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Dongyan Guo

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4 papers

2 author rows

AAAI Conference 2025 Conference Paper

DiffCalib: Reformulating Monocular Camera Calibration as Diffusion-Based Dense Incident Map Generation

Xiankang He
Guangkai Xu
Bo Zhang
Hao Chen
Ying Cui
Dongyan Guo

Monocular camera calibration is a key precondition for numerous 3D vision applications. Despite considerable advancements, existing methods often hinge on specific assumptions and struggle to generalize across varied real-world scenarios, and the performance is limited by insufficient training data. Recently, diffusion models trained on expansive datasets have been confirmed to maintain the capability to generate diverse, high-quality images. This success suggests a strong potential of the models to effectively understand varied visual information. In this work, we leverage the comprehensive visual knowledge embedded in pre-trained diffusion models to enable more robust and accurate monocular camera intrinsic estimation. Specifically, we reformulate the problem of estimating the four degrees of freedom (4-DoF) of camera intrinsic parameters as a dense incident map generation task. The map details the angle of incidence for each pixel in the RGB image, and its format aligns well with the paradigm of diffusion models. The camera intrinsic then can be derived from the incident map with a simple non-learning RANSAC algorithm during inference. Moreover, to further enhance the performance, we jointly estimate a depth map to provide extra geometric information for the incident map estimation. Extensive experiments on multiple testing datasets demonstrates that our model achieves state-of-the-art performance, gaining up to a 40% reduction in prediction errors. Besides, the experiments also show that the precise camera intrinsic and depth maps estimated by our pipeline can greatly benefit practical applications such as 3D reconstruction from a single in-the-wild image.

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AAAI Conference 2024 Conference Paper

PointAttN: You Only Need Attention for Point Cloud Completion

Jun Wang
Ying Cui
Dongyan Guo
Junxia Li
Qingshan Liu
Chunhua Shen

Point cloud completion referring to completing 3D shapes from partial 3D point clouds is a fundamental problem for 3D point cloud analysis tasks. Benefiting from the development of deep neural networks, researches on point cloud completion have made great progress in recent years. However, the explicit local region partition like kNNs involved in existing methods makes them sensitive to the density distribution of point clouds. Moreover, it serves limited receptive fields that prevent capturing features from long-range context information. To solve the problems, we leverage the cross-attention and self-attention mechanisms to design novel neural network for point cloud completion with implicit local region partition. Two basic units Geometric Details Perception (GDP) and Self-Feature Augment (SFA) are proposed to establish the structural relationships directly among points in a simple yet effective way via attention mechanism. Then based on GDP and SFA, we construct a new framework with popular encoder-decoder architecture for point cloud completion. The proposed framework, namely PointAttN, is simple, neat and effective, which can precisely capture the structural information of 3D shapes and predict complete point clouds with detailed geometry. Experimental results demonstrate that our PointAttN outperforms state-of-the-art methods on multiple challenging benchmarks. Code is available at: https://github.com/ohhhyeahhh/PointAttN

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ECAI Conference 2024 Conference Paper

TDCL: Dense Semantic Contrastive Learning for Vision-Language Tracking

Zheng Wang
Xiankang He
Kaiyang Lan
Ying Cui
Dongyan Guo

Traditional single-object tracking tasks are undergoing a new wave of transformation, especially with the emergence of the lack of semantics, which has led to the rise of the vision-language tracking task. However, previous approaches that combine the visual tracker with natural language descriptions tend to rely on a global representation of the text description, considering less about the fine-grained connections between the text description and the visual appearance. This paper proposes to utilize a bi-directional cross-attention module to capture the connections between language and visual features, which are further projected as dense semantic representations for alignment. In order to keep the semantic consistency between the search region and the coupled natural language and align the fused feature, this paper proposes a novel dense semantic contrastive learning loss to bridge the semantic gap between text and visual modalities and align them in a dense form. The proposed framework achieves promising results in tracking datasets that contain natural language descriptions, such as TNL2K, and OTB99-LANG. Our approach provides a novel solution for representing and aligning cross-modal information for the single object tracking task and may inspire further research in this field.

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ICRA Conference 2021 Conference Paper

Collaborative Visual Inertial SLAM for Multiple Smart Phones

Jialing Liu
Ruyu Liu
Kaiqi Chen 0001
Jianhua Zhang 0002
Dongyan Guo

The efficiency and accuracy of mapping are crucial in a large scene and long-term AR applications. Multi-agent cooperative SLAM is the precondition of multi-user AR interaction. The cooperation of multiple smart phones has the potential to improve efficiency and robustness of task completion and can complete tasks that a single agent cannot do. However, it depends on robust communication, efficient location detection, robust mapping, and efficient information sharing among agents. We propose a multi-intelligence collaborative monocular visual-inertial SLAM deployed on multiple ios mobile devices with a centralized architecture. Each agent can independently explore the environment, run a visual-inertial odometry module online, and then send all the measurement information to a central server with higher computing resources. The server manages all the information received, detects overlapping areas, merges and optimizes the map, and shares information with the agents when needed. We have verified the performance of the system in public datasets and real environments. The accuracy of mapping and fusion of the proposed system is comparable to VINS-Mono which requires higher computing resources.

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