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ROVER: A Multi-Season Dataset for Visual SLAM

IEEE Transactions on robotics 2025年 41卷 4005-4022页

作者： Schmidt, Fabian Daubermann, Julian Mitschke, Marcel Blessing, Constantin Meyer, Stephan Enzweiler, Markus Valada, Abhinav Esslingen University of Applied Sciences Institute for Intelligent Systems Esslingen Germany University of Freiburg Department of Computer Science Freiburg Germany ANDREAS STIHL AG & Co. KG Waiblingen Germany

Robust Simultaneous Localization and Mapping (SLAM) is a crucial enabler for autonomous navigation in natural, semi-structured environments such as parks and gardens. However, these environments present unique challenges for SLAM due to frequent seasonal changes, varying light conditions, and dense vegetation. These factors often degrade the performance of visual SLAM algorithms originally developed for structured urban environments. To address this gap, we present ROVER, a comprehensive benchmark dataset tailored for evaluating visual SLAM algorithms under diverse environmental conditions and spatial configurations. We captured the dataset with a robotic platform equipped with monocular, stereo, and RGBD cameras, as well as inertial sensors. It covers 39 recordings across five outdoor locations, collected through all seasons and various lighting scenarios, i.e., day, dusk, and night with and without external lighting. With this novel dataset, we evaluate several traditional and deep learning-based SLAM methods and study their performance in diverse challenging conditions. The results demonstrate that while stereo-inertial and RGBD configurations generally perform better under favorable lighting and moderate vegetation, most SLAM systems perform poorly in low-light and high-vegetation scenarios, particularly during summer and autumn. Our analysis highlights the need for improved adaptability in visual SLAM algorithms for outdoor applications, as current systems struggle with dynamic environmental factors affecting scale, feature extraction, and trajectory consistency. This dataset provides a solid foundation for advancing visual SLAM research in real-world, semi-structured environments, fostering the development of more resilient SLAM systems for long-term outdoor localization and mapping. © 2004-2012 IEEE.

关键词： benchmark datasets SLAM Visual SLAM

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Data-driven Optimal Cooperative Output Regulation of Unknown Linear Discrete-time Multi-agent systems

Data-driven Optimal Cooperative Output Regulation of Unknown...

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第35届中国控制与决策会议

作者： Dong Liang Yi Dong Chaoli Wang Engang Tian Department of Control Science and Engineering School of Optical-Electrical and Computer Engineering University of Shanghai for Science and Technology College of Electronic and Information Engineering Shanghai Research Institute for Intelligent Autonomous Systems Tongji University

The cooperative output regulation problem has been extensively studied on the basis of the distributed observer ***,the majority of the existing research assumes that the dynamics is known *** remove this condition,the cooperative output regulation problem is further solved via the data-driven framework where the dynamics of the plant is ***,a data-driven distributed observer is established to estimate the state of the leader with unknown dynamics subject to external ***,the unknown regulator equations are solved using the iterative recurrent neural network ***,the state-based data-driven distributed control law is synthesized to solve the *** optimal gains are derived by solving convex optimization problems using input and state ***,a numerical example is presented to verify the feasibility of the proposed framework.

关键词： Linear systems multi-agent systems cooperative output regulation data-driven control optimal control

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A Multi-Token Coordinate Descent Method for Semi-Decentralized Vertical Federated Learning

arXiv

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arXiv 2023年

作者： Valdeira, Pedro Chi, Yuejie Soares, Cláudia Xavier, João CMU IST United States CMU United States NOVA IST Department of Electrical and Computer Engineering Carnegie Mellon University United States Institute for Systems and Robotics Instituto Superior Técnico Portugal Department of Computer Science NOVA School of Science and Technology Portugal

Communication efficiency is a major challenge in federated learning (FL). In client-server schemes, the server constitutes a bottleneck, and while decentralized setups spread communications, they do not necessarily reduce them due to slower convergence. We propose Multi-Token Coordinate Descent (MTCD), a communication-efficient algorithm for semi-decentralized vertical federated learning, exploiting both client-server and client-client communications when each client holds a small subset of features. Our multi-token method can be seen as a parallel Markov chain (block) coordinate descent algorithm and it subsumes the client-server and decentralized setups as special cases. We obtain a convergence rate of O(1/T) for nonconvex objectives when tokens roam over disjoint subsets of clients and for convex objectives when they roam over possibly overlapping subsets. Numerical results show that MTCD improves the state-of-the-art communication efficiency and allows for a tunable amount of parallel communications. © 2023, CC BY.

关键词： Efficiency

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Fundus Image Quality Assessment and Enhancement: a Systematic Review

arXiv

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arXiv 2025年

作者： Li, Heng Li, Haojin Ou, Mingyang Yu, Xiangyang Zhang, Xiaoqing Niu, Ke Fu, Huazhu Liu, Jiang Research Institute of Trustworthy Autonomous Systems SUSTech Shenzhen China Department of Computer Science and Engineering SUSTech Shenzhen China Center for High Performance Computing and Shenzhen Key Laboratory of Intelligent Bioinformatics Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China Computer School Beijing Information Science and Technology University Beijing China Singapore

As an affordable and convenient eye scan, fundus photography holds the potential for preventing vision impairment, especially in resource-limited regions. However, fundus image degradation is common under intricate imaging environments, impacting following diagnosis and treatment. Consequently, image quality assessment (IQA) and enhancement (IQE) are essential for ensuring the clinical value and reliability of fundus images. While existing reviews offer some overview of this field, a comprehensive analysis of the interplay between IQA and IQE, along with their clinical deployment challenges, is lacking. This paper addresses this gap by providing a thorough review of fundus IQA and IQE algorithms, research advancements, and practical applications. We outline the fundamentals of the fundus photography imaging system and the associated interferences, and then systematically summarize the paradigms in fundus IQA and IQE. Furthermore, we discuss the practical challenges and solutions in deploying IQA and IQE, as well as offer insights into potential future research directions. Copyright © 2025, The Authors. All rights reserved.

关键词： Photography

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Learning layer-wise equivariances automatically using gradients 23

Learning layer-wise equivariances automatically using gradie...

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Proceedings of the 37th International Conference on Neural Information Processing systems

作者： Tycho F.A. van der Ouderaa Alexander Immer Mark van der Wilk Department of Computing Imperial College London United Kingdom Department of Computer Science ETH Zurich Switzerland and Max Planck Institute for Intelligent Systems Tübingen Germany Department of Computing Imperial College London United Kingdom and Department of Computer Science University of Oxford United Kingdom

Convolutions encode equivariance symmetries into neural networks leading to better generalisation performance. However, symmetries provide fixed hard constraints on the functions a network can represent, need to be specified in advance, and can not be adapted. Our goal is to allow flexible symmetry constraints that can automatically be learned from data using gradients. Learning symmetry and associated weight connectivity structures from scratch is difficult for two reasons. First, it requires efficient and flexible parameterisations of layer-wise equivariances. Secondly, symmetries act as constraints and are therefore not encouraged by training losses measuring data fit. To overcome these challenges, we improve parameterisations of soft equivariance and learn the amount of equivariance in layers by optimising the marginal likelihood, estimated using differentiable Laplace approximations. The objective balances data fit and model complexity enabling layer-wise symmetry discovery in deep networks. We demonstrate the ability to automatically learn layer-wise equivariances on image classification tasks, achieving equivalent or improved performance over baselines with hard-coded symmetry.

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Personnel selection under Intuitionistic Fuzzy Multi-Criteria Decision Analysis evaluation 28th

Personnel selection under Intuitionistic Fuzzy Multi-Criteri...

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28th International Conference on Knowledge Based and intelligent information and Engineering systems, KES 2024

作者： Augusciak, Izabela Wieckowski, Jakub Salabun, Wojciech University of WSB Merito ul. Sniadeckich 3 Szczecin70-224 Poland National Institute of Telecommunications ul. Szachowa 1 Warsaw04-894 Poland Research Team on Intelligent Decision Support Systems Department of Artificial Intelligence and Applied Mathematics Faculty of Computer Science and Information Technology West Pomeranian University of Technology Szczecin ul. Zolnierska 49 Szczecin71-210 Poland

Decision-making involves various aspects of daily life, encompassing routine tasks, complex business strategies, and resource management. With problems often including multiple criteria, detailed analysis becomes imperative to ensure a reliable assessment. Consequently, diverse tools have emerged to aid decision-makers in making well-informed choices, with Multi-Criteria Decision Analysis (MCDA) methods standing out for structured evaluations and adaptable processes. MCDA methods accommodate both crisp and fuzzy data, handling uncertainties inherent in decision problems. However, the abundance of methods poses a challenge in selecting the most suitable approach. Comparative analyses underscore the variability in outcomes, emphasizing the importance of employing multiple techniques for robust decision-making. Within resource management, MCDA methods offer versatile solutions, integrating expert knowledge and fuzzy logic to enhance reliability. As technological advancements introduce novel tools, empirical validation becomes crucial. Fuzzy ranking emerges as a promising approach, offering comprehensive insights into decision stability and robustness. This study applies selected MCDA methods within an Intuitionistic Fuzzy (IF) environment to personnel selection, analyzing multiple criteria with the participation of decision-makers. Through Monte Carlo simulation and fuzzy ranking, the study validates the efficacy of fuzzy ranking in practical multi-criteria decision-making scenarios, offering insights into decision robustness and stability. The proposed research provides a comprehensive approach to personnel selection, producing reliable and robust recommendations under changing input conditions. © 2024 The Authors.

关键词： Resource allocation

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Distributed Online Bandit Nonconvex Optimization with One-Point Residual Feedback via Dynamic Regret

arXiv

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arXiv 2024年

作者： Hua, Youqing Liu, Shuai Hong, Yiguang Johansson, Karl Henrik Wang, Guangchen School of Control Science and Engineering Shandong University Jinan China Nanyang Technological University Singapore Department of Control Science and Engineering Shanghai Research Institute for Intelligent Autonomous Systems Tongji University Shanghai China School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden

This paper considers the distributed online bandit optimization problem with nonconvex loss functions over a time-varying digraph. This problem can be viewed as a repeated game between a group of online players and an adversary. At each round, each player selects a decision from the constraint set, and then the adversary assigns an arbitrary, possibly nonconvex, loss function to this player. Only the loss value at the current round, rather than the entire loss function or any other information (e.g. gradient), is privately revealed to the player. Players aim to minimize a sequence of global loss functions, which are the sum of local losses. We observe that traditional multi-point bandit algorithms are unsuitable for online optimization, where the data for the loss function are not all a priori, while the one-point bandit algorithms suffer from poor regret guarantees. To address these issues, we propose a novel one-point residual feedback distributed online algorithm. This algorithm estimates the gradient using residuals from two points, effectively reducing the regret bound while maintaining O(1) sampling complexity per iteration. We employ a rigorous metric, dynamic regret, to evaluate the algorithm's performance. By appropriately selecting the step size and smoothing parameters, we demonstrate that the expected dynamic regret of our algorithm is comparable to existing algorithms that use two-point feedback, provided the deviation in the objective function sequence and the path length of the minimization grows sublinearly. Finally, we validate the effectiveness of the proposed algorithm through numerical simulations. Copyright © 2024, The Authors. All rights reserved.

关键词： Optimization algorithms

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Reconfigurable intelligent Surface Enhanced Wireless Localization: Phase Optimization for Malicious Interference Mitigation

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IEEE Transactions on Communications 2025年

作者： Zhang, Yi Xie, Yajing Wang, Lijia Liwang, Minghui Wang, Xianbin Xiamen University Ministry of Education of China Department of Information and Communication Engineering Key Laboratory of Multimedia Trusted Perception and Efficient Computing Xiamen China Tongji University Shanghai Research Institute for Intelligent Autonomous Systems Department of Control Science and Engineering Shanghai China Western University Department of Electrical and Computer Engineering ON Canada

Recently, unmanned aerial vehicles (UAVs) and reconfigurable intelligent surfaces (RISs) have merged as important enabling technologies for localization coverage extension and localization accuracy improvement under signal blockage and malicious interference conditions. However, most existing works assume known locations of jammers, which is generally impractical in real-world networks. To overcome this challenge, we propose a novel RIS-enhanced wireless localization framework against malicious interference with the support of either narrowband or orthogonal frequency division multiplexing (OFDM) pilot signals. A two-stage anti-jamming localization approach is developed to first estimate the unknown channel and signal information of the jammer and then localize the user’s position by eliminating the jamming signal. More importantly, we utilize the full potential of RIS to improve localization accuracy by optimizing the phase shift profile during the iterative process. Extensive simulation results demonstrate the commendable performance of our proposed framework, which can not only mitigate the jamming effect but also achieve better localization accuracy, offering a good reference for future heterogeneous and complex wireless networks. © 1972-2012 IEEE.

关键词： Frequency division multiplexing

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Optimal Sensor Placement Using Combinations of Hybrid Measurements for Source Localization

arXiv

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arXiv 2025年

作者： Tang, Kang Xu, Sheng Yang, Yuqi Kong, He Ma, Yongsheng Shenzhen China Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China Department of Computer Science University of Nottingham Nottingham United Kingdom Shenzhen Key Laboratory of Control Theory and Intelligent Systems SUSTech Shenzhen China

This paper focuses on static source localization employing different combinations of measurements, including time-difference-of-arrival (TDOA), received-signal-strength (RSS), angle-of-arrival (AOA), and time-of-arrival (TOA) measurements. Since sensor-source geometry significantly impacts localization accuracy, the strategies of optimal sensor placement are proposed systematically using combinations of hybrid measurements. Firstly, the relationship between sensor placement and source estimation accuracy is formulated by a derived Cramér-Rao bound (CRB). Secondly, the A-optimality criterion, i.e., minimizing the trace of the CRB, is selected to calculate the smallest reachable estimation mean-squared-error (MSE) in a unified manner. Thirdly, the optimal sensor placement strategies are developed to achieve the optimal estimation bound. Specifically, the specific constraints of the optimal geometries deduced by specific measurement, i.e., TDOA, AOA, RSS, and TOA, are found and discussed theoretically. Finally, the new findings are verified by simulation studies. Copyright © 2025, The Authors. All rights reserved.

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Uncovering neural scaling laws in molecular representation learning 23

Uncovering neural scaling laws in molecular representation l...

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Proceedings of the 37th International Conference on Neural Information Processing systems

作者： Dingshuo Chen Yanqiao Zhu Jieyu Zhang Yuanqi Du Zhixun Li Qiang Liu Shu Wu Liang Wang Center for Research on Intelligent Perception and Computing Institute of Automation Chinese Academy of Sciences Department of Computer Science University of California Los Angeles The Paul G. Allen School of Computer Science and Engineering University of Washington Department of Computer Science Cornell University Department of Systems Engineering and Engineering Management The Chinese University of Hong Kong

Molecular Representation Learning (MRL) has emerged as a powerful tool for drug and materials discovery in a variety of tasks such as virtual screening and inverse design. While there has been a surge of interest in advancing model-centric techniques, the influence of both data quantity and quality on molecular representations is not yet clearly understood within this field. In this paper, we delve into the neural scaling behaviors of MRL from a data-centric viewpoint, examining four key dimensions: (1) data modalities, (2) dataset splitting, (3) the role of pre-training, and (4) model capacity. Our empirical studies confirm a consistent power-law relationship between data volume and MRL performance across these dimensions. Additionally, through detailed analysis, we identify potential avenues for improving learning efficiency. To challenge these scaling laws, we adapt seven popular data pruning strategies to molecular data and benchmark their performance. Our findings underline the importance of data-centric MRL and highlight possible directions for future research.

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