Bo Dong

Selected Publications

1. ICCV’23

   Single Depth-Image 3D Reflection Symmetry and Shape Prediction

   Zhang, Zhaoxuan, Dong, Bo, Li, Tong, Heide, Felix, Peers, Pieter, Yin, Baocai, and Yang, Xin

   In IEEE International Conference on Computer Vision (ICCV) 2023

   Abs HTML PDF

   In this paper, we present Iterative Symmetry Completion Network (ISCNet), a single depth-image shape completion method that exploits reflective symmetry cues to obtain more detailed shapes. The efficacy of single depth-image shape completion methods is often sensitive to the accuracy of the symmetry plane. ISCNet therefore jointly estimates the symmetry plane and shape completion iteratively; more complete shapes contribute to more robust symmetry plane estimates and vice versa. Furthermore, our shape completion method operates in the image domain, enabling more efficient high-resolution, detailed geometry reconstruction. We perform the shape completion from pairs of viewpoints, reflected across the symmetry plane, predicted by a rein- forcement learning agent to improve robustness and to simultaneously explicitly leverage symmetry. We demonstrate the effectiveness of ISCNet on a variety of object categories on both synthetic and real-scanned datasets.

2. ICCV’23

   Multi-view Spectral Polarization Propagation for Video Glass Segmentation

   Qiao, Yu, Dong, Bo, Jin, Ao, Fu, Yu, Baek, Seung-Hwan, Heide, Felix, Peers, Pieter, Wei, Xiaopeng, and Yang, Xin

   In IEEE International Conference on Computer Vision (ICCV) 2023

   Abs HTML PDF

   In this paper, we present the first polarization-guided video glass segmentation propagation solution (PGVS-Net) that can robustly and coherently propagate glass segmentation in RGB-P video sequences. By leveraging spatio-temporal polarization and color information, our method combines multi-view polarization cues and thus can alleviate the view dependence of single-input intensity variations on glass objects. We demonstrate that our model can outperform glass segmentation on RGB-only video sequences as well as produce more robust segmentation than per-frame RGB-P single-image segmentation methods. To train and validate PGVS-Net, we introduce a novel RGB-P Glass Video dataset (PGV-117) containing 117 video sequences of scenes captured with different types of camera paths, lighting conditions, dynamics, and glass types.

3. SIGGRAPH’23

   In the Blink of an Eye: Event-based Emotion Recognition

   Zhang, Haiwei, Zhang, Jiqing, Dong, Bo, Peers, Pieter, Wu, Wenwei, Wei, Xiaopeng, Heide, Felix, and Yang, Xin

   In ACM SIGGRAPH 2023

   Abs HTML PDF

   We introduce a wearable single-eye emotion recognition device and a real-time approach to recognizing emotions from partial observations of an emotion that is robust to changes in lighting conditions. At the heart of our method is a bio-inspired event-based camera setup and a newly designed lightweight Spiking Eye Emotion Network (SEEN). Compared to conventional cameras, event-based cameras offer a higher dynamic range (up to 140 dB vs. 80 dB) and a higher temporal resolution (in the order of \mus vs. 10s of ms). Thus, the captured events can encode rich temporal cues under challenging lighting conditions. However, these events lack texture information, posing problems in decoding temporal information effectively. SEEN tackles this issue from two different perspectives. First, we adopt convolutional spiking layers to take advantage of the spiking neural network’s ability to decode pertinent temporal information. Second, SEEN learns to extract essential spatial cues from corresponding intensity frames and leverages a novel weight-copy scheme to convey spatial attention to the convolutional spiking layers during training and inference. We extensively validate and demonstrate the effectiveness of our approach on a specially collected Single-eye Event-based Emotion (SEE) dataset. To the best of our knowledge, our method is the first eye-based emotion recognition method that leverages event-based cameras and spiking neural networks.

4. NeurIPS’22

   Biologically Inspired Dynamic Thresholds for Spiking Neural Networks

   Ding, Jianchuan, Dong, Bo, Heide, Felix, Ding, Yufei, Zhou, Yunduo, Yin, Baocai, and Yang, Xin

   In Conference on Neural Information Processing System (NeurIPS) 2022

   Abs HTML PDF

   The dynamic membrane potential threshold, as one of the essential properties of a biological neuron, is a spontaneous regulation mechanism that maintains neuronal homeostasis, i.e., the constant overall spiking firing rate of a neuron. As such, the neuron firing rate is regulated by a dynamic spiking threshold, which has been extensively studied in biology. Existing work in the machine learning commu- nity does not employ bioplausible spiking threshold schemes. This work aims at bridging this gap by introducing a novel bioinspired dynamic energy-temporal threshold (BDETT) scheme for spiking neural networks (SNNs). The proposed BDETT scheme mirrors two bioplausible observations: a dynamic threshold has 1) a positive correlation with the average membrane potential and 2) a negative correlation with the preceding rate of depolarization. We validate the effectiveness of the proposed BDETT on robot obstacle avoidance and continuous control tasks under both normal conditions and various degraded conditions, including noisy observations, weights, and dynamic environments. We find that the BDETT out- performs existing static and heuristic threshold approaches by significant margins in all tested conditions, and we confirm that the proposed bioinspired dynamic threshold scheme offers bioplausible homeostasis to SNNs in complex real-world tasks.

5. ECCV’22

   All You Need is RAW: Defending Against Adversarial Attacks with Camera Image Pipelines

   Zhang, Yuxuan, Dong, Bo, and Heide, Felix

   In European Conference on Computer Vision (ECCV) 2022

   Abs HTML PDF

   Existing neural networks for computer vision tasks are vulnerable to adversarial attacks: adding imperceptible perturbations to the input images can fool these models to make a false prediction on an im- age that was correctly predicted without the perturbation. Various defense methods have proposed image-to-image mapping methods, either including these perturbations in the training process or removing them in a preprocessing step. In doing so, existing methods often ignore that the natural RGB images in today’s datasets are not captured but, in fact, recovered from RAW color filter array captures that are subject to various degradations in the capture. In this work, we exploit this RAW data distribution as an empirical prior for adversarial defense. Specifically, we proposed a model-agnostic adversarial defensive method, which maps the input RGB images to Bayer RAW space and back to output RGB using a learned camera image signal processing (ISP) pipeline to eliminate potential adversarial patterns. The proposed method acts as an off-the-shelf preprocessing module and, unlike model-specific adversarial training methods, does not require adversarial images to train. As a result, the method generalizes to unseen tasks without additional re-training. Experiments on large-scale datasets (e.g., ImageNet, COCO) for different vision tasks (e.g., classification, semantic segmentation, object detection) validate that the method significantly outperforms existing methods across task domains.

6. CVPR’22

   Glass Segmentation using Intensity and Spectral Polarization Cues

   Mei, Haiyang, Dong, Bo, Dong, Wen, Yang, Jiaxi, Baek, Seung-Hwan, Heide, Felix, Peers, Pieter, Wei, Xiaopeng, and Yang, Xin

   In Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2022

   Abs HTML PDF

   Transparent and semi-transparent materials pose significant challenges for existing scene understanding and segmentation algorithms due to their lack of RGB texture which impedes the extraction of meaningful features. In this work, we exploit that the light-matter interactions on glass materials provide unique intensity-polarization cues for each observed wavelength of light. We present a novel learning-based glass segmentation network that leverages both trichromatic (RGB) intensities as well as trichromatic linear polarization cues from a single photograph captured without making any assumption on the polarization state of the illumination. Our novel network architecture dynamically fuses and weights both the trichromatic color and polarization cues using a novel global-guidance and multi-scale self-attention module, and leverages global cross-domain contextual information to achieve robust segmentation. We train and extensively validate our segmentation method on a new large-scale RGB-Polarization dataset (RGBP-Glass), and demonstrate that our method outperforms state-of-the-art segmentation approaches by a significant margin.

7. CVPR’22

   Spiking Transformers for Event-based Single Object Tracking

   Zhang, Jiqing, Dong, Bo, Zhang, Haiwei, Ding, Jianchuan, Heide, Felix, Yin, Baocai, and Yang, Xin

   In Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2022

   Abs HTML PDF

   Event-based cameras bring a unique capability to tracking, being able to function in challenging real-world conditions as a direct result of their high temporal resolution and high dynamic range. These imagers capture events asynchronously that encode rich temporal and spatial information. However, effectively extracting this information from events remains an open challenge. In this work, we propose a spiking transformer network, STNet, for single object tracking. STNet dynamically extracts and fuses information from both temporal and spatial domains. In particular, the proposed architecture features a transformer module to provide global spatial information and a spiking neural network (SNN) module for extracting temporal cues. The spiking threshold of the SNN module is dynamically adjusted based on the statistical cues of the spatial information, which we find essential in providing robust SNN features. We fuse both feature branches dynamically with a novel cross-domain attention fusion algorithm. Extensive experiments on two event-based datasets, FE240hz and EED, validate that the proposed STNet outperforms existing state-of-the-art methods in both tracking accuracy and speed with a significant margin.

8. ICCV’21

   Object Tracking by Jointly Exploiting Frame and Event Domain

   Zhang, Jiqing, Yang, Xin, Fu, Yingkai, Wei, Xiaopeng, Yin, Baocai, and Dong, Bo

   In IEEE International Conference on Computer Vision (ICCV) 2021

   Abs HTML PDF

   Inspired by the complementarity between conventional frame-based and bio-inspired event-based cameras, we propose a multi-modal based approach to fuse visual cues from the frame- and event-domain to enhance the single object tracking performance, especially in degraded conditions (e.g., scenes with high dynamic range, low light, and fast-motion objects). The proposed approach can effectively and adaptively combine meaningful information from both domains. Our approach’s effectiveness is enforced by a novel designed cross-domain attention schemes, which can effectively enhance features based on self- and cross-domain attention schemes; The adaptiveness is guarded by a specially designed weighting scheme, which can adaptively balance the contribution of the two domains. To exploit event-based visual cues in single-object tracking, we construct a large-scale frame-event-based dataset, which we subsequently employ to train a novel frame-event fusion based model. Extensive experiments show that the proposed approach outperforms state-of-the-art frame-based tracking methods by at least 10.4% and 11.9i% in terms of representative success rate and precision rate, respectively. Besides, the effectiveness of each key component of our approach is evidenced by our thorough ablation study.

9. CVPR’21 Oral

   Depth-Aware Mirror Segmentation

   Mei, Haiyang, Dong, Bo, Dong, Wen, Peers, Pieter, Yang, Xin, Zhang, Qiang, and Wei, Xiaopeng

   In Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR) Oral 2021

   Abs HTML PDF

   We present a novel mirror segmentation method that leverages depth estimates from ToF-based cameras as an additional cue to disambiguate challenging cases where the contrast or relation in RGB colors between the mirror reflection and the surrounding scene is subtle. A key observation is that ToF depth estimates do not report the true depth of the mirror surface, but instead return the total length of the reflected light paths, thereby creating obvious depth discontinuities at the mirror boundaries. To exploit depth information in mirror segmentation, we first construct a large-scale RGB-D mirror segmentation dataset, which we subsequently employ to train a novel depth-aware mirror segmentation framework. Our mirror segmentation framework first locates the mirrors based on color and depth discontinuities and correlations. Next, our model further refines the mirror boundaries through contextual contrast taking into accountboth color and depth information. We extensively validate our depth-aware mirror segmentation method and demonstrate that our model outperforms state-of-the-art RGB and RGB-D based methods for mirror segmentation. Experimental results also show that depth is a powerful cue for mirror segmentation.

10. MobiSys’20

    EMO: Real-Time Emotion Recognition from Single-Eye Images for Resource-Constrained Eyewear Devices

    Wu, Hao, Feng, Jinghao, Tian, Xuejin, Sun, Edward, Liu, Yunxin, Dong, Bo, Xu, Fengyuan, and Zhong, Sheng

    In Proceedings of the 18th International Conference on Mobile Systems, Applications, and Services 2020

    Abs HTML PDF

    Real-time user emotion recognition is highly desirable for many applications on eyewear devices like smart glasses. However, it is very challenging to enable this capability on such devices due to tightly constrained image contents (only eye-area images available from the on-device eye-tracking camera) and computing resources of the embedded system. In this paper, we propose and develop a novel system called EMO that can recognize, on top of a resource-limited eyewear device, real-time emotions of the user who wears it. Unlike most existing solutions that require whole-face images to recognize emotions, EMO only utilizes the single-eye-area images captured by the eye-tracking camera of the eyewear. To achieve this, we design a customized deep-learning network to effectively extract emotional features from input single-eye images and a personalized feature classifier to accurately identify a user’s emotions. EMO also exploits the temporal locality and feature similarity among consecutive video frames of the eye-tracking camera to further reduce the recognition latency and system resource usage. We implement EMO on two hardware platforms and conduct comprehensive experimental evaluations. Our results demonstrate that EMO can continuously recognize seven-type emotions at 12.8 frames per second with a mean accuracy of 72.2%, significantly outperforming the state-of-the-art approach, and consume much fewer system resources.

11. SIGGRAPH’15

    Measurement-Based Editing of Diffuse Albedo with Consistent Interreflections

    Dong, Bo, Dong, Yue, Tong, Xin, and Peers, Pieter

    ACM Trans. Graph. 2015

    Abs PDF Video

    We present a novel measurement-based method for editing the albedo of diffuse surfaces with consistent interreflections in a photograph of a scene under natural lighting. Key to our method is a novel technique for decomposing a photograph of a scene in several images that encode how much of the observed radiance has interacted a specified number of times with the target diffuse surface. Altering the albedo of the target area is then simply a weighted sum of the decomposed components. We estimate the interaction components by recursively applying the light transport operator and formulate the resulting radiance in each recursion as a linear expression in terms of the relevant interaction components. Our method only requires a camera-projector pair, and the number of required measurements per scene is linearly proportional to the decomposition degree for a single target area. Our method does not impose restrictions on the lighting or on the material properties in the unaltered part of the scene. Furthermore, we extend our method to accommodate editing of the albedo in multiple target areas with consistent interreflections and we introduce a prediction model for reducing the acquisition cost. We demonstrate our method on a variety of scenes and validate the accuracy on both synthetic and real examples.

12. CVPR’14

    Scattering Parameters and Surface Normals from Homogeneous Translucent Materials using Photometric Stereo

    Dong, Bo, Moore, Kathleen D., Zhang, Weiyi, and Peers, Pieter

    In Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2014

    Abs HTML PDF Video

    This paper proposes a novel photometric stereo solution to jointly estimate surface normals and scattering parameters from a globally planar, homogeneous, translucent object. Similar to classic photometric stereo, our method only requires as few as three observations of the translucent object under directional lighting. Naively applying classic photometric stereo results in blurred photometric normals. We develop a novel blind deconvolution algorithm based on inverse rendering for recovering the sharp surface normals and the material properties. We demonstrate our method on a variety of translucent objects.