computer vision, yet their study has largely been confined to the medical domain or to generic image-recognition datasets. Underwater datasets are particularly susceptible to these issues due to the need for domain expertise, degraded visibility conditions, and the inherent difficulty of establishing reliable ground truth in inaccessible environments. Despite these challenges, annotation uncertainty in underwater imagery remains largely unexplored. In this work, we present the first systematic multi-annotator study of segmentation in real underwater scenes, with over 100 participants, and across varying, controlled levels of turbidity. We show that underwater datasets face many of the same annotation challenges as other vision tasks, while turbidity introduces additional systematic errors. We further investigate the main factors driving label noise and explore ways to improve annotation quality in turbid underwater environments, including privileged information, individual effort and annotator ensembles. All (meta-) data collected in this study will be available on the project page: https://vap.aau.dk/tubcertainty
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Computer Vision

Decomposing Whole Slide Image Report Generation with Graph-Constrained Multiple Instance Learning Workflows

Antony Gitau, Martyna Borak, Bjørn-Jostein Singstad et al. (+4 more)

Whole-slide image (WSI) report generation requires recognizing spatially distributed pathological features and organizing them into a coherent diagnostic narrative. Although direct vision-to-text models can yield fluent reports, they obscure the contributions and failure modes of visual recognition, structured reasoning, and language generation. We propose a decomposed framework in which frozen Virchow2 tile embeddings are aggregated by multiple-instance learning (MIL) classification heads that answer organ-specific diagnostic questions. An organ-conditioned graph constrains the assembly of these answers into a structured reasoning chain, which a language model realizes as a pathology report. On the REG2026 held-out set of 2,028 slides, the proposed workflow achieved a chain-Jaccard score of 0.702. Performance fell to 0.420 without graph-based chain construction, 0.398 when the organ-specific graphs were replaced by a single organ-agnostic graph, and 0.371 when the language model constructed the chain freely from MIL predictions. Using the same report generator, graph-structured chains improved the report score from 0.330 to 0.495. On 350 external TCGA WSIs spanning the seven REG organs without fine-tuning, the expected organ graph was selected in 64.0% of cases and ranked among the top three in 86.6%. Providing the correct organ graph increased agreement with coarse TCGA primary-diagnosis labels from 61.8% to 92.6%, identifying organ routing as a main bottleneck under domain shift. Overall, organ-conditioned, graph-constrained chain assembly improves structured reasoning and report generation while enabling stage-specific error localization.
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All authors Antony Gitau, Martyna Borak, Bjørn-Jostein Singstad, Martin Paulson, Karl Thomas Hjelmervik, Ola Marius Lysaker, Veralia Gabriela Sanchez

Computer Vision

ENAF: A Multi-Exit Network with an Adaptive Patch Fusion for Large Image Super Resolution

Duong M. Nguyen, Tuan Nghia Nguyen and Xuan Truong Nguyen

To accelerate single image super-resolution (SISR) networks on large images (2K-8K), many recent approaches decompose an image into small patches and dynamically determine an execution path according to its difficulty (referred to as a dynamic network). To quantify the hardness of a patch, they mainly rely on a handcrafted assessment score, e.g., edge, which weakly associates a patch's texture with the computational complexity of a SISR model. To address the problem, we introduce ENAF - a dynamic network for SISR with an adaptive patch fusion. Built on top of a backbone, ENAF incorporates multiple early exits (EEs) to tackle the over-parameterized SISR model. More importantly, ENAF plugs a tiny network that estimates PSNR to associate data texture with a computation cost at an EE. Based on the scores, ENAF effectively assigns image patches to an exit, enhancing the quality-complexity trade-off. Extensive experiments on common datasets with popular SISR backbones demonstrate the effectiveness of ENAF in various settings. The source code is provided in https://github.com/nmduonggg/ENAF
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Computer Vision

Feed-Forward Hierarchical Gaussian Diffusion for Extreme CT Reconstruction

Yuezhe Yang and Li Cheng

Reconstructing three-dimensional computed tomography (CT) from severely constrained projections is highly ill-posed. Sparse angular sampling, restricted angular coverage, and low photon counts can occur individually or jointly, obscuring global anatomy and local tissue detail. Many learned CT reconstruction methods are tailored to a single dominant degradation. Existing diffusion and Gaussian approaches commonly recover global structure and local detail within a shared representation. We propose HiGDiff, a feed-forward hierarchical Gaussian diffusion framework that decomposes reconstruction both spatially and from structure to detail. Physics-conditioned anatomical anchors and a foreground capacity field allocate learnable Gaussian primitives to informative regions. A structure diffusion stage first recovers global attenuation geometry, and its learned representation conditions a detail diffusion stage for residual boundaries and tissue transitions. The resulting Gaussian banks are rendered as attenuation fields and further refined by a gradient-isolated residual module. Experiments on three distinct CT benchmark datasets demonstrate state-of-the-art reconstruction performance across isolated, paired, and joint degradation settings, including improvements of 5.81 dB in macro-average peak signal-to-noise ratio (PSNR) and 0.113 in structural similarity index measure (SSIM) on the Low Dose CT Image and Projection Data (LDCT-PD) collection. Code and experimental configurations are openly available at https://github.com/Bean-Young/HiGDiff.
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Computer Vision

TEA: Text Encoder Alignment for Robust Concept Erasure in Text-to-Image Models

Alireza Dehghanpour Farashah, Zhuan Shi, Negar Rostamzadeh et al. (+1 more)

Text-to-image diffusion models can be misused to generate harmful content through adversarial or paraphrased prompts that bypass built-in safety mechanisms. Existing concept erasure methods often suffer from limited robustness against adversarial prompts, degradation of benign generation quality, or reliance on inference-time interventions that introduce persistent computational overhead. To address these limitations, we formulate concept erasure as a domain alignment problem in the text representation space. We propose a lightweight Text Encoder Alignment framework (TEA) that fine-tunes only the text encoder while keeping the generative backbone fully frozen. Given concept–anchor prompt pairs, our method trains a discriminator to distinguish token-level representations of concept-containing prompts from those of safe anchor prompts, while updating the text encoder to make these representations indistinguishable. TEA introduces zero inference-time overhead and requires only a small number of fine-tuning steps, making it highly efficient to deploy at scale. Despite this efficiency, TEA achieves state-of-the-art erasure robustness against black-box and white-box adversarial attacks on Stable Diffusion v1.4, while preserving generation quality on benign prompts. Furthermore, TEA is model-agnostic and achieves the lowest attack success rate on Stable Diffusion v3.5, extending concept erasure to a Rectified Flow Transformer architecture with T5 conditioning where prior methods remain largely unexplored. Code is available at \href{https://github.com/alirezafarashah/TEA.git}{https://github.com/alirezafarashah/TEA.git}
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All authors Alireza Dehghanpour Farashah, Zhuan Shi, Negar Rostamzadeh, Golnoosh Farnadi

Computer Vision

SAGE-OR: Semi-supervised Adaptive Scene Graph Generation for Operating Rooms

Brandon Leblanc and Charalambos Poullis

Current surgical scene graph generation methods depend on dense multi-modal supervision and specialized hardware (synchronized RGB-D sensors, calibration rigs), making dataset construction expensive and restricting all existing benchmarks to simulated environments. We propose SAGE-OR, a feature-centric framework that replaces the traditional detect-then-reason paradigm with a decoupled representation-reasoning paradigm in which localization is derived from frozen foundation models, encoded implicitly in pre-computed features, and used without any localization supervision, while a lightweight graph transformer performs relational reasoning over cached features. We employ a semi-supervised formulation with general-purpose segmentation prompts to eliminate localization supervision while enabling unsupervised context augmentation through additional prompt-driven entities, such as hands, which are absent from annotations. General-purpose prompts are used to induce near-perfect recall, while precision is delegated to downstream attention-based reasoning, enabling simple adaptation to new entities via prompt-level modification. This design enables a lightweight 15M-parameter graph transformer that trains in 1.4 hours and runs relational inference at $\sim$1ms per frame with peak memory under 2GB, suitable for edge hardware used in the operating room; feature extraction runs offline as a separate caching stage (4.27s per frame). On the 4D-OR benchmark, the core model achieves 76% F1, matching the fully supervised 4D-OR baseline while eliminating all localization annotations, and unsupervised hand augmentation raises this to 86%, within 4 points of state-of-the-art (SOTA) methods requiring dense multi-modal supervision, providing a practical pathway for adaptation to new surgical settings without annotation other than relationship and class labels.
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Computer Vision

LightLoc++: Sensor-Robust Representation Learning for Efficient Outdoor LiDAR Localization

Wen Li, Shangshu Yu, Dunqiang Liu et al. (+6 more)

Scene coordinate regression (SCR) achieves strong performance in outdoor LiDAR localization, but it usually requires scene-specific training that can take days, limiting practical deployment. Recent works improve training efficiency by decoupling SCR into a scene-agnostic backbone and scene-specific prediction heads, where the backbone is pretrained on source datasets and frozen for new scenes, and only lightweight heads are optimized. However, we find that this paradigm heavily depends on the pretrained backbone. Existing decoupled methods can match conventional SCR methods fully optimized for each new scene when LiDAR configurations are similar to those used during backbone pretraining, but their accuracy drops noticeably on datasets collected with different LiDAR sensors. This suggests that efficient LiDAR localization requires representations that capture stable scene geometry across LiDAR configurations. Motivated by this observation, we propose LightLoc++, a sensor-robust and efficient outdoor LiDAR localization framework. To support sensor-robust representation learning, we introduce SULID, a synchronized urban multi-LiDAR dataset with representative 32-, 64-, and 128-beam rotating LiDARs, extensive cross-sensor overlap, and diverse urban scenes. Using SULID, we pretrain a sensor-robust backbone through cross-sensor consistency learning. LightLoc++ further preserves efficient new-scene learning by incorporating sample classification guidance and redundant sample downsampling, which reduce regression ambiguity and computational redundancy in large-scale outdoor scenes. Extensive experiments on multiple outdoor LiDAR localization benchmarks demonstrate that LightLoc++ achieves state-of-the-art localization performance with the lowest new-scene training cost among compared methods. Code and dataset will be made available at https://github.com/liw95/LightLoc-PlusPlus.
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All authors Wen Li, Shangshu Yu, Dunqiang Liu, Shaoyang Chen, Qiming Xia, Sheng Ao, Siqi Shen, Chenglu Wen, Cheng Wang

Computer Vision · Cross-listed from cs.LG

Shape Operator PCA: Curvature-Aware Projections for Geometric Machine Learning

Alexandre L. M. Levada

In this paper, we propose SHOPCA (Shape Operator-based Principal Component Analysis), a novel method for unsupervised metric learning and dimensionality reduction that incorporates differential geometric information into the covariance structure of classical PCA. SHOPCA regularizes the global covariance matrix using the mean shape operator, defined as the average of the absolute local shape operators estimated from the data manifold, steering principal components toward directions of both maximum variance and informative curvature. A single trace-normalized mixing coefficient $\alpha$ controls the regularization, recovering standard PCA at $\alpha = 0$ and a curvature-driven embedding as $\alpha \to \infty$. We further introduce a fully unsupervised criterion for selecting $\alpha$ based on the spectral eigengap of the regularized covariance matrix, maximizing the relative separation between the top-$d$ and remaining eigenvalues without using class labels. We evaluate SHOPCA on more than 50 real-world benchmark datasets, comparing it with PCA, ISOMAP, and UMAP using Adjusted Rand Index (ARI), Normalized Mutual Information (NMI), Fowlkes-Mallows index (FM), and V-measure. Results show that SHOPCA consistently improves clustering quality over PCA across a broad range of datasets and surpasses UMAP on small-sample settings, where iterative neighborhood-based manifold estimation can degrade. SHOPCA is computationally tractable, parameter-efficient, and applicable to domains requiring fully unsupervised, geometry-aware dimensionality reduction.
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Computer Vision

Image Denoising via the Adaptive Rank-Cluster Filter

Dmitry Pozdnyakov

A spatial-local image-denoising filter is proposed, and its performance metrics are evaluated in comparison with baseline filtering algorithms, including the median, adaptive median, Gaussian, bilateral, Wiener, anisotropic diffusion, and non-local means. The developed filter is based on aligning the intensity value of the central pixel in a 3x3 window with the statistical majority intensity of one of the two clusters formed by optimal Otsu's partitioning of a pixel set sorted by intensity and trimmed to seven elements. This is followed by a fuzzy fusion of the calculated value with the median intensity of the pixels within the window. The proposed filter demonstrates the highest robustness to variations in image noise levels, particularly when processing mixed noise consisting of salt-and-pepper impulse noise and additive Gaussian noise in various proportions
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Computer Vision

TinyDETR-Pose: Towards End-to-End Real-Time Single-Stage 6DoF Object Pose Estimation with Lightweight Transformers

Paul Julius Kühn, Duc Anh Nguyen, Saptarshi Neil Sinha et al. (+2 more)

Real-time 6DoF object pose estimation on resource-constrained hardware remains challenging, as accurate correspondence-based and refinement pipelines typically rely on non-differentiable PnP/RANSAC stages or costly iterative refinement, while recent foundation-model-based approaches incur inference costs that are prohibitive for edge deployment. We present TinyDETR-Pose, a lightweight, end-to-end, single-stage framework that jointly detects objects and regresses their full 6D pose in a single forward pass. Built on the efficient LW-DETR architecture, TinyDETR-Pose formulates detection and pose estimation as a set-prediction problem and attaches dedicated MLP heads for rotation, monocular depth, and projected object center regression to each decoder query, eliminating the need for PnP, NMS (non-maximum suppression), or iterative pose refinement. Object symmetries are handled through a ADD-S loss applied uniformly to all objects, without the need for object-specific loss schedules or separate geodesic/ADD supervision. In addition, predictions are assigned to ground truth using a symmetry-safe Hungarian matcher based on class and 2D spatial cues, yielding stable assignment under symmetry and depth ambiguity. On YCB-V, TinyDETR-Pose achieves a comparable ADD-S AUC of 85.9, while requiring up to 72.7% fewer parameters than other DETR-based single-stage pose-estimation approaches. Due to its compact design, TinyDETR-Pose runs in real time and achieves an inference latency of only ~4.5 ms per frame on an NVIDIA Jetson Nano using TensorRT, demonstrating that accurate end-to-end transformer-based 6D pose estimation can be made practical for edge deployment.
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All authors Paul Julius Kühn, Duc Anh Nguyen, Saptarshi Neil Sinha, Michael Weinmann, Arjan Kuijper

Computer Vision

FMReward: Aligning and Evaluating Audio-Driven 3D Facial Animation with Human Preferences

Sijing Wu, Yunhao Li, Zhilin Gao et al. (+4 more)

Audio-driven 3D facial animation is essential for advancing immersion and interactivity in virtual experiences. Although recent advances have shown promising capabilities, the training and evaluation of existing methods typically rely on ground-truth-based errors, which fall short of aligning with human preferences. To address this, we present a comprehensive framework that learns an automatic perceptual model from human preference data and leverages it to improve and evaluate the perceptual quality of audio-driven 3D facial animation. To begin with, we construct FMPair (Facial Motion Pairwise preference), the first human preference dataset for audio-driven 3D facial animation, which is built through a systematic annotation pipeline and comprises 65,574 annotated 3D facial motion pairs from 8,834 distinct in-the-wild audio clips. Based on the pairwise comparison dataset, we propose a Facial Motion Reward model, termed FMReward, which takes audio and 3D facial motion as inputs and predicts a perceptual quality score aligned with human preferences. Building upon FMReward, we further introduce Facial Motion reward Feedback Learning (FMFL), a direct fine-tuning algorithm that leverages a pretrained reward model to optimize diffusion-based audio-driven 3D facial animation models for better alignment with human preferences. Extensive experiments demonstrate the superiority of FMReward over other metrics in aligning with human preferences and the effectiveness of FMFL in improving the perceptual quality of audio-driven 3D facial animation.
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All authors Sijing Wu, Yunhao Li, Zhilin Gao, Huiyu Duan, Yucheng Zhu, Guangtao Zhai, Patrick Le Callet

Computer Vision

SOS! : A Streamlined Object-Conditional Transformer for Model-free Segmentation

Jiaqi Hu, Junwen Huang, Hongli Xu et al. (+4 more)

Foundation segmentation models excel at generating high-quality, class-agnostic masks, but they struggle to associate these proposals with specific target objects. This semantic gap severely hinders their deployment in downstream applications like robotic manipulation, which demand precise unseen objects segmentation. Existing approaches attempt to resolve this by relying on exhaustive 3D object model priors, inherently introducing prohibitive computational overhead and complex, multi-stage pipelines. To address these limitations, we propose SOS (Streamlined Object-conditional Transformer for model-free Segmentation). SOS completely eliminates the reliance on 3D models, requiring only a single reference image per target object. Central to our framework is a novel Object-Conditional Transformer that learns identity-anchored queries, unifying mask generation and target identification into a single feed-forward pass. This streamlined design drastically improves both structural and computational efficiency. Extensive evaluations across multiple benchmarks demonstrate that SOS establishes a new state-of-the-art for model-free unseen objects segmentation, delivering accurate and high-efficiency performance. The project page and code are available at https://sos-seg.github.io/.
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All authors Jiaqi Hu, Junwen Huang, Hongli Xu, Peter KT Yu, Nassir Navab, Benjamin Busam, Slobodan Ilic

Computer Vision · Cross-listed from cs.RO

VTInstructor: Visual Trajectory Prompting for Navigation Instruction Generation in Continuous Environments

Haolin Yang, Yuxing Long, Zihan Yang et al. (+1 more)

Navigation instruction generation from ego-centric RGB video in continuous environments is an important yet challenging task for human-robot interaction and scalable dataset construction. Prior instruction generators assume discrete viewpoint graphs with panoramic observations, where trajectory structure is explicit; in continuous environments, however, the agent receives only a dense RGB stream, making trajectory cues difficult to recover. We propose VTInstructor, the first VLN instruction generation framework for continuous environments. Our key idea is to convert implicit trajectory geometry into explicit visual trajectory prompts: EDTC condenses long RGB trajectories into navigation-critical keyframes, VTP overlays path, turn, and goal cues onto these anchors, VTMod injects the resulting trajectory signals into the visual encoder, and VT-GRPO further calibrates this spatial injection during training, all without requiring a navigation graph, pre-built map, or scene reconstruction. On the challenging R2R-CE and RxR-CE Val Unseen benchmarks, VTInstructor sets a new state of the art across all standard NLG metrics, surpassing the strongest baseline by +0.357 CIDEr and +0.109 CIDEr, respectively. Beyond automatic metrics, VTInstructor-generated instructions raise a frozen follower's success rate to 63.3%, a +14.7 percentage-point gain over the best competing instruction source, and provide consistent data augmentation gains of +3 SR points on downstream navigation tasks.
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All authors Haolin Yang, Yuxing Long, Zihan Yang, Hao Dong

Computer Vision · Cross-listed from cs.LG

Earth Observation Foundation Models for Terrestrial Ecohydrology: From Representation Learning to Process Inference

Yi Yu, Jian Peng, Yucheng Lin et al. (+2 more)

Earth observation foundation models (EOFMs) are emerging as reusable representation frameworks for data-driven retrieval, prediction and process modelling within ecohydrology, which integrate EO, meteorological forcing and process models to characterise coupled water, energy and carbon dynamics in vegetation and soil across scales. However, there is yet to be an ecohydrology-specific synthesis assessing the EOFM relevance, application evidence or evaluation requirements under uncertain reference data, scale mismatch and temporal dependence. Here, we develop a framework for determining when EOFMs support interpretable inference and identify a mismatch between EOFMs and ecohydrological requirements. Firstly, an observation-to-inference hierarchy shows that relevance depends on target-specific sensing pathways, spatial-temporal support and traceable uncertainty. Secondly, a meta-analysis shows that pretraining is dominated by reflected optical and active-microwave data, with sparse thermal coverage and no passive-microwave-emission sources. Thirdly, our synthesis of ecohydrological applications finds strongest support for spatial context, label-efficient adaptation and hybrid workflows. Evidence declines with inference depth; independent validation of fluxes, coupled dynamics, event trajectories, calibrated uncertainty and decision benefits remains sparse. Fourthly, our benchmark audit finds stronger coverage of fair adaptation and reproducibility in general EOFM suites, and of process targets, direct reference evidence and distribution shifts in ecohydrological evaluations; physical consistency and uncertainty remain weakly assessed. These findings motivate a process-aware framework aligning EOFM design and evaluation with the target variable, observation pathway and process timescale, supporting trustworthy monitoring and interpretation of coupled water, energy and carbon dynamics.
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All authors Yi Yu, Jian Peng, Yucheng Lin, Trevor F. Keenan, Thomas F. A. Bishop

Computer Vision

Geometry-Aware Spatio-Temporal Context Modeling for 4D Occupancy Forecasting

Sitao Chen, Zhuangwei Zhuang, Hui Luo et al. (+2 more)

4D occupancy forecasting models the spatio-temporal evolution of 3D scenes and is crucial for autonomous driving, especially for corner-case simulation. Existing methods often rely on discrete tokenization followed by autoregressive prediction, yet struggle with geometric distortion in static structures and inconsistent temporal coherence over the forecasting horizon. In this work, we propose a Geometry-Aware Spatio-Temporal context modeling method (GAST) for 4D occupancy forecasting, built upon progressive explicit-implicit generation and dual-path spatio-temporal modeling. Specifically, the generation module produces per-frame occupancy with high geometric fidelity and semantic plausibility through pose-driven warping, motion-aware feature modulation, and attention-based feature refinement. Subsequently, the spatio-temporal module enhances spatial consistency through global context aggregation while capturing scene evolution through temporal dynamics extraction. This unified design enables joint optimization of historical reconstruction and future forecasting in an end-to-end manner. Extensive experiments on Occ3D-nuScenes demonstrate the superiority of our method, outperforming the state-of-the-art by 7.67% in mIoU and 6.44% in IoU with a 2.84x speedup, while maintaining strong performance in long-term forecasting.
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All authors Sitao Chen, Zhuangwei Zhuang, Hui Luo, Qingyao Wu, Mingkui Tan

Computer Vision

Memory-Bounded Continuation of Greedy Sampling for Continual Anomaly Detection

Yoon Gyo Jung, Jaewoo Park, Kuan-Chuan Peng et al. (+2 more)

Greedy sampling produces a compact yet representative summary of normal data, which is essential for reliable anomaly detection that relies on measuring distance from normality. For continual anomaly detection where tasks arrive sequentially, extending greedy sampling is straightforward with unbounded memory through coreset accumulation. However, practical deployment requires fixed memory where the coreset size remains constant regardless of task count. We observe that continued greedy sampling, which iteratively applies greedy selection over previously greedy-sampled sets, effectively preserves representativeness under strict memory limits. Despite discarding data at each step to satisfy the memory constraint, coreset quality degrades gracefully rather than catastrophically, enabling reliable anomaly detection across the tasks. We provide theoretical justification by showing that resulting greedy-continued coreset approximates the oracle coreset within a bounded gap. We instantiate this principle in ContCore, which constructs a greedy-continued coreset through greedy expansion on new task features followed by greedy consolidation to enforce the memory budget. Unlike neural methods susceptible to catastrophic forgetting or naive coreset accumulation requiring unbounded memory, ContCore maintains fixed memory with theoretical guarantees. Empirically, ContCore achieves state-of-the-art performance across 11 task schedules on MVTecAD and VisA, and extends effectively to online continual AD settings where prior methods degrade significantly. Code: https://github.com/jungyg/ContCore
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All authors Yoon Gyo Jung, Jaewoo Park, Kuan-Chuan Peng, Seongdeok Bang, Octavia Camps

Computer Vision

On the Adversarial Robustness of Remote Sensing Semantic Change Detection

Weikang Yu, Yonghao Xu and Pedram Ghamisi

Semantic change detection (SCD) is a bitemporal dense-prediction task that jointly identifies changed regions and their semantic states before and after change. Unlike single-image segmentation or binary change detection, SCD couples two temporal inputs with timestamp-wise semantic prediction, change localization, and final semantic-change decoding, creating adversarial dependencies that are not captured by conventional robustness protocols. We present a task-specific evaluation framework that separates output-side attack objectives from input-side temporal perturbation access, enabling systematic analysis of component vulnerability and cross-temporal propagation. Experiments on four datasets and six representative CNN-, Transformer-, and state-space-based models evaluate component-level and temporal objectives, single- and dual-timestamp perturbations, multiple attack methods, and cross-architecture transferability. The results show that final semantic-change predictions can be severely corrupted even when binary change localization remains comparatively stable, and that perturbations or attack objectives associated with one timestamp can propagate to the prediction of the other. These behaviors occur across different architecture families, while direct cross-model transfer remains considerably weaker than white-box attacks. The study demonstrates that adversarial robustness in SCD depends on the complete bitemporal prediction pathway rather than on an individual branch or backbone family, and provides a structured protocol for evaluating robustness in coupled bitemporal image analysis. Code is available at https://github.com/EricYu97/AdvSCD.
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Computer Vision

Boundary-Aligned Contribution Routing for Robust Optical–SAR Object Detection

Haifa Zhang, Yijing Wang, Haoyu Wang et al. (+2 more)

Optical imagery provides rich appearance cues, whereas synthetic aperture radar (SAR) offers observations that are less sensitive to illumination and weather, making optical–SAR fusion attractive for remote-sensing object detection. However, the presence of multiple modalities does not guarantee beneficial fusion: imperfect spatial, temporal, and semantic correspondence can make an otherwise intact stream conditionally harmful and induce negative cross-modal transfer. We handle this issue through a model-specific task-utility perspective and learn task-conditioned contribution routing using detection supervision alone. The proposed fusion-boundary-aligned routing regulates each modality's contribution before the first learned cross-modal feature-value mixing operation. For architectures with frequent shallow interaction, a Feature Router performs cross-conditioned, group-addressable modulation near the input; for dual-backbone architectures, a Dual-Statistic Semantic Router predicts stream-level contribution weights from modality-specific average and maximum statistics before late semantic fusion. The routers require no explicit utility supervision, quality labels, reconstruction, or distillation. Experiments on M4-SAR and SpaceNet6-OTD cover nominal full inputs, controlled correspondence shifts, missing modalities, and four nonzero modality-corruption scenarios. Across the reported clean-training controls, routing improves full-input $\text{mAP}_{50}$ by 0.5–5.9 points. Relative to the corresponding modality-dropout baselines, it raises missing-modality $\text{mAP}_{50}$ by 7.6–41.6 points and reduces the negative-transfer rate by up to 12.7 percentage points. Spearman correlations between the learned routing weights and model-specific leave-one-modality-out utility range from 0.45 to 0.66, supporting the task-utility interpretation of the routing coefficients.
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All authors Haifa Zhang, Yijing Wang, Haoyu Wang, Zheng Li, Zhiqiang Zuo

Computer Vision

VGGT-Align: Bridging Local Reconstruction and Global Consistency for Long-Sequence 3D Reconstruction

Wei Zhang, Yihang Wu, Songhua Li et al. (+1 more)

Maintaining global geometric consistency is a central challenge in long-sequence 3D reconstruction, with scale drift being the most critical failure mode. In chunk-based inference pipelines, the scale degree of freedom in sequential Sim(3) alignment is left unconstrained, causing estimation errors to compound multiplicatively and distort global trajectories and point cloud geometry. We present a scale-consistency enhancement framework built on a key insight: in structured environments such as driving scenes, geometric quantities arising from environmental regularity remain inherently invariant across temporal segments, and discrepancies in their per-chunk measurements directly expose inter-chunk scale drift. We propose Scene Geometric Invariant Anchoring (SGIA), which extracts dominant geometric invariants from each chunk's predicted point cloud via coarse-to-fine robust estimation and exploits their cross-chunk consistency to establish scale constraints independent of point cloud registration, explicitly degenerating 7-DoF Sim(3) alignment into 6-DoF rigid-body transformation and severing chain-wise scale error propagation at its source. We further introduce a lightweight test-time adaptation strategy that fine-tunes only normalization-layer parameters via multi-objective self-supervision, progressively improving intra-chunk predictions along the sequence. Both modules are plug-and-play and require no offline retraining. Experiments on multiple long-sequence benchmarks demonstrate state-of-the-art performance, reducing absolute trajectory error by up to 32% with significant gains in trajectory stability and reconstruction quality. Code: https://github.com/WZ-CS/VGGT-Align
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All authors Wei Zhang, Yihang Wu, Songhua Li, Qi Wang

Computer Vision

UAV Video Deblurring via Motion-Aware Diffusion: A Path to Robust Target Detection

Zhiqiang Hu, Shouren Huang and Masatoshi Ishikawa

Unmanned Aerial Vehicles (UAVs) play a crucial role in various scenarios ranging from disaster response to traffic surveillance. However, aerial video footage often suffers from severe motion blur due to rapid flight maneuvers, vibrations, and camera panning, which can significantly degrade downstream tasks such as target detection. Our goal is to explore a computationally-efficient and effective video deblurring approach to enhance UAV target detection performance. To reduce computational cost, we first propose an Adaptive Latent Scale Selector that dynamically adjusts the latent space resolution according to the intensity of UAV motion, thus balancing detail preservation with inference efficiency. To ensure temporal consistency, we introduce a Multi-Frame Alignment and Learnable Gating module to warp and gate the preceding frames, allowing the model to fuse only relevant temporal information and suppress misaligned or uninformative features. Our method can effectively recover sharp details from the UAV video stream. Extensive experiments on real UAV benchmarks demonstrate that our method not only yields superior deblurring performance but also significantly boosts target detection accuracy, making it highly applicable to robust aerial vision tasks.
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Computer Vision

Robust structure from motion for aerial-ground images via detector-free feature matching and multi-view track refinement

San Jiang, Hui Wang, Xing Zhang et al. (+5 more)

Integrated 3D reconstruction from aerial-ground images is essential for generating high-precision urban 3D models, yet severe variations in viewpoint, scale, and rotation make robust feature matching highly challenging. To address these limitations, this study introduces a rotation-robust detector-free matching network coupled with multi-view track refinement for incremental Structure from Motion (ISfM). The proposed workflow features four key modules. First, rotation-aware feature extraction replaces traditional convolutions with an Omnidirectional State Space Block (OSS Block) that selectively scans across eight symmetrical directions to model long-range spatial dependencies and synthesize rotation-invariant feature maps. Second, multi-scale attention transformation utilizes quadtree attention to build a hierarchical token pyramid that isolates high-association token regions and discards irrelevant areas, capturing long-range context with linear computational complexity. Third, bi-directional feature matching executes a symmetric coarse-to-fine matching scheme where coarse alignment computes dual-direction Softmax confidence matrices under mutual nearest neighbor constraints, and fine alignment uses a multi-layer perceptron to regress sub-pixel coordinate offsets. Finally, multi-view track refinement employs an integrated indexing structure to evaluate localized spatial proximity and link disjoint sub-tracks to the highest-confidence anchor point, ensuring stable feature repeatability across the ISfM pipeline. By using real aerial-ground datasets, experimental results demonstrate that the proposed method improves AUC at 5{\deg} pose error by 93.9% compared with LoFTR and achieves the highest precision in ISfM reconstruction, with the improved accuracy ranging from 27.6% to 32.7%. The proposed method provides a reliable solution for integrated 3D reconstruction of aerial-ground images.
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All authors San Jiang, Hui Wang, Xing Zhang, Zhongwen Hu, Zhijun Wang, Ruisheng Wang, Wanshou Jiang, Qingquan Li

Computer Vision

CG-GLORE: A Conjugate Gradient-Based Global-Local Regularization Network for Sparse-View CT Reconstruction

Tran Xuan Hieu Le, Doanh C. Bui, Vu Trung Duong Le et al. (+5 more)

Sparse-view computed tomography (CT) reduces radiation dose by acquiring fewer projection views, but the resulting inverse problem is highly ill-posed and often produces severe streak artifacts. Existing deep reconstruction methods have achieved promising performance, yet many rely on first-order updates or large regularization networks, which can be less effective in ill-conditioned settings. We propose CG-GLORE, a compact deep unrolling framework inspired by second-order optimization for sparse-view CT reconstruction. Each unrolled stage uses a CG-solved linear system based on a structured Hessian surrogate: it retains the physics-induced curvature of the data-fidelity term while using an identity approximation for the learned regularization term. Thus, the method is second-order-inspired rather than an exact Newton method for the full learned objective. To model image priors, we design a Global-Local Regularization Network (GLORE), which combines convolutional local feature extraction with a Long-Range Dependency Representation module based on sparse patchification and Nyström attention. This design captures anatomical details and non-local dependencies while maintaining practical complexity. Experiments on AAPM and DeepLesion under multiple sparse-view and noise settings show that CG-GLORE achieves strong quantitative performance, stable convergence, lower noise power, and improved visual fidelity compared with representative reconstruction methods.
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All authors Tran Xuan Hieu Le, Doanh C. Bui, Vu Trung Duong Le, Hoai Luan Pham, Khang Nguyen, Mai K. Nguyen, Tu Bao Ho, Yasuhiko Nakashima

Computer Vision

UC-VLM: Consistency-Driven Learning for AI-Generated Image Detection with Vision-Language Large Models

Lei Tan, Shuwei Li, Mohan Kankanhalli et al. (+1 more)

Vision-Language Large Models (VLLMs) are promising for AI-generated image (AIGI) detection because they can produce both a prediction and a natural-language output. However, most existing VLLM-based detectors primarily fine-tune the language side while giving limited attention to low-level visual forensic cues. They also often depend on manually crafted prompts or human-annotated rationales, which limits scalability.We present UC-VLM, a unified multi-stage framework for AIGI detection that relies solely on binary supervision. UC-VLM first identifies effective instruction variants automatically. It then reuses the same binary label within a multi-stage training framework: (i) a visual discrimination objective that strengthens sensitivity to non-semantic forensic cues, and (ii) a label-conditioned generation objective that uses the binary label to supervise textual outputs. This design turns weak binary supervision into a shared supervision signal for both the visual pathway and the language output. Our key novelty is a unified multi-stage binary-supervised framework that consistently reuses the same authenticity labels for visual adaptation and label-conditioned text generation, while leveraging automatically optimized instructions to reduce prompt sensitivity without requiring human-written rationales or hand-crafted prompts.Experiments show that UC-VLM achieves 96.1% average accuracy on GenImage, exceeding the strongest prior result by 4.6%, and obtains 69.6% / 77.9% accuracy on Chameleon under ProGAN / SDV1.4 training, surpassing the best baseline by 11.2% / 15.3%, respectively.
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All authors Lei Tan, Shuwei Li, Mohan Kankanhalli, Robby T. Tan

Computer Vision · Cross-listed from eess.IV

Multi-Channel Feature Fusion and Monte Carlo Dropout for Uncertainty-Aware Diabetic Retinopathy Grading

Saksham Kumar

Automated five-stage diabetic retinopathy (DR) grading requires more than high accuracy alone. Medical-grade deployment calls for lesion-aware preprocessing, ordinal predictions, calibrated uncertainty, and explainability to support reliable diagnostic systems. We present a unified pipeline that addresses these requirements using a Ben-Graham-green-channel CLAHE feature representation, an EfficientNetV2-L ordinal regressor, and Monte Carlo dropout for uncertainty-driven referral. Grad-CAM provides visual explanations aligned with clinically relevant lesions. The proposed method achieves a QWK of 91.31% on the APTOS-2019 official test split, placing it within the near-perfect agreement band (>80%). At a 20% referral rate, 293 of 366 images are automatically graded with a QWK of 90.40%. More complex cases are referred for specialist assessment, demonstrating a practical trade-off among grading quality, automation, and patient safety in robust, reliable, and deployment-ready medical diagnostic systems.
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Computer Vision

PersonaDrive: Controllable Trajectory Prediction with Multi-Dimensional Driving Personas

Chan Lee, Kimin Yun, Yuseok Bae et al. (+2 more)

Although recent trajectory prediction and end-to-end autonomous driving methods improve robustness in urban environments, they still lack meaningful controllability. Existing benchmarks either provide no persona-conditioned annotations or support only a single urgency spectrum (i.e., emergency, normal, relaxed), which cannot distinguish personas that share the same urgency level but require different driving dynamics. To address this, we propose (i) the Persona-Conditioned Trajectory (PCT) dataset, which decomposes driving personas along two axes, Temporal Urgency and Ride Comfort, and combines three levels of each to form a grid of nine personas, each paired with natural-language descriptions and trajectories, and (ii) PersonaDrive, a framework that can learn driving personas from language and can generate persona-specific trajectories. PersonaDrive incorporates Persona-Conditioned Anchor Transform (PCAT), which hierarchically reshapes anchors along both axes, and Persona-Conditioned Multi-Modal Fusion (PCMF) for BEV-level persona fusion. Training is supervised by a Hierarchical Guide Loss enforcing axis-aligned physical orderings and an Axis-Decomposed Diversity Loss preventing diagonal mode collapse. Experimental results show that PersonaDrive consistently improves over the compared baselines across multi-dimensional scenarios. The code and PCT dataset are available at https://github.com/VisualAIKHU/PersonaDrive
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All authors Chan Lee, Kimin Yun, Yuseok Bae, Seong Tae Kim, Jung Uk Kim

Computer Vision

Self-Supervised Topologically Invariant Manifold Learning for Railway Image Quality Assessment

Tingqiong Cui, Yibu Yang, Yang Li et al. (+6 more)

Existing blind image quality assessment (BIQA) methods typically rely on synthetic distortions and subjective annotations, limiting generalization in real-world domains. To address this, we propose a fully self-supervised BIQA framework based on topologically invariant manifold learning under boundary constraints, which constructs a stable quality reference without manual labels. The framework generates progressive background dilution scales via repeated random cropping around each target; exploiting the monotonic degradation of target information density across these scales, it establishes a self-constrained quality manifold. A linearized spatial moment projection eliminates geometric distortions from random cropping; then a monotonicity divergence filter prunes background-sensitive evaluators, isolating an elite pool \(\mathcal{M}_{\text{elite}}\). A robust M-estimator with a principal component stabilizer fuses the metrics into an asymptotically efficient pseudo-ground truth \(q_{\text{PGT}}\), contracting variance toward the Cramér-Rao lower bound. Extensive evaluations demonstrate that the elite evaluator pool, distilled from 11 baseline metrics, secures superior zero-shot transferability across standard synthetic and wild benchmarks (CSIQ, LIVEC, LIVE-2). Concurrently, deployments on the CQU Railway Rolling Stock Surveillance Dataset (2,797 images) yield a manifold cosine similarity \(>0.999\) and a 100.0% survival rate under industrial extreme stresses, robustly validating its cross-paradigm decoupling and topological resilience.
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All authors Tingqiong Cui, Yibu Yang, Yang Li, Jiahao Fu, Xiaoliu Luo, Xu Wang, Mengzhu Wang, Siyuan Liu, Guanghui Huang

Computer Vision

DCA-MoE: Spatially Adaptive Cross-Layer Fusion and Density-Routed Experts for Crowd Counting

Hao Wang

Crowd counting must recover reliable local density under severe variations in perspective, head scale, occlusion, and background clutter. Although modern counting objectives provide strong spatial supervision, many multi-level decoders still use spatially invariant feature fusion and apply one receptive-field pattern to every location. We propose DCA-MoE, a framework that makes both decisions content dependent while retaining a frozen DINOv3 encoder. Spatially Adaptive Layer Fusion (SALF) predicts position-wise weights over four aligned backbone features, and Density-Routed Multi-Receptive-Field Experts (DR-MoE) assigns each location a soft mixture of local, mid-range, and large-context residual experts. An EBC-style head reconstructs block density, while DMCount supervision and an auxiliary routing-balance term train the decoder without updating the backbone. On the NWPU-Crowd validation split, the strongest paired configuration, based on DINOv3 ViT-L/16, obtains 31.7 MAE and 72.2 RMSE; the matched ViT-B/16 full model obtains a paired 32.2/75.9. Cross-dataset results remain mixed, and several component baselines currently report independently selected minima from a single seed. The evidence therefore supports the feasibility of spatially adaptive fusion and routing, while broader paired and multi-seed evaluation remains necessary for causal attribution.
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Computer Vision

TERRA: A Hierarchical Parallel Training and Memory Orchestration Framework for High-Resolution AI-based Earth Modeling

Ruohan Wu, Ziqi Zhu, Yang Zhao et al. (+6 more)

Training high-resolution AI-based Earth forecasting models is memory-intensive. Window-based Swin Transformers reduce the quadratic cost of global attention, but existing distributed systems such as AERIS primarily target pixel-level models and do not jointly support convolutional sampling modules and shifted-window execution. Long-lead rollout finetuning further increases activation memory. To address these challenges, we present TERRA, a hierarchical parallel training framework for high-resolution Earth forecasting. TERRA introduces Sampling-Aware Window, Sequence, and Tensor Parallelism (SAWSTP), which preserves spatially contiguous layouts for sampling modules and routes tokens into topology-aware ragged window layouts for Transformer execution. For long-lead finetuning, Memory Orchestration (MO) provides rollout-aware checkpoint planning and combines input buffering with budget-constrained activation offloading. Experiments on the $1/12^\circ$ GLORYS-based Wenhai workload show that TERRA supports models with up to 11.4B parameters on 96 H200 GPUs and sustains up to $39.76$ PFLOPS, achieving $65.0\%$ strong-scaling and $94.1\%$ weak-scaling efficiency. Compared with checkpoint-only policies, MO further reduces peak allocated GPU memory by $32.2\%$–$51.8\%$ with at most $20.0\%$ step-time overhead, which makes finetuning with smaller patch sizes and longer rollouts feasible for improved forecasting accuracy.
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All authors Ruohan Wu, Ziqi Zhu, Yang Zhao, Jiarui Tang, Yingzhe Cui, Junshi Chen, Zhao Jing, Jun Shi, Hong An

Computer Vision

Anchor-Regularized Adaptation for Generalizable AI-Generated Image Detection with DINOv3

Hyeongjun Choi, Juhun Lee, Davide Cozzolino et al. (+2 more)

Recent works in AI-generated image detection have shown that careful training data alignment can improve generalization by removing spurious correlations. However, linear probes on frozen DINOv3 representations achieve remarkably strong performance even when trained on misaligned datasets. Motivated by this result, we analyze the underlying rationale and the limits of this generalization. We find that frozen DINOv3 performs well because its decisions rely on features that faithfully represent the space of authentic images. At the same time, its final layer is less effective at capturing the subtle pixel-artifact cues that can be emphasized by aligned training data. We further observe that naively mixing aligned and misaligned data during adaptation improves sensitivity to such cues but at the cost of distorting the pre-trained representation, limiting generalization. To address this issue, we propose Anchor-Regularized Adaptation (ARA). We apply Low-Rank Adaptation to capture pixel-level artifacts while leveraging a frozen anchor classifier to avoid deviations from the original representation structure. This allows the model to exploit pixel-artifact cues without sacrificing generalization. Our method achieves state-of-the-art performance on nine diverse and challenging benchmarks, indicating that ARA enables complementary supervision from misaligned and aligned data for more effective detection.
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All authors Hyeongjun Choi, Juhun Lee, Davide Cozzolino, Luisa Verdoliva, Simon S. Woo

Computer Vision

Beyond Natural-Image Foundation Models: Benchmarking Satellite Pretraining for Ophthalmic Image Analysis

Lovre Antonio Budimir, Mingya Alexa Gong, Alyssa Foong Quinney et al. (+5 more)

Vision Foundation Models (VFMs) have emerged as a promising approach in medical imaging, producing broadly applicable systems that can be efficiently adapted across diverse imaging modalities, anatomical regions, and clinical tasks. However, VFMs require extensive training data, and their progress in medical image analysis is constrained by limited data availability, privacy concerns, and high development costs. To alleviate these constraints, medical VFMs (MedVFMs) are often built upon weights from generalist models pretrained on vast amounts of publicly available natural images, introducing a substantial distribution shift for medical task adaptation. To address this, we propose satellite imagery as a novel pretraining domain for MedVFM development and benchmarking, motivated by its closer visual alignment with medical data and its freedom from the privacy constraints that limit medical datasets. Across multiple ophthalmic imaging modalities, we compare DINOv3-SAT493m pretrained on 493 million satellite images against DINOv3-LVD1689m pretrained on 1.7 billion natural images, together with two medical specialist baselines: DINOv3-RETFound and MAE-RETFound. Our experiments show that satellite imagery is a stronger pretraining source than natural images for ophthalmic tasks, particularly on en face vascular-rich modalities. On several tasks, satellite pretraining matches or exceeds the medical specialists on high-resolution en face inputs, despite using no medical data.
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All authors Lovre Antonio Budimir, Mingya Alexa Gong, Alyssa Foong Quinney, Ivana Matovinović, Yukun Zhou, Pearse A. Keane, Sven Lončarić, Marinko V. Šarunić