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arXiv 2025年

作者： Liu, Jian Sun, Wei Yang, Hui Deng, Pengchao Liu, Chongpei Sebe, Nicu Rahmani, Hossein Mian, Ajmal National Engineering Research Center for Robot Visual Perception and Control Technology College of Electrical and Information Engineering School of Robotics State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body Hunan University Changsha410082 China Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University Xi’an710049 China Department of Information Engineering and Computer Science University of Trento Trento38123 Italy School of Computing and Communications Lancaster University LA1 4YW United Kingdom Department of Computer Science The University of Western Australia WA6009 Australia

Nine-degrees-of-freedom (9-DoF) object pose and size estimation is crucial for enabling augmented reality and robotic manipulation. Category-level methods have received extensive research attention due to their potential for generalization to intra-class unknown objects. However, these methods require manual collection and labeling of large-scale real-world training data. To address this problem, we introduce a diffusion-based paradigm for domain-generalized category-level 9-DoF object pose estimation. Our motivation is to leverage the latent generalization ability of the diffusion model to address the domain generalization challenge in object pose estimation. This entails training the model exclusively on rendered synthetic data to achieve generalization to real-world scenes. We propose an effective diffusion model to redefine 9-DoF object pose estimation from a generative perspective. Our model does not require any 3D shape priors during training or inference. By employing the Denoising Diffusion Implicit Model, we demonstrate that the reverse diffusion process can be executed in as few as 3 steps, achieving near real-time performance. Finally, we design a robotic grasping system comprising both hardware and software components. Through comprehensive experiments on two benchmark datasets and the real-world robotic system, we show that our method achieves state-of-the-art domain generalization performance. Our code will be made public at https://***/CNJianLiu/Diff9D. Copyright © 2025, The Authors. All rights reserved.

关键词： Augmented reality

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Placing by Touching: An Empirical Study on the Importance of Tactile Sensing for Precise Object Placing

Placing by Touching: An Empirical Study on the Importance of...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Luca Lach Niklas Funk Robert Haschke Séverin Lemaignan Helge Joachim Ritter Jan Peters Georgia Chalvatzaki Neuroinformatics Group Technical Faculty Bielefeld University Institut de Robòtica i Informatica Industrial CSIC- UPC Computer Science Department Technical University Darmstadt PAL Robotics Research Department: Systems AI for Robot Learning German Research Center for AI (DFKI) Hessian AI Centre for Cognitive Science

This work deals with a practical everyday problem: stable object placement on flat surfaces starting from unknown initial poses. Common object-placing approaches require either complete scene specifications or extrinsic sensor measurements, e.g., cameras, that occasionally suffer from occlusions. We propose a novel approach for stable object placing that combines tactile feedback and proprioceptive sensing. We devise a neural architecture called PlaceNet that estimates a rotation matrix, resulting in a corrective gripper movement that aligns the object with the placing surface for the subsequent object manipulation. We compare models with different sensing modalities, such as force-torque, an external motion capture system, and two classical baseline models in real-world object placing tasks with different objects. The experimental evaluation of our placing policies with a set of unseen everyday objects reveals significant generalization of our proposed pipeline, suggesting that tactile sensing plays a vital role in the intrinsic understanding of robotic dexterous object manipulation. Code, models, and supplementary videos are available on https://***/view/placing-by-touching.

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BPCoach: Exploring Hero Drafting in Professional MOBA Tournaments via Visual Analytics

arXiv

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arXiv 2023年

作者： Liu, Shiyi Ma, Ruofei Zhao, Chuyi Li, Zhenbang Xiao, Jianpeng Li, Quan School of Information Science and Technology ShanghaiTech University China Department of Computer Science Tufts University United States Guangzhou Qucheng Culture Media Co. China School of Information Science and Technology ShanghaiTech University Shanghai Engineering Research Center of Intelligent Vision and Imaging China

Hero drafting for multiplayer online arena (MOBA) games is crucial because drafting directly affects the outcome of a match. Both sides take turns to "ban"/"pick" a hero from a roster of approximately 100 heroes to assemble their drafting. In professional tournaments, the process becomes more complex as teams are not allowed to pick heroes used in the previous rounds with the "best-of-N" rule. Additionally, human factors including the team’s familiarity with drafting and play styles are overlooked by previous studies. Meanwhile, the huge impact of patch iteration on drafting strengths in the professional tournament is of concern. To this end, we propose a visual analytics system, BPCoach, to facilitate hero drafting planning by comparing various drafting through recommendations and predictions and distilling relevant human and in-game factors. Two case studies, expert feedback, and a user study suggest that BPCoach helps determine hero drafting in a rounded and efficient manner. © 2023, CC BY.

关键词： Visualization

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Automated Assessment of Mandibular Asymmetry in Panoramic Radiography

Automated Assessment of Mandibular Asymmetry in Panoramic Ra...

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Pattern Recognition and Machine Learning (PRML), IEEE International Conference on

作者： Jialu Niu Junxin Cheng Yuxin Chen Yiwen Xie Haonan Liu Yicheng Lin Qijun Zhao Jun Wang National Key Laboratory of Fundamental Science on Synthetic Vision Sichuan University Chengdu China Department of Orthodontics West China Hospital of Stomatology State Key Laboratory of Oral Diseases National Clinical Research Center for Oral Diseases Sichuan University Chengdu China College of Computer Science Sichuan University Chengdu China

ISBN: (数字)9798350355925

ISBN: (纸本)9798350355932

Mandibular asymmetry is a prevalent craniofacial deformity impacting masticatory function, facial aesthetics, and temporomandibular joint health. Accurate detection and quantification of this asymmetry are essential for effective treatment. Current automated assessment methods rely on cone-beam computed tomography (CBCT), which is complex, costly, and involves higher radiation exposure compared to panoramic radiography. This study aimed to detect anatomical landmarks on panoramic radiography and quantitatively assess mandibular asymmetry using convolutional neural networks (CNNs). By generating heatmaps to capture local visual features, expanding the image's receptive field through downsampling, and modeling the spatial correlation of anatomical landmarks, the study enhanced robustness. Results showed that condyle localization primarily depended on the joint fossa, achieving a median landmark error accuracy between 0.546 and 1.716 mm. Predicting mandibular asymmetry using the total ramus (***) yielded an area under the curve (AUC) of 0.802, sensitivity of 0.933, and specificity of 0.714. This pioneering research marks the first application of quantitative automatic detection of mandibular asymmetry using panoramic radiography, offering significant implications for the global scientific community. It establishes a foundation for advanced AI-driven diagnostic tools in dentistry, improving diagnosis and treatment outcomes for mandibular asymmetry.

关键词： Training Visualization Accuracy Sensitivity Statistical analysis Sensitivity and specificity Predictive models Spatial databases Robustness Diagnostic radiography

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Biometric Authentication in Smart Cities Using Mobile Cloud Computing

Biometric Authentication in Smart Cities Using Mobile Cloud ...

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Advancement in Electronics & Communication Engineering (AECE), International Conference on

作者： Ramiz Salama Sinem Al-Turjman Chadi Altrjman Fadi Al-Turjman R.Om Prakash Satya Prakash Yadav Satvik Vats Department of Computer Engineering AI and Robotics Institute Research Center for AI and IoT. Near East University Nicosia TURKIYE Artificial Intelligence Engineering Dept AI and Robotics Institute Near East University Nicosia Turkey Department of Chemical Engineering Waterloo University ON Canada Noida Instue Engineering and Technology Greator Noida U.P India Department of Computer Science and Engineering G.L. Bajaj Institute of Technology and Management(GLBITM) Greater Noida India Department of Computer Science and Engineering Graphic Era Hill University Dehradun India

Smart cities are cities that are designed to be more efficient, sustainable, and connected. As our cities grow and become more complex, it's important to find new ways to address the challenges that arise, such as security, privacy, and mobility. This is where mobile cloud computing and biometric authentication come in. Mobile cloud computing is a way to provide cloud computing services to mobile devices, which means people can access services and data from anywhere and at any time. Biometric authentication is a method of identifying people based on their unique physical or behavioral characteristics, like fingerprints, facial recognition, or voice recognition. These two technologies can be combined to create a secure and personalized environment for residents and visitors in smart cities. By using mobile devices, IoT devices, wireless sensor networks, and edge computing, we can collect real-time data that can be used for big data analytics and machine learning. This means we can optimize city services, like traffic management, waste management, or energy consumption, and enhance the quality of life for people living in smart cities. However, the use of these technologies also poses significant security and privacy risks, so it's important to design systems that are secure and privacy-preserving. This requires interdisciplinary research and collaboration between experts in different fields. In summary, mobile cloud computing and biometric authentication have the potential to transform smart cities by creating a more secure and personalized environment for residents and visitors. But we must also be mindful of the potential risks and work together to address them.

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Overview of Energy Harvesting and Sustainability in Smart Cities

Overview of Energy Harvesting and Sustainability in Smart Ci...

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Advancement in Electronics & Communication Engineering (AECE), International Conference on

作者： Ramiz Salama Chadi Altrjman Fadi Al-Turjman Satya Prakash Yadav Satvik Vats Department of Computer Engineering AI and Robotics Institute Research Center for AI and IoT. Near East University Near East Boulevard Mersin 10 Turkiye Department of Chemical Engineering Waterloo University ON Canada Artificial Intelligence Engineering Dept AI and Robotics Institute Near East University Nicosia Mersin10 Turkey Department of Computer Science and Engineering G.L. Bajaj Institute of Technology and A1anagement(GLBITA1) Greater Noida India Department of Computer Science and Engineering Graphic Era Hill University Dehradun India

Sustainability is a key factor in the context of smart cities. In smart cities, promoting sustainable energy is one strategy for achieving sustainability and lowering greenhouse gas emissions. Different energy sources are needed to meet the need for affordable and dependable electrical energy, where the environmental impact typically outweighs the cost of generation. In order to increase sustainability in the electrical industry, smart cities are examined in this article. The methodological strategy for this involved conducting a systematic literature review utilizing the PRISMA procedure. 154 journal articles were examined in-depth for this review. Energy efficiency, renewable energy, and energy and urban planning were the themes that the results were organized into. The results of the study showed that: (a) there is a global academic publication landscape for research on smart cities and energy sustainability; (b) publications are unbalanced when comparing the results of studies on the energy use intensity of different continents to those on the energy sustain ability of smart cities; and (c) there is a strong focus on technology-related issues related to energy sustainability, efficiency, and renewables topics in the literature, but much less attention is given to these issues. Urban and energy authorities are informed by the insights produced, and scholars are given ideas for future research directions.

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Security and Privacy Concerns in “Communication Systems” Blockchain Technology and the Internet of Things

Security and Privacy Concerns in “Communication Systems” B...

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Advancement in Electronics & Communication Engineering (AECE), International Conference on

作者： Ramiz Salama Sinem Al-Turjman Chadi Altrjman Fadi Al-Turjman R.Om Prakash Satya Prakash Yadav Satvik Vats Department of Computer Engineering AI and Robotics Institute Research Center for AI and IoT Near East University Nicosia TURKIYE Artificial Intelligence Engineering Dept AI and Robotics Institute Near East University Nicosia Turkey Department of Chemical Engineering Waterloo University ON Canada Noida Instue Engineering and Technology Greator Noida U.P India Department of Computer Science and Engineering G.L. Bajaj Institute of Technology and Management(GLBITM) Greater Noida India Department of Computer Science and Engineering Graphic Era Hill University Dehradun India

This article examines the security and privacy concerns associated with the integration of blockchain technology and the Internet of Things (IoT) in communication systems. As the IoT continues to grow and evolve, there is an increasing need to ensure the security and privacy of the vast amounts of data generated and exchanged between connected devices. Blockchain technology offers promising solutions for enhancing security and privacy in communication systems; however, it also presents its own set of challenges and vulnerabilities. This article explores the existing literature on the topic and analyzes the materials and methods used in previous studies. The results and discussions delve into the key security and privacy concerns in communication systems with blockchain and IoT, including data integrity, authentication, and confidentiality, scalability, and consensus mechanisms. Finally, the article concludes with recommendations and future directions for addressing these concerns and advancing the security and privacy of communication systems in the context of blockchain technology and the IoT.

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A Multi-model Fusion of LiDAR-inertial Odometry via Localization and Mapping

A Multi-model Fusion of LiDAR-inertial Odometry via Localiza...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： An Duy Nguyen Chuong Phuoc Le Pratik Walunj Anton Netchaev Thanh Nho Do Hung Manh La Department of Computer Science and Engineering Advanced Robotics and Automation (ARA) Lab University of Nevada Reno NV USA USACE Engineer Research and Development Center (ERDC) Information Technology Lab Vicksburg MS USA Graduate School of Biomedical Engineering UNSW Sydney Kensington Campus NSW Australia

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

This work presents a comprehensive LiDAR-inertial odometry framework featuring robust smoothing and mapping capabilities, effectively correcting LiDAR feature point skewness using an inertial measurement unit (IMU). While the Extended Kalman Filter (EKF) is a common choice for nonlinear motion estimation, its complexity grows when handling maneuvering targets. To overcome this challenge, a new framework that incorporates the Iterated Interactive Multiple Models of Kalman Filter (IMMKF) is given, providing a solution for reliable navigation in dynamic motion and noisy conditions. To ensure map consistency, an ikd-tree that facilitates continuous updates and adaptive rebalance is employed, preserving the map’s integrity. To guarantee the robustness of our approach, it undergoes extensive testing across diverse scales of indoor and outdoor environments. This testing scenario simulates absolute GPS denial. In terms of estimated motion, the new algorithm demonstrates superior accuracy compared to existing approaches. The implementation is openly accessible on GitHub 4 for further exploration.

关键词： Location awareness Technological innovation Laser radar Accuracy Smoothing methods Computational modeling Feature extraction Odometry Kalman filters Testing

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The iToBoS dataset: skin region images extracted from 3D total body photographs for lesion detection

arXiv

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arXiv 2025年

作者： Saha, Anup Adeola, Joseph Ferrera, Nuria Mothershaw, Adam Rezze, Gisele Gaborit, Séraphin D’Alessandro, Brian Hudson, James Szabó, Gyula Pataki, Balazs Rajani, Hayat Nazari, Sana Hayat, Hassan Primiero, Clare Soyer, H. Peter Malvehy, Josep Garcia, Rafael Computer Vision and Robotics Research Institute University of Girona Girona Spain Dermatology Department Hospital Clínic Barcelona Universitat de Barcelona Barcelona Spain Frazer Institute The University of Queensland Dermatology Research Center Brisbane Australia ISAHIT Paris France Canfield Scientific Inc. ParsippanyNJ United States V7 London United Kingdom HUN-REN Institute for Computer Science and Control Budapest Hungary CIBER de Enfermedades Raras Instituto de Salud Carlos III Barcelona Spain Dermatology Department Princess Alexandra Hospital BrisbaneQLD Australia Dermatology Department University of Trieste Trieste Italy

Artificial intelligence has significantly advanced skin cancer diagnosis by enabling rapid and accurate detection of malignant lesions. In this domain, most publicly available image datasets consist of single, isolated skin lesions positioned at the center of the image. While these lesion-centric datasets have been fundamental for developing diagnostic algorithms, they lack the context of the surrounding skin, which is critical for improving lesion detection. The iToBoS dataset was created to address this challenge. It includes 16,954 images of skin regions from 100 participants, captured using 3D total body photography. Each image roughly corresponds to a 7×9 cm section of skin with all suspicious lesions annotated using bounding boxes. Additionally, the dataset provides metadata such as anatomical location, age group, and sun damage score for each image. This dataset aims to facilitate training and benchmarking of algorithms, with the goal of enabling early detection of skin cancer and deployment of this technology in non-clinical environments. © 2025, CC BY-NC-SA.

关键词： Lung cancer

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MassSpecGym: A benchmark for the discovery and identification of molecules

arXiv

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arXiv 2024年

作者： Bushuiev, Roman Bushuiev, Anton de Jonge, Niek F. Young, Adamo Kretschmer, Fleming Samusevich, Raman Heirman, Janne Wang, Fei Zhang, Luke Dührkop, Kai Ludwig, Marcus Haupt, Nils A. Kalia, Apurva Brungs, Corinna Schmid, Robin Greiner, Russell Wang, Bo Wishart, David S. Liu, Li-Ping Rousu, Juho Bittremieux, Wout Rost, Hannes Mak, Tytus D. Hassoun, Soha Huber, Florian van der Hooft, Justin J.J. Stravs, Michael A. Böcker, Sebastian Sivic, Josef Pluskal, Tomáš Institute of Organic Chemistry and Biochemistry The Czech Academy of Sciences Czech Republic Czech Institute of Informatics Robotics and Cybernetics Czech Technical University Czech Republic Bioinformatics Group Wageningen University & Research Netherlands Department of Computer Science University of Toronto Canada Institute for Computer Science Friedrich Schiller University Jena Germany Department of Computer Science University of Antwerp Belgium Department of Computing Science University of Alberta Canada Alberta Machine Intelligence Institute Canada Department of Molecular Genetics University of Toronto Canada Bright Giant GmbH Germany Department of Computer Science Tufts University United States Department of Biological Sciences University of Alberta Canada Department of Computer Science Aalto University Finland Mass Spectrometry Data Center National Institute of Standards and Technology United States Department of Chemical and Biological Engineering Tufts University United States Centre for Digitalisation and Digitality University of Applied Sciences Düsseldorf Germany Department of Biochemistry University of Johannesburg South Africa Eawag: Swiss Federal Institute of Aquatic Science and Technology Switzerland

The discovery and identification of molecules in biological and environmental samples is crucial for advancing biomedical and chemical sciences. Tandem mass spectrometry (MS/MS) is the leading technique for high-throughput elucidation of molecular structures. However, decoding a molecular structure from its mass spectrum is exceptionally challenging, even when performed by human experts. As a result, the vast majority of acquired MS/MS spectra remain uninterpreted, thereby limiting our understanding of the underlying (bio)chemical processes. Despite decades of progress in machine learning applications for predicting molecular structures from MS/MS spectra, the development of new methods is severely hindered by the lack of standard datasets and evaluation protocols. To address this problem, we propose MassSpecGym – the first comprehensive benchmark for the discovery and identification of molecules from MS/MS data. Our benchmark comprises the largest publicly available collection of high-quality labeled MS/MS spectra and defines three MS/MS annotation challenges: de novo molecular structure generation, molecule retrieval, and spectrum simulation. It includes new evaluation metrics and a generalization-demanding data split, therefore standardizing the MS/MS annotation tasks and rendering the problem accessible to the broad machine learning community. MassSpecGym is publicly available at https://***/pluskal-lab/MassSpecGym. Copyright © 2024, The Authors. All rights reserved.

关键词： Benchmarking

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