LiDAR relocalization has attracted increasing attention as it can deliver accurate 6-DoF pose estimation in complex 3D environments. Recent learning-based regression methods offer efficient solutions by directly predicting global poses without the need for explicit map storage. However, these methods often struggle in challenging scenes due to their equal treatment of all predicted points, which is vulnerable to noise and outliers. In this paper, we propose LEADER, a robust LiDAR-based relocalization framework enhanced by a simple, yet effective geometric encoder. Specifically, a Robust Projection-based Geometric Encoder architecture which captures multi-scale geometric features is first presented to enhance descriptiveness in geometric representation. A Truncated Relative Reliability loss is then formulated to model point-wise ambiguity and mitigate the influence of unreliable predictions. Extensive experiments on the Oxford RobotCar and NCLT datasets demonstrate that LEADER outperforms state-of-the-art methods, achieving 24.1% and 73.9% relative reductions in position error over existing techniques, respectively. The source code is released on https://github.com/JiansW/LEADER.
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cs.CV
Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition · 2026 · 正式发表
Video temporal grounding (VTG) is a critical task in video understanding and a key capability for extending video large language models (Vid-LLMs) to broader applications. However, existing Vid-LLMs rely on uniform frame sampling to extract video information, resulting in a sparse distribution of key frames and the loss of crucial temporal cues. To address this limitation, we propose Grounded Visual Token Sampling (GroundVTS), a Vid-LLM architecture that focuses on the most informative temporal segments. GroundVTS employs a fine-grained, query-guided mechanism to filter visual tokens before feeding them into the LLM, thereby preserving essential spatio-temporal information and maintaining temporal coherence. Futhermore, we introduce a progressive optimization strategy that enables the LLM to effectively adapt to the non-uniform distribution of visual features, enhancing its ability to model temporal dependencies and achieve precise video localization. We comprehensively evaluate GroundVTS on three standard VTG benchmarks, where it outperforms existing methods, achieving a 7.7-point improvement in mIoU for moment retrieval and 12.0-point improvement in mAP for highlight detection. Code is available at the \href https://github.com/Florence365/GroundVTS GroundVTS code repository .
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cs.CV · cs.CL
Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition · 2026 · 正式发表
Establishing accurate correspondence between sparse line representations and rich textured imagery remains a formidable challenge. While diffusion features excel in semantic correspondence, they struggle to bridge the fundamental gap between abstract sketches and texture-rich photographs. We identify two critical disparities: spatial domain misalignment from structural abstraction differences, and frequency domain inconsistencies from texture density variations. Based on this analysis, we propose SFA-DIFT, a novel approach that learns spatial-frequency aligned diffusion features for robust cross-modal correspondence. Unlike previous methods focusing solely on spatial alignment, our key innovation performs dual-domain alignment by learning unified clean diffusion features while strategically aggregating low-frequency components in the frequency domain. This comprehensive spatial-frequency alignment enables equitable understanding between sparse abstractions and rich textures. To validate our approach, we extend the existing sketch-photo correspondence dataset (PSC6K) by generating multi-style textured imagery, creating MS-PSC6K, a comprehensive correspondence benchmark. Extensive experiments demonstrate that SFA-DIFT achieves state-of-the-art performance, delivering substantial improvements with an average of 0.87% on PCK@1, 2.20% on PCK@5, and 0.95% on PCK@10 over previous best methods, validating the effectiveness and robustness of our dual-domain alignment approach. Codes are available on https://github.com/Mofr77/SFA-DIFT.
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cs.CV
Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition · 2026 · 正式发表
Supervised Fine-Tuning (SFT) of the language backbone plays a pivotal role in adapting Vision-Language Models (VLMs) to specialized domains such as medical reasoning. However, existing SFT practices often rely on unfiltered textual datasets that contain redundant and low-quality samples, leading to substantial computational costs and suboptimal performance in complex clinical scenarios. Although existing methods attempt to alleviate this problem by selecting data based on sample difficulty, defined by knowledge and reasoning complexity, they overlook each sample's optimization utility reflected in its gradient. Interestingly, we find that gradient-based influence alone favors easy-to-optimize samples that cause large parameter shifts but lack deep reasoning chains, while difficulty alone selects noisy or overly complex textual cases that fail to guide stable optimization. Based on this observation, we propose a data selection strategy, Difficulty-Influence Quadrant (DIQ), which prioritizes samples in the "high-difficulty-high-influence" quadrant to balance complex clinical reasoning with substantial gradient influence. This enables efficient medical reasoning for VLMs with minimal fine-tuning data. Furthermore, Human and LLM-as-a-judge evaluations show that DIQ-selected subsets demonstrate higher data quality and generate clinical reasoning that is more aligned with expert practices in differential diagnosis, safety check, and evidence citation, as DIQ emphasizes samples that foster expert-like reasoning patterns. Extensive experiments on medical reasoning benchmarks demonstrate that DIQ enables VLM backbones fine-tuned on only 1% of selected data to match full-dataset performance, while using 10% consistently outperforms baseline methods, highlighting the superiority of principled data selection over brute-force scaling. The code is available at https://github.com/mihara-bot/DIQ.
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cs.CV · cs.CL
Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition · 2026 · 正式发表
The "think-with-image" paradigm has recently gained traction for complex visual reasoning tasks. However, existing approaches often struggle with inference inefficiency due to a fixed number of redundant reasoning steps, as well as training instability. This challenge primarily arises from the direct use of standard reinforcement learning policies, which do not incorporate improvements for the think-with-image multi-turn conversational scenario. To address this challenge, we propose VisionLeaf, an entropy-guided, tree-based reasoning framework. Unlike conventional GRPO, where all nodes expand from the root and each leaf has only a single branch, our method grows the reasoning tree from the leaf nodes and selects the most valuable nodes based on entropy for thorough rollout exploration. This leaf-first expansion naturally aligns with the hierarchical nature of multi-step image analysis. Without modifying any model or training data, our VisionLeaf achieves a 4.2% performance improvement on benchmarks such as VSTAR and HRBench, while reducing the number of inference rounds by nearly half--demonstrating significant gains in both accuracy and speed. All our code will be released.
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cs.CV
Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition · 2026 · 正式发表
Vision-and-Language Navigation (VLN) agents have made remarkable progress, but their robustness remains insufficiently studied. Existing adversarial evaluations often rely on perturbations that manifest as unusual textures rarely encountered in everyday indoor environments. Errors under such contrived conditions have limited practical relevance, as real-world agents are unlikely to encounter such artificial patterns. In this work, we focus on indoor lighting, an intrinsic yet largely overlooked scene attribute that strongly influences navigation. We propose Indoor Lighting-based Adversarial Attack (ILA), a black-box framework that manipulates global illumination to disrupt VLN agents. Motivated by typical household lighting usage, we design two attack modes: Static Indoor Lighting-based Attack (SILA), where the lighting intensity remains constant throughout an episode, and Dynamic Indoor Lighting-based Attack (DILA), where lights are switched on or off at critical moments to induce abrupt illumination changes. We evaluate ILA on two state-of-the-art VLN models across three navigation tasks. Results show that ILA significantly increases failure rates while reducing trajectory efficiency, revealing previously unrecognized vulnerabilities of VLN agents to realistic indoor lighting variations. Our code is available at https://github.com/LiChenyang0820/ILA4VLN.
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cs.CV
Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition · 2026 · 正式发表
Fine-grained anomaly detection is crucial in industrial and medical applications, but labeled anomalies are often scarce, making zero-shot detection challenging. While vision-language models like CLIP offer promising solutions, they struggle with foreground-background feature entanglement and coarse textual semantics. We propose FB-CLIP, a framework that enhances anomaly localization via multi-strategy textual representations and foreground-background separation. In the textual modality, it combines End-of-Text features, global-pooled representations, and attention-weighted token features for richer semantic cues. In the visual modality, multi-view soft separation along identity, semantic, and spatial dimensions, together with background suppression, reduces interference and improves discriminability. Semantic Consistency Regularization (SCR) aligns image features with normal and abnormal textual prototypes, suppressing uncertain matches and enlarging semantic gaps. Experiments show that FB-CLIP effectively distinguishes anomalies from complex backgrounds, achieving accurate fine-grained anomaly detection and localization under zero-shot settings. Code : \href https://github.com/Xi-Mu-Yu/FB-CLIP https://github.com/Xi-Mu-Yu/FB-CLIP .
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cs.CV · cs.CL
Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition · 2026 · 正式发表
Recent advancements in multimodal large reasoning models (MLRMs) have significantly improved performance in visual question answering. However, we observe that transition words (e.g., because, however, and wait) are closely associated with hallucinations and tend to exhibit high-entropy states. We argue that adequate contextual reasoning information can be directly extracted from the token probability distribution. Inspired by superposed representation theory, we propose leveraging latent superposed reasoning to integrate multiple candidate semantics and maintain latent reasoning trajectories. The hypothesis is that reliance on discrete textual inputs may drive the model toward sequential explicit reasoning, underutilizing dense contextual cues during high-entropy reasoning stages. Therefore, we propose constructing rich semantic representations from the token probability distributions to enhance in-context reasoning. With this goal, we present Latent Entropy-Aware Decoding (LEAD), an efficient plug-and-play decoding strategy that leverages semantic context to achieve reliable reasoning. The heart of our method lies in entropy-aware reasoning mode switching. The model employs probability-weighted continuous embeddings under high-entropy states and transitions back to discrete token embeddings as entropy decreases. Moreover, we propose a prior-guided visual anchor injection strategy that encourages the model to focus on visual information. Extensive experiments show that LEAD effectively mitigates hallucinations across various MLRMs on multiple benchmarks.
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cs.CV
Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition · 2026 · 正式发表