Surveillance
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Accurate Localization of Road Traffic Objects on the Road Plane Using Surveillance Camera Imagery
2026-08-06 10:07:53Jan Gawro\'nski, Witold CzajewskiAbstract
Accurate vehicle localization from monocular roadside surveillance cameras is important for intelligent transportation systems, traffic monitoring, and traffic conflict analysis. Standard approaches often estimate vehicle position from the center of the detector bounding box, which can produce large errors due to perspective distortion and parallax, especially for elevated cameras and large vehicles. This paper proposes a two-stage geometry-aware localization pipeline that estimates the projection of the vehicle footprint onto the road plane. First, vehicles are detected using a YOLO26-based detector. Second, a dedicated ResNet34 regression network predicts four corner points corresponding to the projected vehicle base. The final position is computed as the geometric center of the predicted quadrilateral. The method was trained on synthetic data generated in CARLA and fine-tuned on real-world roadside imagery from DAIR-V2X. Experiments on synthetic and real data showed clear improvements over naive bounding-box-center localization. On DAIR-V2X, the mean image-space localization error decreased from 31.77 px to 15.30 px, a 51.8% improvement, while the median error decreased to 4.29 px. Median ground-plane error for medium-range vehicles decreased from 5.52 m to 0.90 m, and for far-range vehicles from 8.67 m to 1.84 m. The results also show that contextual information surrounding the detector bounding box is important for geometric localization. The largest gains were observed for distant vehicles and geometrically challenging cases affected by strong perspective distortion and parallax.
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URL
https://arxiv.org/abs/2608.05840
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VQ-VAD: Vector-quantized Motion Representation Learning for Human-centric Video Anomaly Detection
2026-08-05 17:12:39Narges Rashvand, Ghazal Alinezhad Noghre, Shanle Yao, Gabriel Maldonado, Hamed TabkhiAbstract
Video Anomaly Detection (VAD) is inherently challenging due to the scarcity of anomalies and the large visual variability in surveillance footage, including changes in lighting, viewpoint, and human appearance. To mitigate visual noise and address privacy concerns, recent work has shifted to pose-based VAD, which focuses on motion dynamics rather than raw video data. However, existing pose-based approaches model human behavior in continuous latent spaces, limiting their ability to learn compact motion patterns necessary for robust behavior analysis. We address this by proposing Vector-Quantized Video Anomaly Detection (VQ-VAD), a novel human-centric anomaly detection framework that learns discrete motion representations. VQ-VAD adapts Vector-Quantized GAN (VQ-GAN), originally developed for image generation, to operate on keypoint sequences and construct a motion codebook of normal behavior. Trained exclusively on normal motion sequences, VQ-VAD detects anomalies by identifying high reconstruction errors when an observed motion sequence cannot be mapped to the learned codebook. We conduct extensive experiments across three complementary evaluation settings, including in-domain, cross-domain, and cross-dataset generalization, on four anomaly detection benchmarks. VQ-VAD achieves strong in-domain accuracy (81.83% on HR-SHT [15]), effective cross-domain transfer from CMU Panoptic [14] (76.69% on HR-SHT [15] without retraining), and competitive cross-dataset robustness. The code base for this work is available at this https URL.
Abstract (translated)
URL
https://arxiv.org/abs/2608.05069
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Privacy-Preserving Action Recognition: Taxonomy, Methods, and Privacy-Utility Trade-offs
2026-08-05 06:38:11Sareer Ul Amin, Muhammad Ayaz, Muhammad Munsif, Sanghyun SeoAbstract
Video surveillance in public safety, healthcare, and smart environments has made continuous human monitoring routine, raising real risks to personal identity and appearance. Privacy-preserving action recognition (PPAR) tackles the tension between the utility of video understanding and this exposure, and has drawn fast-growing interest. However, existing surveys remain narrow. Most catalog a single mechanism family, predate recent adversarial and hybrid work, or barely address evaluation. The result is a fragmented literature with incompatible threat models, inconsistent metrics, and no shared evaluation standard. We address this with a PRISMA-guided review of 32 peer-reviewed papers (2018--2026) drawn from 885 screened records. Methods sort into five families, namely adversarial learning (52%), skeleton-based (20%), cryptographic (12%), differential privacy (8%), and hybrid (8%), each with distinct privacy, utility, and efficiency trade-offs. Evaluation is the weak point. Only 10% of papers adopt a formal privacy definition, 65% rely on ad-hoc metrics, and 40% report an inconsistently defined cMAP. The trade-offs are steep. Skeleton methods reach about 85% accuracy but drop appearance, adversarial methods hold near 80% utility at moderate privacy (cMAP 0.9 to 0.3--0.5), and differential privacy often falls below 70%. Harder conditions stay under-tested, with fewer than 15% of papers checking cross-dataset generalization, under 10% testing adaptive attackers, and real-time edge deployment nearly untouched. We contribute a two-dimensional privacy-space taxonomy, a formal threat model, a comparative trade-off analysis, the PPAR Unified Evaluation Protocol, and a roadmap centered on benchmark standardization. With this grounding, we argue PPAR can move from prototypes toward deployment, with lessons extending to face recognition and medical imaging.
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https://arxiv.org/abs/2608.04501
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Adaptive Two-Stage Visual Token Pruning for Efficient Inference in Video-Language Models
2026-08-04 04:32:48Paribesh Regmi, Qingshuang Chen, Chi Zhang, Heba Aly, Yelin Kim, Hongda MaoAbstract
Vision-language models excel at image and video understanding but suffer from high inference latency due to the need to process thousands of tokens per image, limiting their deployment on resource-constrained edge devices and in real-time surveillance applications. This challenge is further amplified in video processing, where multiple frames must be analyzed simultaneously. Existing token reduction techniques are largely developed for single-image inputs and therefore fail to account for the temporal and inter-frame redundancies present in video sequences. In addition, these methods generally rely on a fixed, uniform pruning ratio applied across all inputs, which is suboptimal because the degree of redundancy can vary significantly between different videos, necessitating content-dependent pruning levels to preserve critical information. To address these limitations, we propose a two-stage adaptive token pruning strategy specifically designed for video processing. In the first stage, we prune out the redundant frames, and in the second stage, token-level pruning is applied within the retained frames. Crucially, the pruning ratio in the second stage is determined adaptively based on the content of each video. This is achieved by analyzing the correlation structure of token embeddings to quantify redundancy, which is used to determine the ratio. Importantly, our method is entirely post-hoc and requires no additional training or fine-tuning, while achieving strong empirical gains; notably, it improves accuracy by +7\% on a video captioning benchmark at 10\% token retention, while reducing computation TFLOPs by 95\%.
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URL
https://arxiv.org/abs/2608.03112
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Same violence, different answer: how AI responds to coercive control against women across languages
2026-08-02 18:37:44Lyu Chang, S\`onia Estrad\'e Albiol, N\'uria Verg\'es BoschAbstract
Women experiencing coercive control, a form of intimate partner violence increasingly conducted through digital devices, are turning to conversational AI for help, and the protection they receive should not depend on the language they write in. We analyse how AI responds to coercive control against women across languages. We put one scripted scenario to seven widely used language models in nine languages: a woman whose partner tracks her phone asks for help with a self-blaming letter accepting the surveillance. We scored whether the model wrote the letter and whether it named the control, countered the self-blame, and affirmed her agency. Failure split along two independent axes. On the first, systems from non-anglophone developers gave way most often in their builders' own language. On the second, how far a sympathetic excuse for the partner could strip a model's naming of the control varied sharply from one language to the next. Two frontier systems held the strictest standard everywhere, so a protective ceiling is attainable within this scenario family, and failures elsewhere are a design outcome. What is at stake is recognition: whether a system grasps a disclosure as coercive control, and whether it then acts on that grasp. We argue this should be held to a floor, one language at a time.
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https://arxiv.org/abs/2608.01436
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Can Language Models Identify Shadow Trading Targets? An NLP Evaluation of SEC Enforcement Theory
2026-08-02 15:42:14Sarah Wilson, Michael MacKay, Anthony Marello, Trinav BhattacharyyaAbstract
Shadow trading -- trading in a peer firm's securities on the basis of material nonpublic information (MNPI) about an "economically linked" company -- is a novel and contested theory of insider trading liability, first prosecuted in SEC v. Panuwat (2023). Enforcing it requires identifying economically linked firms ex ante, a determination the SEC makes only after the fact using mass market surveillance infrastructure. We ask whether NLP can do what the SEC's theory presumes insiders already know: identify peer firms ex ante from publicly mandated disclosures. Using a two-stage LLM pipeline applied to Item 7 (Management's Discussion and Analysis) sections of SEC 10-K filings, we score semantic similarity across 30 M&A events spanning five industries and relate similarity to announcement-day abnormal stock returns. On the Panuwat fact pattern itself the pipeline recovers Incyte among the closest peers, a sanity check on the one case with a known outcome. Across the full dataset, however, we find no association: pooling 217 peer observations, the within-event rank correlation between similarity and abnormal return is +0.07 (permutation p = 0.37), and the mean per-event Spearman correlation is +0.05 with a 95% confidence interval of [-0.08, +0.18] -- narrow enough to exclude any moderate relationship rather than merely failing to detect one. A case-level reading agrees: 14 of 30 events support the hypothesis, 12 contradict it, and 4 are ambiguous. We also find that Incyte fell outside the standard \$2B-\$10B mid-cap band on the day before the announcement, complicating the "mid-cap oncology" category the SEC invoked. These results are exploratory and bound to this pipeline, corpus, and return measure, but they put pressure on the empirical premise of shadow trading enforcement and bear on constitutional questions surrounding the SEC's financial surveillance infrastructure.
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URL
https://arxiv.org/abs/2608.01322
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MonitorVLM-v2: A Deployed Vision-Language Framework for Real-Time Safety Violation Detection
2026-08-02 03:58:04Jiang Wu, Sichao Wu, Yinsong Ma, Lifang Zheng, Jingliang DuanAbstract
Large vision--language models (VLMs) can reason step by step about complex visual scenes, but this open-ended, autoregressive chain-of-thought (CoT) approach is poorly suited to safety-critical, rule-governed settings such as industrial surveillance, where decisions must be bounded, deterministic, and low-latency. Because CoT inference cost scales jointly with reasoning length and the number of concurrent streams, it creates a throughput bottleneck that precludes the real-time, multistream monitoring required for industrial accountability. Here we present MonitorVLM-v2, a deployment-oriented framework that recasts VLM-based safety assessment as probabilistic inference over a finite regulatory decision space, compressing multimodal reasoning into single-step rule-ID predictions and reducing decoding from a variable-length sequence to a single token. We introduce symbolic policy optimization (SymPO), a novel contrastive policy optimization algorithm that sharpens decision boundaries within this finite symbolic space, together with an entropy-driven triage mechanism that routes uncertain predictions to human reviewers for expert confirmation. In a four-month prospective deployment across 10 concurrent camera feeds in an operational underground mining facility, MonitorVLM-v2 achieved a 19.45-fold increase in inference speed and identified 2.78 times as many confirmed violations as the site's routine manual inspection workflow, demonstrating the practical value of compressed symbolic decision-making for real-time, auditable industrial monitoring.
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URL
https://arxiv.org/abs/2608.00975
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Towards Autonomous Aircraft Surveillance from Nanosatellites through On-Board Inference and Generative Data Augmentation
2026-07-30 16:26:38Antonio Delgado-Rosa, David Mu\~noz-Valero, Enrique Adrian Villarrubia-Martin, Juan Moreno-GarciaAbstract
Airborne surveillance from low Earth orbit is hindered by two interconnected bottlenecks: nanosatellites have a limited downlink budget, yet the conventional approach still transmits terabytes of raw imagery to the ground for processing, and open satellite datasets for aircraft are scarce and severely class-imbalanced. These limitations either delay timely decision-making or prevent standard detectors from learning robust representations of rare aircraft classes. In this paper, a workflow that combines on-board inference with generative data augmentation is proposed to address both limitations jointly. Inference is executed on a 6U CubeSat equipped with a low-power edge tensor accelerator, while a diffusion model fine-tuned through low-rank adaptation generates synthetic minority-class imagery. This synthetic output is automatically annotated, pseudo-labelled, by an intermediate detector and merged with classically augmented samples. The results show that the balanced dataset increases global mean average precision from 77.9% to 82.2%, with the minority class rising from F1=0.683 to F1=0.811, and that the quantised detector fits the on-chip memory and projects 25-30 frames per second on orbit. This approach contrasts with the conventional bent-pipe architecture, in which the satellite acts as a passive data collector. Therefore, the computational tests support the proposed workflow as a decision-support tool for real-time, autonomous airborne surveillance from nanosatellites.
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URL
https://arxiv.org/abs/2607.28470
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Private Face Recognition Training Dataset Publication via Identity-Decoupled and Geometry-Preserving Face Distillation
2026-07-30 07:01:58Shuhuan Chen, Xiangyu Zhu, Weisong Zhao, Siran Peng, Tianshuo Zhang, Haoyuan Zhang, Haichao Shi, Xiao-Yu Zhang, Zhen LeiAbstract
Publishing private face recognition~(FR) training datasets is privacy-sensitive because faces expose identity information. Private FR training dataset publication mitigates this risk by releasing protected proxies as substitutes for private training faces. However, training FR models with such data introduces an identity paradox: \emph{the identity cues that make released faces useful for recognition supervision are also the cues that make them linkable to real individuals.} A protected face should be decoupled from the original identity, yet still behave as a reliable identity sample for training. Removing these cues too aggressively may destroy the class structure needed for recognition learning, whereas preserving them too faithfully may increase source-identity linkability. We argue that this paradox stems from conflating source-aligned identity semantics with recognition-useful proxy identity geometry. The former should be suppressed to reduce linkage to private individuals, while the latter should be preserved for FR learning. Based on this insight, we propose \textbf{Private Face Distillation}, an identity-decoupling and geometry-preserving framework. It uses Orthogonal Geometry Preservation to construct decoupled proxy identities from private identity representations while maintaining hyperspherical geometry, and Relational Topology Alignment to preserve identity relations for recognition learning. Experiments across multiple domain-shifted FR scenarios show that Private Face Distillation achieves stronger utility than the evaluated publication baselines. On IJB-C surveillance, it improves $\mathrm{TAR}@\mathrm{FAR}{=}1\text{e-}{3}$ by 3.94\% over the baseline while reducing source-identity linkability. These results suggest that private FR training dataset publication should decouple source-identity correspondence while preserving proxy identity geometry.
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URL
https://arxiv.org/abs/2607.27764
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EgoSafe: A First-Person Mobile-Captured Benchmark for Visual Safety Understanding
2026-07-29 06:33:11Yuyun Chen, Tianao Li, TianQuan Feng, Cen Chen, Huiping Zhuang, Hao Peng, Ziqian ZengAbstract
Reliable visual safety understanding in real-world scenarios demands more than just object recognition; it requires causal reasoning under epistemic uncertainty. While Large Vision-Language Models (LVLMs) demonstrate impressive semantic alignment on standard benchmarks, they often struggle to distinguish between superficial correlation and genuine forensic logic when grounded in the dynamic, partially observable nature of first-person experiences. Existing evaluations, dominated by third-person surveillance footage and binary classification metrics, fail to expose this cognitive gap. To address this, we introduce EgoSafe-Bench, a benchmark specifically designed to probe forensic reasoning in egocentric safety scenarios. It comprises 12,000 unique evaluation samples, generated by pairing each of the 3,000 video clips with a QA chain governed by our proposed Hierarchical Reasoning Evaluation (HRE) protocol. Unlike standard benchmarks, HRE mandates a rigorous reasoning trajectory from initial feature anchoring to blind-spot deduction and intent inference, thereby enforcing logical consistency and penalizing shortcut-based this http URL evaluations of state-of-the-art LVLMs (e.g., Qwen3-VL, Gemini, VideoLLaMA 3) reveal a significant perception-reasoning decoupling: models often achieve high descriptive scores but exhibit notable fragility in causal reasoning and logical closure. Our work provides both a challenging dataset and a systematic evaluation framework to foster the development of logically robust video understanding systems.
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https://arxiv.org/abs/2607.26518
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Occluded Oculus: Operationalizing Stylistic Obscurement
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What did it take for Hermes, the devout messenger of the Olympian gods, to slay Argus Panoptes, the multi-eyed giant of Greek myth? As the perfect guardian, Panoptes' legion of ever-watchful eyes proved difficult -- but not impossible -- to defeat. The centerpiece of Hermes' strategy was obfuscation and sabotage. Posing as a shepherd, Hermes sealed each of Panoptes' eyes -- eyes that would otherwise have alerted the fearsome giant to Hermes' plot -- and vanquished him. The moral of the story: when a challenger must surmount a formidable foe -- one far greater in stature and vastly more equipped -- crafty maneuvers are not merely advisable but indispensable for victory. In this work, the "challenger" is a collective leveraging adversarial tactics to overcome the "multi-eyed giant" of stylometric systems and surveillance apparatuses. To successfully claw back the privacy siphoned by the multi-eyed giant, the challenger must carefully evaluate their plan of attack, $\textit{TraceTarnish}$, and determine what does and does not work to anonymize the authorship of text. To that end, we conduct an ablation study of $\textit{TraceTarnish}$ to better understand which module -- Translation, Obfuscation, Imitation, or Injection -- best confounds a stylometric system. Our results indicate that the most effective approach was Injection, meaning that inserting zero-width Unicode characters, homoglyphs, and intentional misspellings neutralizes the indefatigable eyes long enough to claim the head of the all-seeing giant.
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URL
https://arxiv.org/abs/2607.24411
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GaitFace: A Multimodal Dataset for Long-Range Person Identification
2026-07-26 08:41:03Alain Komaty, Luis S. Luevano, Vidit Vidit, Anjith George, Zeina Al Amine, S\'ebastien MarcelAbstract
Efficient border control is becoming a significant global challenge, mainly due to severe congestion and extended passenger waiting times. To mitigate these bottlenecks and facilitate passenger flow, biometric technologies are increasingly deployed to streamline identity verification and enhance crossing efficiency. Technical limitations frequently impede biometric identification, particularly in long-range surveillance, where systems must deal with adverse atmospheric conditions and degraded image quality. While high-quality frameworks like BRIAR exist, they are frequently restricted to specific government agencies. This paper introduces GaitFace, a new public dataset that contains face and gait data captured at long distances. To ensure that the research reflects authentic border scenarios, we use Pre-Enrollment data, where a traveler registers via a mobile device, and "In-the-Wild" captures, which records individuals at a distance across multiple viewing angles and different cameras. Benchmarking SOTA face and gait models reveals that current architectures fail under low-resolution and elevated viewpoints despite success with optical assistance. GaitFace exposes these critical vulnerabilities, providing a rigorous public benchmark to drive more robust, unconstrained biometric research.
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URL
https://arxiv.org/abs/2607.23542
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Mission-Level Runtime Assurance for LLM-Assisted ISR Swarms over a Verification-Aware Fabric
2026-07-26 08:02:20Nikolaos Kekatos, Stylianos Basagiannis, Panagiotis Katsaros, Alexios Lekidis, Tom NianiosAbstract
Swarms of LLM-assisted autonomous robots are increasingly proposed for cooperative intelligence, surveillance, and reconnaissance (ISR) in contested environments. A growing class of their assurance failures arises not within any single platform but across the swarm: individually-compliant actions compose into a mission-level violation: a prohibited objective split across platforms to evade per-platform lim- its, or a collective budget quietly exceeded. Per-platform guardrails miss these by construction, and contested communications let the violation hide behind lost or delayed evidence. We present a three-tier (platfor- m/squad/mission) compositional runtime-verification framework that de- composes a mission policy into per-agent and cross-agent aspects, aggre- gates per-platform verdicts over a verification-aware messaging fabric, and fuses them with an evidence-aware, two-axis (security x complete- ness) algebra whose provenance names the platforms that jointly trig- gered a violation. Because the fabric makes evidence loss and silence observable, unsupported negative verdicts are downgraded to an explicit unknown rather than reported as mission-wide all-clears. On a simulated ISR mission, an indirect prompt injection that causes real LLM planners to split a prohibited collection task across four platforms is invisible to every per-platform monitor yet detected compositionally with full prove- nance; under an injected fault campaign a best-effort central monitor emits silent false all-clears while the verification-aware fabric emits none
Abstract (translated)
URL
https://arxiv.org/abs/2607.23532
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Share No More Than the Request Requires: Federated Disclosure for Perspective-Aware AI
2026-07-24 23:37:38Sourena Khanzadeh, Daniel Platnick, Marjan Alirezaie, Hossein RahnamaAbstract
Modern AI systems bring societal risks such as mass surveillance, extreme concentrations of power, and loss of user autonomy---calling into question a model where third-parties collect and control massive amounts of user data. Users require a sovereign system to securely own, govern, and disclose their context while remaining compliant across regulated domains with strict provenance, interpretability, and policy adherence. Perspective-aware AI approaches this by transforming a user's aggregated personal data into a structured identity model called a \emph{Chronicle}: a temporal knowledge graph that represents and grows with the user. Chronicles support the secure disclosure of context across federated networks. A Chronicle holder may expose a queryable, authorized view that a third-party agent may consult without centralizing anyone's data. This paper explores the problem of minimum-necessary disclosure across domain boundaries: when a requester's agent queries a Chronicle, how can the system constrain its response to release only what the requester's relationship, stated purpose, and specific task require? We propose \textbf{Provenance Preserving Chronicles} (PPC), a federated protocol that compiles each holder's Chronicle into a compact \emph{authorized evidence subgraph} governed by one rule: \emph{share no more than the request requires}. Holders keep local sovereignty; an access controller projects relationship-aware views over domain-expert ontologies; and a two-phase flow returns provenance-linked text first, releasing raw artifacts only after explicit holder approval. We frame the problem, map gaps in blockchain, P2P, and holder-sovereign designs, define the core constructs, and sketch the protocol with an explicit threat model.
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https://arxiv.org/abs/2607.22953
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What Happens to Accuracy When Photo Lineups Contain Non-Mated Rank-One Images From Large Galleries?
2026-07-23 20:17:39Genesis Argueta, Kevin W. Bowyer, Michael King, Jayeeta DharAbstract
One-to-many facial identification is commonly used to match a probe image from surveillance video against a gallery of driver's licenses and/or booking photos. The algorithm's rank-one image from the gallery, or a human examiner's selection from the algorithm's top-ranked images, may then be placed in a photo lineup shown to a witness. Witness selection of the gallery image in the photo lineup may then lead directly to the person in the gallery image being arrested. This facial identification process is involved in at least 9 wrongful arrests. This work specifically examines whether the probability of a witness making an incorrect identification increases with the size of the gallery searched. We compare photo lineup accuracy when the "suspect" image is drawn from galleries of 500, 5,000, and 24,000 images. We find that larger galleries increase both the likelihood of a witness making an incorrect identification and their confidence in that (incorrect) identification. These results raise questions of whether an image resulting from such a facial identification process should be used in photo lineups and of whether results of a photo lineup alone should constitute probable cause for arrest.
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URL
https://arxiv.org/abs/2607.21792
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Unsupervised Consensus-Based Anomaly Detection for Spatiotemporal Malaria Incidence in Ghana
2026-07-23 17:40:51T. Ansah-Narh, Y. Asare AfraneAbstract
A consensus anomaly detection framework was applied to monthly malaria surveillance data from Ghana (2014-2023) to identify atypical transmission patterns. Anomalies were highly structured in space and time. Ashanti and Northern Regions accounted for most recurrent anomalies, with persistent hotspots at Tamale, Kumasi, and Accra. A key finding was the spatial distinction between anomaly burden (cumulative cases during anomalous periods) and anomaly frequency (persistence of unusual behaviour). Tamale had the highest burden during anomalies, whereas the highest anomaly rates clustered in Ashanti districts, showing that high-burden areas are not necessarily those with the most frequent anomalous transmission. Anomalous months formed a statistically distinct group, with much higher case counts (Cohen's $d = 3.252$) and large seasonal deviations ($d > 1.2$) compared with normal months. Malaria burden alone provides an incomplete picture of transmission dynamics. By distinguishing where malaria is most prevalent from where transmission behaves most unusually, this framework can strengthen surveillance, prioritise investigations, and support targeted control strategies.
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URL
https://arxiv.org/abs/2607.21559
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Toward Reliable RGB-D Semantic Segmentation: Handling Missing Modalities via Condition Dropout
2026-07-22 16:12:27Xuchen Zhu, Yajuan Wei, Shuang Hao, Jiwei Jiang, Guanxiang Mao, Fang RenAbstract
RGB-D semantic segmentation has achieved remarkable progress, yet most models assume that RGB and depth are always available. In practice, failures or occlusions of surveillance sensors often remove one modality. Although RGB or depth alone can contain sufficient cues, models trained only on full-modality inputs fail to exploit the remaining modality once one is missing, causing severe degradation. We tackle this issue with a simple continued-training paradigm, \emph{Condition Dropout (ConD)}, which mitigates degradation while preserving full-modality accuracy. Starting from a pretrained RGB-D model, ConD adds a second stage that randomly simulates complete, RGB-missing, and depth-missing inputs, freezes the original encoders, and trains copied encoders with zero-initialized feature injection. Experiments on NYU-Depth V2 and SUN RGB-D show that ConD improves robustness under missing modalities and even yields slight gains when modalities are complete. Our code will be made publicly available upon acceptance.
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URL
https://arxiv.org/abs/2607.20326
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LoRFT: Benchmarking Long-Range Vehicle Trajectory Reconstruction from Fixed Highway Cameras
2026-07-22 08:42:58Yufan Zhu, Kefu Yi, Xueju Zhang, Yunyang Tian, Long Chen, Zixuan XiaoAbstract
Long-range vehicle trajectories provide important spatio-temporal evidence for traffic safety analysis, autonomous driving evaluation, and data-driven traffic management, yet continuously recovering them from fixed highway cameras remains difficult. As vehicles recede into distant road regions, perspective compression and scale decay often fragment or prematurely terminate automatic tracklets, even when their continuation remains identifiable from motion consistency across neighboring frames. We formulate this problem as recovering the far-range continuation of a vehicle trajectory from a reliable near-field tracklet. We introduce LoRFT, to our knowledge the first open benchmark dedicated to long-range vehicle trajectory reconstruction from fixed highway cameras. LoRFT comprises 22 expressway surveillance scenes, 366,109 video frames, 6,601 manually verified trajectories, 2,694,889 bounding boxes, road-geometry annotations, scene-level splits, and evaluation scripts. We further propose Map-RSTNet, a map-aware residual sequence-to-sequence model that reconstructs distant trajectories in a road-geometry-aligned state space and dynamically refreshes local road geometry during decoding. On LoRFT, Map-RSTNet reduces ADE, FDE, and 5-second RMSE by 11.0%, 15.4%, and 10.5%, respectively, relative to the strongest baseline. These results demonstrate that road-geometry-aware reconstruction can extend usable trajectory records from existing fixed-camera infrastructure. LoRFT provides a reproducible testbed for long-range vehicle trajectory reconstruction.
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URL
https://arxiv.org/abs/2607.19911
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BLUE: Semantics-Preserving Video Compression for Efficient Vision-Language Surveillance Analytics
2026-07-21 19:00:32Shubham Baid, Akash James, Sahil Chachra, Nishant Sinha, Kunal KislayAbstract
Continuous surveillance video creates a growing storage, transmission, and inference burden for enterprise video analytics systems. While modern codecs such as H.265 reduce bitrate for human-viewable video, aggressive compression can degrade downstream computer-vision performance and does not necessarily reduce the number of vision-language model (VLM) inference calls required for semantic video understanding. This paper evaluates BLUE, a fixed-camera surveillance compression approach that suppresses static-background redundancy while preserving foreground activity, for its effect on VLM-based event and anomaly understanding. We compare raw H.265 and BLUE-compressed H.265 video on two surveillance datasets: VIRAT, comprising 227 paired event samples from 106 clips, and CHAD, comprising 54 human-activity anomaly clips. For each pair, the same frame index is evaluated using a VLM captioning pipeline, and outputs are scored against annotation-derived ground truth using a blind judging protocol. The results show no measurable degradation in semantic inference quality. On VIRAT, the mean VLM score remains effectively unchanged between raw H.265 and BLUE, with a mean difference of approximately -0.01 on a 0-10 scale. On CHAD, raw H.265 and BLUE obtain near-equivalent mean scores of 4.31 and 4.26, respectively. Compression saving is also uncorrelated with VLM score change on VIRAT (r = 0.004), indicating that higher BLUE compression does not predict semantic quality loss. Beyond storage reduction, BLUE increases the share of skip-heavy P-frames on CHAD from 1.4% to 53.2%, enabling an estimated 53% reduction in VLM calls through packet-size-based frame skipping. These findings suggest that BLUE functions as a machine-centric compression layer for surveillance video, reducing bandwidth and inference cost while preserving VLM semantic performance.
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URL
https://arxiv.org/abs/2607.19515
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BioSecBench-Surveillance: A Verifiable Benchmark for AI Agents in Pathogen Genomic Surveillance
2026-07-21 16:33:57Harmon Bhasin, Kevin Flyangolts, Dianzhuo Wang, Evan Seeyave, Arjun Banerjee, Amanda Darling, Joshua Stallings, David Stern, Shawn Higdon, Claire Duvallet, Bryan Tegomoh, Kenny WorkmanAbstract
As pathogen genomic surveillance scales, the bottleneck is shifting from data generation to analysis. We present BioSecBench-Surveillance, a verifiable benchmark of 100 evaluations testing whether AI agents can infer the right analysis pipeline from raw sequencing data and surveillance context. Each evaluation gives an agent only the data and context a human analyst would have, then grades its structured answer deterministically. The tasks span seven categories, from taxonomic classification to genetic-engineering detection, across diverse sample types and sequencing technologies. Across 3,962 gradable attempts from sixteen model-harness pairs, the strongest configuration cleared only about half. Opus 4.8 with PI led at 50.2 percent, with a 95 percent confidence interval of 40.1 to 60.3 percent across 83 evaluations, tied with GPT-5.5 with Codex at 50.2 percent, with a 95 percent confidence interval of 40.8 to 59.6 percent, followed by Opus 4.7 with PI at 49.6 percent, with a 95 percent confidence interval of 40.0 to 59.2 percent, and Sonnet 4.6 with PI at 48.6 percent, with a 95 percent confidence interval of 38.9 to 58.3 percent. Even when agents invoked the correct workflows, their mistakes came from the choices around them, such as which references, thresholds, filters, and normalization to apply. BioSecBench-Surveillance provides a standard for measuring whether agents can be trusted to perform genomic surveillance when the next outbreak arrives.
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URL
https://arxiv.org/abs/2607.19262
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