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新论文 · v1arXiv:2611.11934

Scale-Consistent Monocular Fisheye Visual Odometry via Spherical Bundle Adjustment-Guided Unsupervised Depth Learning

Wanhui Luo, Hongbo Zhao, Yi Zhou, Qijun Chen, Yiming Nie, Rui Fan

原文摘要

The wide field of view of fisheye cameras and the simplicity of a monocular setup make monocular fisheye visual odometry (VO) attractive for robotic localization and mapping. Nevertheless, scale drift remains a major challenge over long trajectories. Unsupervised depth learning can help to mitigate this issue, but the pronounced distortion of fisheye images poses challenges for accurate depth estimation. This article presents S$^2$D-FVO, a monocular fisheye VO framework integrating spherical bundle adjustment (SBA)-guided unsupervised depth learning to improve scale consistency and depth estimation accuracy. Given that pixel reprojection residuals do not uniformly reflect angular deviations between viewing rays and that the first-order linearization of a scalar angular reprojection residual is insensitive to perturbations along one tangent direction, SBA employs tangent-space angular reprojection residuals derived from the spherical logarithmic map. These residuals retain sensitivity along both tangent directions, with their norms equal to the corresponding scalar angular residuals. A median depth-based scale regularization term is further integrated into SBA to constrain the reconstruction scale. Building on these formulations, SBA replaces the pose estimation network during unsupervised depth learning, providing more reliable relative poses for view synthesis. In turn, depth estimates from the well-trained depth estimation network provide scale references for SBA, improving scale consistency while allowing individual 3-D landmark positions to be refined. Extensive experiments conducted on multiple public datasets, as well as two newly collected large-scale datasets, demonstrate that the proposed framework outperforms representative existing approaches in both depth and trajectory estimation accuracy and is applicable to different camera models.

cs.CV · cs.RO

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.11421

GenRM-Flow: Generators are Process-aware Reward Models in Flow Matching

Siming Fu, Ruizhe He, Zheming Fu, Zeyue Xue, Fengkai Liu, Yufei Jiao, Jie Huang, Xiaoxiao Ma 等 10 位作者

原文摘要

Aligning video generation models with human preference depends critically on the quality of the reward model that scores generated videos. Current video reward models, however, source their reward signal from a model's representational rather than generative capacity: they either repurpose vision-language models as pixel-space scorers, or train auxiliary scoring heads on top of frozen generator features. The generator's actual ability to predict velocities, denoise latents, and produce videos plays no role in scoring its own generations. We argue that this overlooks a structural property of offline preference learning. Any preference optimization objective that approximates an offline preference dataset mathematically targets a strictly defined KL-constrained optimal policy. By isolating the reward term from this analytical solution and mapping the exact generation log-likelihood to its flow-matching surrogate, the empirical reward emerges deterministically as the relative difference in continuous-time velocity-prediction errors. We formalize this equivalence into GenRM-Flow, a framework where a preference-tuned video generator inherently operates as a process-aware reward model directly in the noisy latent space. We further show theoretically that distinct fine-tuning objectives, whether contrastive like DPO and IPO or non-contrastive like RWR, are alternative optimization pathways toward the same optimal policy, each inducing a reward readout from the generator's velocity-prediction errors. Furthermore, the extracted process reward seamlessly substitutes external VLM scorers in FlowAWR. Operating purely on native latent outputs without auxiliary reward networks, this generative reward drives measurable improvements in downstream video generation.

cs.CV

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.04235

TCINet: Tissue-Conditioned Adaptive Cross-Branch Interaction Network for Nuclei Instance Segmentation

Zhenghang Qian, Yang Liu, Yanzhi Yu, Peiwu Qin, Yibing Shen, Joongwon Chae, Lihui Luo, Zhongde Zhang 等 10 位作者

原文摘要

Separating touching nuclei requires local boundary detail, while cell type classification requires broader morphological context. These requirements also vary with the surrounding tissue environment. We propose the Tissue-Conditioned Adaptive Cross-Branch Interaction Network (TCINet), a single-stage model with Task-Specific Feature Adapters (TSFA) and Tissue-Conditioned Task-Aware Cross-Branch Interaction (TC-TACBI). TSFA produces branch-specific features at skip connections, and TC-TACBI controls three asymmetric paths among nucleus-presence (NP), horizontal-vertical (HV), and nucleus-type (NT) branches using predicted tissue probabilities. On PanNuke under standard three-fold cross-validation, TCINet achieves multiclass and binary panoptic quality scores of 0.519 and 0.692, respectively. Zero-shot tests on MoNuSeg yield a detection F1 score of 0.876. On PanNuke fold 0, adding TC-TACBI increases mPQ from 0.505 to 0.525. Code is available at https://github.com/celestial1321/TCINet.

cs.CV

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arXiv ↗PDF ↗