DG-SLAM: Robust Dynamic Gaussian Splatting SLAM with Hybrid Pose Optimization

Achieving robust and precise pose estimation in dynamic scenes is a significant research challenge in Visual Simultaneous Localization and Mapping (SLAM). Recent advancements integrating Gaussian Splatting into SLAM systems have proven effective in creating high-quality renderings using explicit 3D Gaussian models, significantly improving environmental reconstruction fidelity. However, these approaches depend on a static environment assumption and face challenges in dynamic environments due to inconsistent observations of geometry and photometry. To address this problem, we propose DG-SLAM, the first robust dynamic visual SLAM system grounded in 3D Gaussians, which provides precise camera pose estimation alongside high-fidelity reconstructions. Specifically, we propose effective strategies, including motion mask generation, adaptive Gaussian point management, and a hybrid camera tracking algorithm to improve the accuracy and robustness of pose estimation. Extensive experiments demonstrate that DG-SLAM delivers state-of-the-art performance in camera pose estimation, map reconstruction, and novel-view synthesis in dynamic scenes, outperforming existing methods meanwhile preserving real-time rendering ability.

fMRI-3D: A Comprehensive Dataset for Enhancing fMRI-based 3D Reconstruction

Reconstructing 3D visuals from functional Magnetic Resonance Imaging (fMRI) data, introduced as Recon3DMind in our conference work, is of significant interest to both cognitive neuroscience and computer vision. To advance this task, we present the fMRI-3D dataset, which includes data from 15 participants and showcases a total of 4768 3D objects. The dataset comprises two components: fMRI-Shape, previously introduced and accessible at https://huggingface.co/datasets/Fudan-fMRI/fMRI-Shape, and fMRI-Objaverse, proposed in this paper and available at https://huggingface.co/datasets/Fudan-fMRI/fMRI-Objaverse. fMRI-Objaverse includes data from 5 subjects, 4 of whom are also part of the Core set in fMRI-Shape, with each subject viewing 3142 3D objects across 117 categories, all accompanied by text captions. This significantly enhances the diversity and potential applications of the dataset. Additionally, we propose MinD-3D, a novel framework designed to decode 3D visual information from fMRI signals. The framework first extracts and aggregates features from fMRI data using a neuro-fusion encoder, then employs a feature-bridge diffusion model to generate visual features, and finally reconstructs the 3D object using a generative transformer decoder. We establish new benchmarks by designing metrics at both semantic and structural levels to evaluate model performance. Furthermore, we assess our model's effectiveness in an Out-of-Distribution setting and analyze the attribution of the extracted features and the visual ROIs in fMRI signals. Our experiments demonstrate that MinD-3D not only reconstructs 3D objects with high semantic and spatial accuracy but also deepens our understanding of how human brain processes 3D visual information. Project page at: https://jianxgao.github.io/MinD-3D.

RoDyn-SLAM: Robust Dynamic Dense RGB-D SLAM with Neural Radiance Fields

Leveraging neural implicit representation to conduct dense RGB-D SLAM has been studied in recent years. However, this approach relies on a static environment assumption and does not work robustly within a dynamic environment due to the inconsistent observation of geometry and photometry. To address the challenges presented in dynamic environments, we propose a novel dynamic SLAM framework with neural radiance field. Specifically, we introduce a motion mask generation method to filter out the invalid sampled rays. This design effectively fuses the optical flow mask and semantic mask to enhance the precision of motion mask. To further improve the accuracy of pose estimation, we have designed a divide-and-conquer pose optimization algorithm that distinguishes between keyframes and non-keyframes. The proposed edge warp loss can effectively enhance the geometry constraints between adjacent frames. Extensive experiments are conducted on the two challenging datasets, and the results show that RoDyn-SLAM achieves state-of-the-art performance among recent neural RGB-D methods in both accuracy and robustness.

Automating the Diagnosis of Human Vision Disorders by Cross-modal 3D Generation

Understanding the hidden mechanisms behind human's visual perception is a fundamental quest in neuroscience, underpins a wide variety of critical applications, e.g. clinical diagnosis. To that end, investigating into the neural responses of human mind activities, such as functional Magnetic Resonance Imaging (fMRI), has been a significant research vehicle. However, analyzing fMRI signals is challenging, costly, daunting, and demanding for professional training. Despite remarkable progress in artificial intelligence (AI) based fMRI analysis, existing solutions are limited and far away from being clinically meaningful. In this context, we leap forward to demonstrate how AI can go beyond the current state of the art by decoding fMRI into visually plausible 3D visuals, enabling automatic clinical analysis of fMRI data, even without healthcare professionals. Innovationally, we reformulate the task of analyzing fMRI data as a conditional 3D scene reconstruction problem. We design a novel cross-modal 3D scene representation learning method, Brain3D, that takes as input the fMRI data of a subject who was presented with a 2D object image, and yields as output the corresponding 3D object visuals. Importantly, we show that in simulated scenarios our AI agent captures the distinct functionalities of each region of human vision system as well as their intricate interplay relationships, aligning remarkably with the established discoveries of neuroscience. Non-expert diagnosis indicate that Brain3D can successfully identify the disordered brain regions, such as V1, V2, V3, V4, and the medial temporal lobe (MTL) within the human visual system. We also present results in cross-modal 3D visual construction setting, showcasing the perception quality of our 3D scene generation.

Towards free-response paradigm: a theory on decision-making in spiking neural networks

The energy-efficient and brain-like information processing abilities of Spiking Neural Networks (SNNs) have attracted considerable attention, establishing them as a crucial element of brain-inspired computing. One prevalent challenge encountered by SNNs is the trade-off between inference speed and accuracy, which requires sufficient time to achieve the desired level of performance. Drawing inspiration from animal behavior experiments that demonstrate a connection between decision-making reaction times, task complexity, and confidence levels, this study seeks to apply these insights to SNNs. The focus is on understanding how SNNs make inferences, with a particular emphasis on untangling the interplay between signal and noise in decision-making processes. The proposed theoretical framework introduces a new optimization objective for SNN training, highlighting the importance of not only the accuracy of decisions but also the development of predictive confidence through learning from past experiences. Experimental results demonstrate that SNNs trained according to this framework exhibit improved confidence expression, leading to better decision-making outcomes. In addition, a strategy is introduced for efficient decision-making during inference, which allows SNNs to complete tasks more quickly and can use stopping times as indicators of decision confidence. By integrating neuroscience insights with neuromorphic computing, this study opens up new possibilities to explore the capabilities of SNNs and advance their application in complex decision-making scenarios.

NeuroPictor: Refining fMRI-to-Image Reconstruction via Multi-individual Pretraining and Multi-level Modulation

Recent fMRI-to-image approaches mainly focused on associating fMRI signals with specific conditions of pre-trained diffusion models. These approaches, while producing high-quality images, capture only a limited aspect of the complex information in fMRI signals and offer little detailed control over image creation. In contrast, this paper proposes to directly modulate the generation process of diffusion models using fMRI signals. Our approach, NeuroPictor, divides the fMRI-to-image process into three steps: i) fMRI calibrated-encoding, to tackle multi-individual pre-training for a shared latent space to minimize individual difference and enable the subsequent cross-subject training; ii) fMRI-to-image cross-subject pre-training, perceptually learning to guide diffusion model with high- and low-level conditions across different individuals; iii) fMRI-to-image single-subject refining, similar with step ii but focus on adapting to particular individual. NeuroPictor extracts high-level semantic features from fMRI signals that characterizing the visual stimulus and incrementally fine-tunes the diffusion model with a low-level manipulation network to provide precise structural instructions. By training with over 60,000 fMRI-image pairs from various individuals, our model enjoys superior fMRI-to-image decoding capacity, particularly in the within-subject setting, as evidenced in benchmark datasets. Project page: https://jingyanghuo.github.io/neuropictor/.

Decoding Continuous Character-based Language from Non-invasive Brain Recordings

Deciphering natural language from brain activity through non-invasive devices remains a formidable challenge. Previous non-invasive decoders either require multiple experiments with identical stimuli to pinpoint cortical regions and enhance signal-to-noise ratios in brain activity, or they are limited to discerning basic linguistic elements such as letters and words. We propose a novel approach to decoding continuous language from single-trial non-invasive fMRI recordings, in which a three-dimensional convolutional network augmented with information bottleneck is developed to automatically identify responsive voxels to stimuli, and a character-based decoder is designed for the semantic reconstruction of continuous language characterized by inherent character structures. The resulting decoder can produce intelligible textual sequences that faithfully capture the meaning of perceived speech both within and across subjects, while existing decoders exhibit significantly inferior performance in cross-subject contexts. The ability to decode continuous language from single trials across subjects demonstrates the promising applications of non-invasive language brain-computer interfaces in both healthcare and neuroscience.

OpenOcc: Open Vocabulary 3D Scene Reconstruction via Occupancy Representation

3D reconstruction has been widely used in autonomous navigation fields of mobile robotics. However, the former research can only provide the basic geometry structure without the capability of open-world scene understanding, limiting advanced tasks like human interaction and visual navigation. Moreover, traditional 3D scene understanding approaches rely on expensive labeled 3D datasets to train a model for a single task with supervision. Thus, geometric reconstruction with zero-shot scene understanding i.e. Open vocabulary 3D Understanding and Reconstruction, is crucial for the future development of mobile robots. In this paper, we propose OpenOcc, a novel framework unifying the 3D scene reconstruction and open vocabulary understanding with neural radiance fields. We model the geometric structure of the scene with occupancy representation and distill the pre-trained open vocabulary model into a 3D language field via volume rendering for zero-shot inference. Furthermore, a novel semantic-aware confidence propagation (SCP) method has been proposed to relieve the issue of language field representation degeneracy caused by inconsistent measurements in distilled features. Experimental results show that our approach achieves competitive performance in 3D scene understanding tasks, especially for small and long-tail objects.

Efficient Combinatorial Optimization via Heat Diffusion

Combinatorial optimization problems are widespread but inherently challenging due to their discrete nature.The primary limitation of existing methods is that they can only access a small fraction of the solution space at each iteration, resulting in limited efficiency for searching the global optimal. To overcome this challenge, diverging from conventional efforts of expanding the solver's search scope, we focus on enabling information to actively propagate to the solver through heat diffusion. By transforming the target function while preserving its optima, heat diffusion facilitates information flow from distant regions to the solver, providing more efficient navigation. Utilizing heat diffusion, we propose a framework for solving general combinatorial optimization problems. The proposed methodology demonstrates superior performance across a range of the most challenging and widely encountered combinatorial optimizations. Echoing recent advancements in harnessing thermodynamics for generative artificial intelligence, our study further reveals its significant potential in advancing combinatorial optimization.

Bayesian Intrinsic Groupwise Image Registration: Unsupervised Disentanglement of Anatomy and Geometry

This article presents a general Bayesian learning framework for multi-modal groupwise registration on medical images. The method builds on probabilistic modelling of the image generative process, where the underlying common anatomy and geometric variations of the observed images are explicitly disentangled as latent variables. Thus, groupwise registration is achieved through the solution to Bayesian inference. We propose a novel hierarchical variational auto-encoding architecture to realize the inference procedure of the latent variables, where the registration parameters can be calculated in a mathematically interpretable fashion. Remarkably, this new paradigm can learn groupwise registration in an unsupervised closed-loop self-reconstruction process, sparing the burden of designing complex intensity-based similarity measures. The computationally efficient disentangled architecture is also inherently scalable and flexible, allowing for groupwise registration on large-scale image groups with variable sizes. Furthermore, the inferred structural representations from disentanglement learning are capable of capturing the latent anatomy of the observations with visual semantics. Extensive experiments were conducted to validate the proposed framework, including four datasets from cardiac, brain and abdominal medical images. The results have demonstrated the superiority of our method over conventional similarity-based approaches in terms of accuracy, efficiency, scalability and interpretability.