Stereoscopic saliency model using contrast and depth-guided-background prior

RGB-D salient object detection via convolutional capsule network based on feature extraction and integration

Fully convolutional neural network has shown advantages in the salient object detection by using the RGB or RGB-D images. However, there is an object-part dilemma since most fully convolutional neural network inevitably leads to an incomplete segmentation of the salient object. Although the capsule network is capable of recognizing a complete object, it is highly computational demand and time consuming. In this paper, we propose a novel convolutional capsule network based on feature extraction and integration for dealing with the object-part relationship, with less computation demand. First and foremost, RGB features are extracted and integrated by using the VGG backbone and feature extraction module. Then, these features, integrating with depth images by using feature depth module, are upsampled progressively to produce a feature map. In the next step, the feature map is fed into the feature-integrated convolutional capsule network to explore the object-part relationship. The proposed capsule network extracts object-part information by using convolutional capsules with locally-connected routing and predicts the final salient map based on the deconvolutional capsules. Experimental results on four RGB-D benchmark datasets show that our proposed method outperforms 23 state-of-the-art algorithms.

Uncertainty Inspired RGB-D Saliency Detection

We propose the first stochastic framework to employ uncertainty for RGB-D saliency detection by learning from the data labeling process. Existing RGB-D saliency detection models treat this task as a point estimation problem by predicting a single saliency map following a deterministic learning pipeline. We argue that, however, the deterministic solution is relatively ill-posed. Inspired by the saliency data labeling process, we propose a generative architecture to achieve probabilistic RGB-D saliency detection which utilizes a latent variable to model the labeling variations. Our framework includes two main models: 1) a generator model, which maps the input image and latent variable to stochastic saliency prediction, and 2) an inference model, which gradually updates the latent variable by sampling it from the true or approximate posterior distribution. The generator model is an encoder-decoder saliency network. To infer the latent variable, we introduce two different solutions: i) a Conditional Variational Auto-encoder with an extra encoder to approximate the posterior distribution of the latent variable; and ii) an Alternating Back-Propagation technique, which directly samples the latent variable from the true posterior distribution. Qualitative and quantitative results on six challenging RGB-D benchmark datasets show our approach's superior performance in learning the distribution of saliency maps. The source code is publicly available via our project page: https://github.com/JingZhang617/UCNet.

Bifurcated Backbone Strategy for RGB-D Salient Object Detection

Multi-level feature fusion is a fundamental topic in computer vision. It has been exploited to detect, segment and classify objects at various scales. When multi-level features meet multi-modal cues, the optimal feature aggregation and multi-modal learning strategy become a hot potato. In this paper, we leverage the inherent multi-modal and multi-level nature of RGB-D salient object detection to devise a novel Bifurcated Backbone Strategy Network (BBS-Net). Our architecture, is simple, efficient, and backbone-independent. In particular, first, we propose to regroup the multi-level features into teacher and student features using a bifurcated backbone strategy (BBS). Second, we introduce a depth-enhanced module (DEM) to excavate informative depth cues from the channel and spatial views. Then, RGB and depth modalities are fused in a complementary way. Extensive experiments show that BBS-Net significantly outperforms 18 state-of-the-art (SOTA) models on eight challenging datasets under five evaluation measures, demonstrating the superiority of our approach (~4% improvement in S-measure vs . the top-ranked model: DMRA). In addition, we provide a comprehensive analysis on the generalization ability of different RGB-D datasets and provide a powerful training set for future research. The complete algorithm, benchmark results, and post-processing toolbox are publicly available at https://github.com/zyjwuyan/BBS-Net.

Rethinking RGB-D Salient Object Detection: Models, Data Sets, and Large-Scale Benchmarks

The use of RGB-D information for salient object detection (SOD) has been extensively explored in recent years. However, relatively few efforts have been put toward modeling SOD in real-world human activity scenes with RGB-D. In this article, we fill the gap by making the following contributions to RGB-D SOD: 1) we carefully collect a new Salient Person (SIP) data set that consists of ~1 K high-resolution images that cover diverse real-world scenes from various viewpoints, poses, occlusions, illuminations, and background s; 2) we conduct a large-scale (and, so far, the most comprehensive) benchmark comparing contemporary methods, which has long been missing in the field and can serve as a baseline for future research, and we systematically summarize 32 popular models and evaluate 18 parts of 32 models on seven data sets containing a total of about 97k images; and 3) we propose a simple general architecture, called deep depth-depurator network (D³Net). It consists of a depth depurator unit (DDU) and a three-stream feature learning module (FLM), which performs low-quality depth map filtering and cross-modal feature learning, respectively. These components form a nested structure and are elaborately designed to be learned jointly. D³Net exceeds the performance of any prior contenders across all five metrics under consideration, thus serving as a strong model to advance research in this field. We also demonstrate that D³Net can be used to efficiently extract salient object masks from real scenes, enabling effective background-changing application with a speed of 65 frames/s on a single GPU. All the saliency maps, our new SIP data set, the D³Net model, and the evaluation tools are publicly available at https://github.com/DengPingFan/D3NetBenchmark.

Siamese Network for RGB-D Salient Object Detection and Beyond

Existing RGB-D salient object detection (SOD) models usually treat RGB and depth as independent information and design separate networks for feature extraction from each. Such schemes can easily be constrained by a limited amount of training data or over-reliance on an elaborately designed training process. Inspired by the observation that RGB and depth modalities actually present certain commonality in distinguishing salient objects, a novel joint learning and densely cooperative fusion (JL-DCF) architecture is designed to learn from both RGB and depth inputs through a shared network backbone, known as the Siamese architecture. In this paper, we propose two effective components: joint learning (JL), and densely cooperative fusion (DCF). The JL module provides robust saliency feature learning by exploiting cross-modal commonality via a Siamese network, while the DCF module is introduced for complementary feature discovery. Comprehensive experiments using 5 popular metrics show that the designed framework yields a robust RGB-D saliency detector with good generalization. As a result, JL-DCF significantly advances the SOTAs by an average of ~2.0% (F-measure) across 7 challenging datasets. In addition, we show that JL-DCF is readily applicable to other related multi-modal detection tasks, including RGB-T SOD and video SOD, achieving comparable or better performance.

Saliency Detection with Bilateral Absorbing Markov Chain Guided by Depth Information

The effectiveness of depth information in saliency detection has been fully proved. However, it is still worth exploring how to utilize the depth information more efficiently. Erroneous depth information may cause detection failure, while non-salient objects may be closer to the camera which also leads to erroneously emphasis on non-salient regions. Moreover, most of the existing RGB-D saliency detection models have poor robustness when the salient object touches the image boundaries. To mitigate these problems, we propose a multi-stage saliency detection model with the bilateral absorbing Markov chain guided by depth information. The proposed model progressively extracts the saliency cues with three level (low-, mid-, and high-level) stages. First, we generate low-level saliency cues by explicitly combining color and depth information. Then, we design a bilateral absorbing Markov chain to calculate mid-level saliency maps. In mid-level, to suppress boundary touch problem, we present the background seed screening mechanism (BSSM) for improving the construction of the two-layer sparse graph and better selecting background-based absorbing nodes. Furthermore, the cross-modal multi-graph learning model (CMLM) is designed to fully explore the intrinsic complementary relationship between color and depth information. Finally, to obtain a more highlighted and homogeneous saliency map in high-level, we structure a depth-guided optimization module which combines cellular automata and suppression-enhancement function pair. This optimization module refines the saliency map in color space and depth space, respectively. Comprehensive experiments on three challenging benchmark datasets demonstrate the effectiveness of our proposed method both qualitatively and quantitatively.

Bilateral Attention Network for RGB-D Salient Object Detection

RGB-D salient object detection (SOD) aims to segment the most attractive objects in a pair of cross-modal RGB and depth images. Currently, most existing RGB-D SOD methods focus on the foreground region when utilizing the depth images. However, the background also provides important information in traditional SOD methods for promising performance. To better explore salient information in both foreground and background regions, this paper proposes a Bilateral Attention Network (BiANet) for the RGB-D SOD task. Specifically, we introduce a Bilateral Attention Module (BAM) with a complementary attention mechanism: foreground-first (FF) attention and background-first (BF) attention. The FF attention focuses on the foreground region with a gradual refinement style, while the BF one recovers potentially useful salient information in the background region. Benefited from the proposed BAM module, our BiANet can capture more meaningful foreground and background cues, and shift more attention to refining the uncertain details between foreground and background regions. Additionally, we extend our BAM by leveraging the multi-scale techniques for better SOD performance. Extensive experiments on six benchmark datasets demonstrate that our BiANet outperforms other state-of-the-art RGB-D SOD methods in terms of objective metrics and subjective visual comparison. Our BiANet can run up to 80 fps on 224×224 RGB-D images, with an NVIDIA GeForce RTX 2080Ti GPU. Comprehensive ablation studies also validate our contributions.

RGB-D salient object detection: A survey

Salient object detection, which simulates human visual perception in locating the most significant object(s) in a scene, has been widely applied to various computer vision tasks. Now, the advent of depth sensors means that depth maps can easily be captured; this additional spatial information can boost the performance of salient object detection. Although various RGB-D based salient object detection models with promising performance have been proposed over the past several years, an in-depth understanding of these models and the challenges in this field remains lacking. In this paper, we provide a comprehensive survey of RGB-D based salient object detection models from various perspectives, and review related benchmark datasets in detail. Further, as light fields can also provide depth maps, we review salient object detection models and popular benchmark datasets from this domain too. Moreover, to investigate the ability of existing models to detect salient objects, we have carried out a comprehensive attribute-based evaluation of several representative RGB-D based salient object detection models. Finally, we discuss several challenges and open directions of RGB-D based salient object detection for future research. All collected models, benchmark datasets, datasets constructed for attribute-based evaluation, and related code are publicly available at https://github.com/taozh2017/RGBD-SODsurvey.

Data-Level Recombination and Lightweight Fusion Scheme for RGB-D Salient Object Detection

Existing RGB-D salient object detection methods treat depth information as an independent component to complement RGB and widely follow the bistream parallel network architecture. To selectively fuse the CNN features extracted from both RGB and depth as a final result, the state-of-the-art (SOTA) bistream networks usually consist of two independent subbranches: one subbranch is used for RGB saliency, and the other aims for depth saliency. However, depth saliency is persistently inferior to the RGB saliency because the RGB component is intrinsically more informative than the depth component. The bistream architecture easily biases its subsequent fusion procedure to the RGB subbranch, leading to a performance bottleneck. In this paper, we propose a novel data-level recombination strategy to fuse RGB with D (depth) before deep feature extraction, where we cyclically convert the original 4-dimensional RGB-D into DGB, RDB and RGD. Then, a newly lightweight designed triple-stream network is applied over these novel formulated data to achieve an optimal channel-wise complementary fusion status between the RGB and D, achieving a new SOTA performance.