Moderator: Laurens van der Maaten
Zachary Teed · Jia Deng
We introduce DROID-SLAM, a new deep learning based SLAM system. DROID-SLAM consists of recurrent iterative updates of camera pose and pixelwise depth through a Dense Bundle Adjustment layer. DROID-SLAM is accurate, achieving large improvements over prior work, and robust, suffering from substantially fewer catastrophic failures. Despite training on monocular video, it can leverage stereo or RGB-D video to achieve improved performance at test time. The URL to our open source code is https://github.com/princeton-vl/DROID-SLAM.
Zhenyu Huang · Guocheng Niu · Xiao Liu · Wenbiao Ding · Xinyan Xiao · Hua Wu · Xi Peng
Cross-modal matching, which aims to establish the correspondence between two different modalities, is fundamental to a variety of tasks such as cross-modal retrieval and vision-and-language understanding. Although a huge number of cross-modal matching methods have been proposed and achieved remarkable progress in recent years, almost all of these methods implicitly assume that the multimodal training data are correctly aligned. In practice, however, such an assumption is extremely expensive even impossible to satisfy. Based on this observation, we reveal and study a latent and challenging direction in cross-modal matching, named noisy correspondence, which could be regarded as a new paradigm of noisy labels. Different from the traditional noisy labels which mainly refer to the errors in category labels, our noisy correspondence refers to the mismatch paired samples. To solve this new problem, we propose a novel method for learning with noisy correspondence, named Noisy Correspondence Rectifier (NCR). In brief, NCR divides the data into clean and noisy partitions based on the memorization effect of neural networks and then rectifies the correspondence via an adaptive prediction model in a co-teaching manner. To verify the effectiveness of our method, we conduct experiments by using the image-text matching as a showcase. Extensive experiments on Flickr30K, MS-COCO, and Conceptual Captions verify the effectiveness of our method. The code could be accessed from www.pengxi.me .