SVTRv2: CTC Beats Encoder-Decoder Models in Scene Text Recognition

Connectionist temporal classification (CTC)-based scene text recognition (STR) methods, e.g., SVTR, are widely employed in OCR applications, mainly due to their simple architecture, which only contains a visual model and a CTC-aligned linear classifier, and therefore fast inference. However, they generally have worse accuracy than encoder-decoder-based methods (EDTRs), particularly in challenging scenarios. In this paper, we propose SVTRv2, a CTC model that beats leading EDTRs in both accuracy and inference speed. SVTRv2 introduces novel upgrades to handle text irregularity and utilize linguistic context, which endows it with the capability to deal with challenging and diverse text instances. First, a multi-size resizing (MSR) strategy is proposed to adaptively resize the text and maintain its readability. Meanwhile, we introduce a feature rearrangement module (FRM) to ensure that visual features accommodate the alignment requirement of CTC well, thus alleviating the alignment puzzle. Second, we propose a semantic guidance module (SGM). It integrates linguistic context into the visual model, allowing it to leverage language information for improved accuracy. Moreover, SGM can be omitted at the inference stage and would not increase the inference cost. We evaluate SVTRv2 in both standard and recent challenging benchmarks, where SVTRv2 is fairly compared with 24 mainstream STR models across multiple scenarios, including different types of text irregularity, languages, and long text. The results indicate that SVTRv2 surpasses all the EDTRs across the scenarios in terms of accuracy and speed. Code is available at https://github.com/Topdu/OpenOCR.

CWT-Net: Super-resolution of Histopathology Images Using a Cross-scale Wavelet-based Transformer

Super-resolution (SR) aims to enhance the quality of low-resolution images and has been widely applied in medical imaging. We found that the design principles of most existing methods are influenced by SR tasks based on real-world images and do not take into account the significance of the multi-level structure in pathological images, even if they can achieve respectable objective metric evaluations. In this work, we delve into two super-resolution working paradigms and propose a novel network called CWT-Net, which leverages cross-scale image wavelet transform and Transformer architecture. Our network consists of two branches: one dedicated to learning super-resolution and the other to high-frequency wavelet features. To generate high-resolution histopathology images, the Transformer module shares and fuses features from both branches at various stages. Notably, we have designed a specialized wavelet reconstruction module to effectively enhance the wavelet domain features and enable the network to operate in different modes, allowing for the introduction of additional relevant information from cross-scale images. Our experimental results demonstrate that our model significantly outperforms state-of-the-art methods in both performance and visualization evaluations and can substantially boost the accuracy of image diagnostic networks.

Out of Length Text Recognition with Sub-String Matching

Scene Text Recognition (STR) methods have demonstrated robust performance in word-level text recognition. However, in applications the text image is sometimes long due to detected with multiple horizontal words. It triggers the requirement to build long text recognition models from readily available short word-level text datasets, which has been less studied previously. In this paper, we term this the Out of Length (OOL) text recognition. We establish a new Long Text Benchmark (LTB) to facilitate the assessment of different methods in long text recognition. Meanwhile, we propose a novel method called OOL Text Recognition with sub-String Matching (SMTR). SMTR comprises two cross-attention-based modules: one encodes a sub-string containing multiple characters into next and previous queries, and the other employs the queries to attend to the image features, matching the sub-string and simultaneously recognizing its next and previous character. SMTR can recognize text of arbitrary length by iterating the process above. To avoid being trapped in recognizing highly similar sub-strings, we introduce a regularization training to compel SMTR to effectively discover subtle differences between similar sub-strings for precise matching. In addition, we propose an inference augmentation to alleviate confusion caused by identical sub-strings and improve the overall recognition efficiency. Extensive experimental results reveal that SMTR, even when trained exclusively on short text, outperforms existing methods in public short text benchmarks and exhibits a clear advantage on LTB. Code: \url{https://github.com/Topdu/OpenOCR}.

SparseDet: A Simple and Effective Framework for Fully Sparse LiDAR-based 3D Object Detection

LiDAR-based sparse 3D object detection plays a crucial role in autonomous driving applications due to its computational efficiency advantages. Existing methods either use the features of a single central voxel as an object proxy, or treat an aggregated cluster of foreground points as an object proxy. However, the former lacks the ability to aggregate contextual information, resulting in insufficient information expression in object proxies. The latter relies on multi-stage pipelines and auxiliary tasks, which reduce the inference speed. To maintain the efficiency of the sparse framework while fully aggregating contextual information, in this work, we propose SparseDet which designs sparse queries as object proxies. It introduces two key modules, the Local Multi-scale Feature Aggregation (LMFA) module and the Global Feature Aggregation (GFA) module, aiming to fully capture the contextual information, thereby enhancing the ability of the proxies to represent objects. Where LMFA sub-module achieves feature fusion across different scales for sparse key voxels %which does this through via coordinate transformations and using nearest neighbor relationships to capture object-level details and local contextual information, GFA sub-module uses self-attention mechanisms to selectively aggregate the features of the key voxels across the entire scene for capturing scene-level contextual information. Experiments on nuScenes and KITTI demonstrate the effectiveness of our method. Specifically, on nuScene, SparseDet surpasses the previous best sparse detector VoxelNeXt by 2.2\% mAP with 13.5 FPS, and on KITTI, it surpasses VoxelNeXt by 1.12\% $\mathbf{AP_{3D}}$ on hard level tasks with 17.9 FPS.

ContrastAlign: Toward Robust BEV Feature Alignment via Contrastive Learning for Multi-Modal 3D Object Detection

In the field of 3D object detection tasks, fusing heterogeneous features from LiDAR and camera sensors into a unified Bird's Eye View (BEV) representation is a widely adopted paradigm. However, existing methods are often compromised by imprecise sensor calibration, resulting in feature misalignment in LiDAR-camera BEV fusion. Moreover, such inaccuracies result in errors in depth estimation for the camera branch, ultimately causing misalignment between LiDAR and camera BEV features. In this work, we propose a novel ContrastAlign approach that utilizes contrastive learning to enhance the alignment of heterogeneous modalities, thereby improving the robustness of the fusion process. Specifically, our approach includes the L-Instance module, which directly outputs LiDAR instance features within LiDAR BEV features. Then, we introduce the C-Instance module, which predicts camera instance features through RoI (Region of Interest) pooling on the camera BEV features. We propose the InstanceFusion module, which utilizes contrastive learning to generate similar instance features across heterogeneous modalities. We then use graph matching to calculate the similarity between the neighboring camera instance features and the similarity instance features to complete the alignment of instance features. Our method achieves state-of-the-art performance, with an mAP of 70.3%, surpassing BEVFusion by 1.8% on the nuScenes validation set. Importantly, our method outperforms BEVFusion by 7.3% under conditions with misalignment noise.

GraphBEV: Towards Robust BEV Feature Alignment for Multi-Modal 3D Object Detection

Integrating LiDAR and camera information into Bird's-Eye-View (BEV) representation has emerged as a crucial aspect of 3D object detection in autonomous driving. However, existing methods are susceptible to the inaccurate calibration relationship between LiDAR and the camera sensor. Such inaccuracies result in errors in depth estimation for the camera branch, ultimately causing misalignment between LiDAR and camera BEV features. In this work, we propose a robust fusion framework called Graph BEV. Addressing errors caused by inaccurate point cloud projection, we introduce a Local Align module that employs neighbor-aware depth features via Graph matching. Additionally, we propose a Global Align module to rectify the misalignment between LiDAR and camera BEV features. Our Graph BEV framework achieves state-of-the-art performance, with an mAP of 70.1\%, surpassing BEV Fusion by 1.6\% on the nuscenes validation set. Importantly, our Graph BEV outperforms BEV Fusion by 8.3\% under conditions with misalignment noise.

Instruction-Guided Scene Text Recognition

Multi-modal models have shown appealing performance in visual tasks recently, as instruction-guided training has evoked the ability to understand fine-grained visual content. However, current methods cannot be trivially applied to scene text recognition (STR) due to the gap between natural and text images. In this paper, we introduce a novel paradigm that formulates STR as an instruction learning problem, and propose instruction-guided scene text recognition (IGTR) to achieve effective cross-modal learning. IGTR first generates rich and diverse instruction triplets of <condition,question,answer>, serving as guidance for nuanced text image understanding. Then, we devise an architecture with dedicated cross-modal feature fusion module, and multi-task answer head to effectively fuse the required instruction and image features for answering questions. Built upon these designs, IGTR facilitates accurate text recognition by comprehending character attributes. Experiments on English and Chinese benchmarks show that IGTR outperforms existing models by significant margins. Furthermore, by adjusting the instructions, IGTR enables various recognition schemes. These include zero-shot prediction, where the model is trained based on instructions not explicitly targeting character recognition, and the recognition of rarely appearing and morphologically similar characters, which were previous challenges for existing models.

Robustness-Aware 3D Object Detection in Autonomous Driving: A Review and Outlook

In the realm of modern autonomous driving, the perception system is indispensable for accurately assessing the state of the surrounding environment, thereby enabling informed prediction and planning. Key to this system is 3D object detection methods, that utilize vehicle-mounted sensors such as LiDAR and cameras to identify the size, category, and location of nearby objects. Despite the surge in 3D object detection methods aimed at enhancing detection precision and efficiency, there is a gap in the literature that systematically examines their resilience against environmental variations, noise, and weather changes. This study emphasizes the importance of robustness, alongside accuracy and latency, in evaluating perception systems under practical scenarios. Our work presents an extensive survey of camera-based, LiDAR-based, and multimodal 3D object detection algorithms, thoroughly evaluating their trade-off between accuracy, latency, and robustness, particularly on datasets like KITTI-C and nuScenes-C to ensure fair comparisons. Among these,multimodal 3D detection approaches exhibit superior robustness and a novel taxonomy is introduced to reorganize its literature for enhanced clarity. This survey aims to offer a more practical perspective on the current capabilities and constraints of 3D object detection algorithms in real-world applications, thus steering future research towards robustness-centric advancements

RoboFusion: Towards Robust Multi-Modal 3D obiect Detection via SAM

Multi-modal 3D object detectors are dedicated to exploring secure and reliable perception systems for autonomous driving (AD). However, while achieving state-of-the-art (SOTA) performance on clean benchmark datasets, they tend to overlook the complexity and harsh conditions of real-world environments. Meanwhile, with the emergence of visual foundation models (VFMs), opportunities and challenges are presented for improving the robustness and generalization of multi-modal 3D object detection in autonomous driving. Therefore, we propose RoboFusion, a robust framework that leverages VFMs like SAM to tackle out-of-distribution (OOD) noise scenarios. We first adapt the original SAM for autonomous driving scenarios named SAM-AD. To align SAM or SAM-AD with multi-modal methods, we then introduce AD-FPN for upsampling the image features extracted by SAM. We employ wavelet decomposition to denoise the depth-guided images for further noise reduction and weather interference. Lastly, we employ self-attention mechanisms to adaptively reweight the fused features, enhancing informative features while suppressing excess noise. In summary, our RoboFusion gradually reduces noise by leveraging the generalization and robustness of VFMs, thereby enhancing the resilience of multi-modal 3D object detection. Consequently, our RoboFusion achieves state-of-the-art performance in noisy scenarios, as demonstrated by the KITTI-C and nuScenes-C benchmarks.

VoxelNextFusion: A Simple, Unified and Effective Voxel Fusion Framework for Multi-Modal 3D Object Detection

LiDAR-camera fusion can enhance the performance of 3D object detection by utilizing complementary information between depth-aware LiDAR points and semantically rich images. Existing voxel-based methods face significant challenges when fusing sparse voxel features with dense image features in a one-to-one manner, resulting in the loss of the advantages of images, including semantic and continuity information, leading to sub-optimal detection performance, especially at long distances. In this paper, we present VoxelNextFusion, a multi-modal 3D object detection framework specifically designed for voxel-based methods, which effectively bridges the gap between sparse point clouds and dense images. In particular, we propose a voxel-based image pipeline that involves projecting point clouds onto images to obtain both pixel- and patch-level features. These features are then fused using a self-attention to obtain a combined representation. Moreover, to address the issue of background features present in patches, we propose a feature importance module that effectively distinguishes between foreground and background features, thus minimizing the impact of the background features. Extensive experiments were conducted on the widely used KITTI and nuScenes 3D object detection benchmarks. Notably, our VoxelNextFusion achieved around +3.20% in AP@0.7 improvement for car detection in hard level compared to the Voxel R-CNN baseline on the KITTI test dataset