Deep learning-based object detection and instance segmentation have achieved unprecedented progress. In this article, we propose complete-IoU (CIoU) loss and Cluster-NMS for enhancing geometric factors in both bounding-box regression and nonmaximum suppression (NMS), leading to notable gains of average precision (AP) and average recall (AR), without the sacrifice of inference efficiency. In particular, we consider three geometric factors, that is: 1) overlap area; 2) normalized central-point distance; and 3) aspect ratio, which are crucial for measuring bounding-box regression in object detection and instance segmentation. The three geometric factors are then incorporated into CIoU loss for better distinguishing difficult regression cases. The training of deep models using CIoU loss results in consistent AP and AR improvements in comparison to widely adopted $\ell _{n}$ -norm loss and IoU-based loss. Furthermore, we propose Cluster-NMS, where NMS during inference is done by implicitly clustering detected boxes and usually requires fewer iterations. Cluster-NMS is very efficient due to its pure GPU implementation, and geometric factors can be incorporated to improve both AP and AR. In the experiments, CIoU loss and Cluster-NMS have been applied to state-of-the-art instance segmentation (e.g., YOLACT and BlendMask-RT), and object detection (e.g., YOLO v3, SSD, and Faster R-CNN) models. Taking YOLACT on MS COCO as an example, our method achieves performance gains as +1.7 AP and +6.2 AR ₁₀₀ for object detection, and +1.1 AP and +3.5 AR ₁₀₀ for instance segmentation, with 27.1 FPS on one NVIDIA GTX 1080Ti GPU. All the source code and trained models are available at https://github.com/Zzh-tju/CIoU .

Drones, or general UAVs, equipped with cameras have been fast deployed with a wide range of applications, including agriculture, aerial photography, and surveillance. Consequently, automatic understanding of visual data collected from drones becomes highly demanding, bringing computer vision and drones more and more closely. To promote and track the developments of object detection and tracking algorithms, we have organized three challenge workshops in conjunction with ECCV 2018, ICCV 2019 and ECCV 2020, attracting more than 100 teams around the world. We provide a large-scale drone captured dataset, VisDrone, which includes four tracks, i.e., (1) image object detection, (2) video object detection, (3) single object tracking, and (4) multi-object tracking. In this paper, we first present a thorough review of object detection and tracking datasets and benchmarks, and discuss the challenges of collecting large-scale drone-based object detection and tracking datasets with fully manual annotations. After that, we describe our VisDrone dataset, which is captured over various urban/suburban areas of 14 different cities across China from North to South. Being the largest such dataset ever published, VisDrone enables extensive evaluation and investigation of visual analysis algorithms for the drone platform. We provide a detailed analysis of the current state of the field of large-scale object detection and tracking on drones, and conclude the challenge as well as propose future directions. We expect the benchmark largely boost the research and development in video analysis on drone platforms. All the datasets and experimental results can be downloaded from https://github.com/VisDrone/VisDrone-Dataset .

Drone-based vehicle detection aims at detecting vehicle locations and categories in aerial images. It empowers smart city traffic management and disaster relief. Researchers have made a great deal of effort in this area and achieved considerable progress. However, because of the paucity of data under extreme conditions, drone-based vehicle detection remains a challenge when objects are difficult to distinguish, particularly in low-light conditions. To fill this gap, we constructed a large-scale drone-based RGB-infrared vehicle detection dataset called DroneVehicle, which contains 28, 439 RGB-infrared image pairs covering urban roads, residential areas, parking lots, and other scenarios from day to night. Cross-modal images provide complementary information for vehicle detection, but also introduce redundant information. To handle this dilemma, we further propose an uncertainty-aware cross-modality vehicle detection (UA-CMDet) framework to improve detection performance in complex environments. Specifically, we design an uncertainty-aware module using cross-modal intersection over union and illumination estimation to quantify the uncertainty of each object. Our method takes uncertainty as a weight to boost model learning more effectively while reducing bias caused by high-uncertainty objects. For more robust cross-modal integration, we further perform illumination-aware non-maximum suppression during inference. Extensive experiments on our DroneVehicle and two challenging RGB-infrared object detection datasets demonstrated the advanced flexibility and superior performance of UA-CMDet over competing methods. Our code and DroneVehicle will be available: https://github.com/VisDrone/DroneVehicle .

Subspace clustering is an effective method that has been successfully applied to many applications. Here we propose a novel subspace clustering model for multi-view data using a latent representation termed Latent Multi-View Subspace Clustering (LMSC). Unlike most existing single-view subspace clustering methods, which directly reconstruct data points using original features, our method explores underlying complementary information from multiple views and simultaneously seeks the underlying latent representation. Using the complementarity of multiple views, the latent representation depicts data more comprehensively than each individual view, accordingly making subspace representation more accurate and robust. We proposed two LMSC formulations: linear LMSC (lLMSC), based on linear correlations between latent representation and each view, and generalized LMSC (gLMSC), based on neural networks to handle general relationships. The proposed method can be efficiently optimized under the Augmented Lagrangian Multiplier with Alternating Direction Minimization (ALM-ADM) framework. Extensive experiments on diverse datasets demonstrate the effectiveness of the proposed method.

Although multi-view learning has made significant progress over the past few decades, it is still challenging due to the difficulty in modeling complex correlations among different views, especially under the context of view missing. To address the challenge, we propose a novel framework termed Cross Partial Multi-View Networks (CPM-Nets), which aims to fully and flexibly take advantage of multiple partial views. We first provide a formal definition of completeness and versatility for multi-view representation and then theoretically prove the versatility of the learned latent representations. For completeness, the task of learning latent multi-view representation is specifically translated to a degradation process by mimicking data transmission, such that the optimal tradeoff between consistency and complementarity across different views can be achieved. Equipped with adversarial strategy, our model stably imputes missing views, encoding information from all views for each sample to be encoded into latent representation to further enhance the completeness. Furthermore, a nonparametric classification loss is introduced to produce structured representations and prevent overfitting, which endows the algorithm with promising generalization under view-missing cases. Extensive experimental results validate the effectiveness of our algorithm over existing state of the arts for classification, representation learning and data imputation.