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arXiv 2024年

作者： Wu, Xu Hou, XianXu Lai, Zhihui Zhou, Jie Zhang, Ya-Nan Pedrycz, Witold Shen, Linlin The Computer Vision Institute College of Computer Science and Software Engineering Shenzhen University Shenzhen518060 China Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen518060 China Guangdong Key Laboratory of Intelligent Information Processing Shenzhen University Shenzhen518060 China School of AI and Advanced Computing Xi’an Jiaotong-Liverpool University China National Engineering Laboratory for Big Data System Computing Technology Shenzhen University SZU Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society Guangdong Shenzhen518060 China The Department of Electrical & Computer Engineering University of Alberta University of Alberta Canada

Low-light image enhancement (LLIE) aims to improve low-illumination images. However, existing methods face two challenges: (1) uncertainty in restoration from diverse brightness degradations;(2) loss of texture and color information caused by noise suppression and light enhancement. In this paper, we propose a novel enhancement approach, CodeEnhance, by leveraging quantized priors and image refinement to address these challenges. In particular, we reframe LLIE as learning an image-to-code mapping from low-light images to discrete codebook, which has been learned from high-quality images. To enhance this process, a Semantic Embedding Module (SEM) is introduced to integrate semantic information with low-level features, and a Codebook Shift (CS) mechanism, designed to adapt the pre-learned codebook to better suit the distinct characteristics of our low-light dataset. Additionally, we present an Interactive Feature Transformation (IFT) module to refine texture and color information during image reconstruction, allowing for interactive enhancement based on user preferences. Extensive experiments on both real-world and synthetic benchmarks demonstrate that the incorporation of prior knowledge and controllable information transfer significantly enhances LLIE performance in terms of quality and fidelity. The proposed CodeEnhance exhibits superior robustness to various degradations, including uneven illumination, noise, and color distortion. Copyright © 2024, The Authors. All rights reserved.

关键词： Image enhancement

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Towards Fluorescence-Guided Autonomous Robotic Partial Nephrectomy on Novel Tissue-Mimicking Hydrogel Phantoms

arXiv

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arXiv 2025年

作者： Kilmer, Ethan Chen, Joseph Ge, Jiawei Sarda, Preksha Cha, Richard Cleary, Kevin Shepard, Lauren Ghazi, Ahmed Ezzat Scheikl, Paul Maria Krieger, Axel Laboratory of Computational Sensing and Robotics Johns Hopkins University BaltimoreMD21218 United States Department of Computer Science and Software Engineering Rose-Hulman Institute of Technology Terre HauteIN47803 United States Sheikh Zayed Institute for Pediatric Surgical Innovation Children’s National Hospital WashingtonDC20010 United States Department of Urology Johns Hopkins University BaltimoreMD21218 United States

Autonomous robotic systems hold potential for improving renal tumor resection accuracy and patient outcomes. We present a fluorescence-guided robotic system capable of planning and executing incision paths around exophytic renal tumors with a clinically relevant resection margin. Leveraging point cloud observations, the system handles irregular tumor shapes and distinguishes healthy from tumorous tissue based on near-infrared imaging, akin to indocyanine green staining in partial nephrectomy. Tissue-mimicking phantoms are crucial for the development of autonomous robotic surgical systems for interventions where acquiring ex-vivo animal tissue is infeasible, such as cancer of the kidney and renal pelvis. To this end, we propose novel hydrogel-based kidney phantoms with exophytic tumors that mimic the physical and visual behavior of tissue, and are compatible with electrosurgical instruments, a common limitation of silicone-based phantoms. In contrast to previous hydrogel phantoms, we mix the material with near-infrared dye to enable fluorescence-guided tumor segmentation. Autonomous real-world robotic experiments validate our system and phantoms, achieving an average margin accuracy of 1.44 mm in a completion time of 69 sec. Copyright © 2025, The Authors. All rights reserved.

关键词： Phantoms

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Unsupervised Video Anomaly Detection with Self-Attention Based Feature Aggregating

Unsupervised Video Anomaly Detection with Self-Attention Bas...

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International Conference on Intelligent Transportation

作者： Zhenhao Ye Yanlong Li Zhichao Cui Yuehu Liu Li Li Le Wang Chi Zhang National Key Laboratory of Human-Machine Hybrid Augmented Intelligence National Engineering Research Center for Visual Information and Applications Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University Xi'an Shaanxi China School of Software Engineering Xi'an Jiaotong University Xi'an Shaanxi China School of Electronics and Control Engineering Chang'an University Department of Automation BNRist Tsinghua University Beijing China

Anomaly detection in surveillance videos is a crucial and challenging task in the intelligent transportation systems. Previous methods utilize a memory module to store prototypical feature embeddings as normal patterns learned from normal training data. However, due to the complexity of real-world scenarios, it is difficult to choose an appropriate size of memory module which can not only memorize normal patterns comprehensively, but also capable of dealing with unseen normal scenarios. To tackle this problem, we learn normal video patterns by constructing and exploring correlations between visual semantics. In the training stage, we act the self-attention map between embeddings as a description of information association between different visual semantics. A self-attention based feature aggregating module is designed to regenerate a feature map through aggregating embeddings with similar information based on the attention map. By decoding the generated feature map instead of the original one to predict the future frame of the input video clip, the model learns to build strong information association between normal visual semantics. Moreover, we observe that abnormal embeddings hardly build strong association with others. Thus, we design a feature-level anomaly criterion referred as prior deviation to increase the difference between attention maps generated by normal and abnormal frames. In the inferring stage, the proposed prior deviation jointly detects anomalies with pixel-level frame prediction error. Experiment results and ablation studies on mainstream benchmarks demonstrate the effectiveness of our design.

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A survey: Deep learning for hyperspectral image classification with few labeled samples

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Neurocomputing 2021年 448卷 179-204页

作者： Sen Jia Shuguo Jiang Zhijie Lin Nanying Li Meng Xu Shiqi Yu College of Computer Science and Software Engineering Shenzhen University China SZU Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society China Department of Computer Science and Engineering Southern University of Science and Technology China

With the rapid development of deep learning technology and improvement in computing capability, deep learning has been widely used in the field of hyperspectral image (HSI) classification. In general, deep learning models often contain many trainable parameters and require a massive number of labeled samples to achieve optimal performance. However, in regard to HSI classification, a large number of labeled samples is generally difficult to acquire due to the difficulty and time-consuming nature of manual labeling. Therefore, many research works focus on building a deep learning model for HSI classification with few labeled samples. In this article, we concentrate on this topic and provide a systematic review of the relevant literature. Specifically, the contributions of this paper are twofold. First, the research progress of related methods is categorized according to the learning paradigm, including transfer learning, active learning and few-shot learning. Second, a number of experiments with various state-of-the-art approaches has been carried out, and the results are summarized to reveal the potential research directions. More importantly, it is notable that although there is a vast gap between deep learning models (that usually need sufficient labeled samples) and the HSI scenario with few labeled samples, the issues of small-sample sets can be well characterized by fusion of deep learning methods and related techniques, such as transfer learning and a lightweight model. For reproducibility, the source codes of the methods assessed in the paper can be found at https://***/ShuGuoJ/***.

关键词： Hyperspectral image classification Deep learning Transfer learning Few-shot learning

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An anonymous and privacy-preserving lightweight authentication protocol for secure communication in UAV-assisted IoAV networks

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Computer Communications 2025年 239卷

作者： Shariq, Mohd Jamil, Norziana Rawat, Gopal Singh Chaudhry, Shehzad Ashraf Masud, Mehedi Cangelosi, Angelo Department of Information Systems and Security College of IT UAE University P.O.Box 15551 Al Ain Abu Dhabi United Arab Emirates Bennett University Greater Noida201310 India Department of Computer Science and Information Technology College of Engineering Abu Dhabi University Abu Dhabi United Arab Emirates Department of Software Engineering Faculty of Engineering and Architecture Nisantasi University Istanbul34398 Turkey Department of Computer Science College of Computers and Information Technology Taif University P.O. Box 11099 Taif21944 Saudi Arabia Manchester Centre for Robotics and AI University of Manchester United Kingdom

With the rapid proliferation of the Internet of Things (IoT), autonomous vehicles (AVs), or self-driving cars, rely heavily on real-time data sharing and message exchanges over wireless networks. AVs use sensors, artificial intelligence, machine learning, and advanced algorithms to perform various functions, enabling users to operate without human intervention. Owing to the flexibility and high mobility of drones, they could aid in the operations of AVs. However, the security and privacy are the main concerns;specifically, the threat of physical capture and violation of anonymity are the main hurdles for realization of secure communication among the AVs and drones. To address these challenges, we propose an anonymous and provably Secure Lightweight Authentication Protocol for unmanned-aerial-vehicle-assisted Internet of Autonomous Vehicles (SLAP-IoAV). The proposed protocol uses cryptographic primitives such as exclusive-OR operations, elliptic-curve cryptography, collision-resistant one-way hashing, and concatenation to ensure robust security. An informal security analysis found that SLAP-IoAV is secure against several known attacks, and a performance analysis established that the protocol has less computational and communication overhead than existing competitive protocols. Additionally, Scyther simulation results confirm that no security vulnerabilities are present. Overall, our protocol delivers superior security and performance, making it well-suited to real-world applications in the AV industry. © 2025 Elsevier B.V.

关键词： Authentication Protocol

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F2A2: flexible fully-decentralized approximate actor-critic for cooperative multi-agent reinforcement learning

The Journal of Machine Learning Research

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The Journal of Machine Learning Research 2023年第1期24卷 8447-8521页

作者： Wenhao Li Bo Jin Xiangfeng Wang Junchi Yan Hongyuan Zha School of Data Science The Chinese University of Hong Kong Shenzhen Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen China School of Software Engineering Shanghai Research Institute for Intelligent Autonomous Systems Tongji University Shanghai China School of Computer Science and Technology Key Laboratory of Mathematics and Engineering Applications Ministry of Education East China Normal University Shanghai China Department of Computer Science and Engineering Key Laboratory of Artificial Intelligence Ministry of Education Shanghai Jiao Tong University Shanghai China

Traditional centralized multi-agent reinforcement learning (MARL) algorithms are sometimes unpractical in complicated applications due to non-interactivity between agents, the curse of dimensionality, and computation complexity. Hence, several decentralized MARL algorithms are motivated. However, existing decentralized methods only handle the fully cooperative setting where massive information needs to be transmitted in training. The block coordinate gradient descent scheme they used for successive independent actor and critic steps can simplify the calculation, but it causes serious bias. This paper proposes a exible fully decentralized actor-critic MARL framework, which can combine most of the actor-critic methods and handle large-scale general cooperative multi-agent settings. A primal-dual hybrid gradient descent type algorithm framework is designed to learn individual agents separately for decentralization. From the perspective of each agent, policy improvement and value evaluation are jointly optimized, which can stabilize multi-agent policy learning. Furthermore, the proposed framework can achieve scalability and stability for the large-scale environment. This framework also reduces information transmission by the parameter sharing mechanism and novel modeling-other-agents methods based on theory-of-mind and online supervised learning. Sufficient experiments in cooperative Multi-agent Particle Environment and StarCraft II show that the proposed decentralized MARL instantiation algorithms perform competitively against conventional centralized and decentralized methods.

关键词： cooperative MARL decentralized actor-critic primal-dual method

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Learning Signed Hyper Surfaces for Oriented Point Cloud Normal Estimation

arXiv

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arXiv 2023年

作者： Li, Qing Feng, Huifang Shi, Kanle Gao, Yue Fang, Yi Liu, Yu-Shen Han, Zhizhong School of Software Tsinghua University Beijing China School of Computing and Artificial Intelligence Southwest Jiaotong University Chengdu China School of Computer and Software Engineering Xihua University Chengdu China Kuaishou Technology Beijing China Center for Artificial Intelligence and Robotics New York University Abu Dhabi Abu Dhabi United Arab Emirates Department of Computer Science Wayne State University Detroit United States

We propose a novel method called SHS-Net for point cloud normal estimation by learning signed hyper surfaces, which can accurately predict normals with global consistent orientation from various point clouds. Almost all existing methods estimate oriented normals through a two-stage pipeline, i.e., unoriented normal estimation and normal orientation, and each step is implemented by a separate algorithm. However, previous methods are sensitive to parameter settings, resulting in poor results from point clouds with noise, density variations and complex geometries. In this work, we introduce signed hyper surfaces (SHS), which are parameterized by multi-layer perceptron (MLP) layers, to learn to estimate oriented normals from point clouds in an end-to-end manner. The signed hyper surfaces are implicitly learned in a high-dimensional feature space where the local and global information is aggregated. Specifically, we introduce a patch encoding module and a shape encoding module to encode a 3D point cloud into a local latent code and a global latent code, respectively. Then, an attention-weighted normal prediction module is proposed as a decoder, which takes the local and global latent codes as input to predict oriented normals. Experimental results show that our algorithm outperforms the state-of-the-art methods in both unoriented and oriented normal estimation. © 2023, CC BY-NC-SA.

关键词： Surface reconstruction

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A novel channel model and optimal power control schemes for mobile mmWave two-tier networks

TechRxiv

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TechRxiv 2022年

作者： Ghosh, Joydev Haci, Huseyin Kumar, Neeraj Al-Utaibi, Khaled A. Sait, Sadiq M. So-In, Chakchai School of Computer Science and Robotics Tomsk Polytechnic University Tomsk Russia Department of Electrical and Electronics Engineering Near East University Mersin 10 Turkey Department of Computer Science & Engineering Thapar Institute of Engineering & Technology Punjab India Computer Science and Software Engineering Department University of Ha’il Saudi Arabia Department of Computer Engineering King Fahd University of Petroleum & Minerals Dhahran Saudi Arabia Department of Computer Science College of Computing Khon Kaen University Thailand

We present a unified system model and framework for the analytical performance study of two heterogeneous and physically-distinct, but coexisting, networks that work harmoniously at the same time, space, and frequency domains. The two-tier network model considered in this paper is an overlaying of femtocells on a macrocell. Overlaying femtocells improves the performance by offloading traffic from macrocells and providing spatial diversity. The mmWave channel model employed considers the number of clusters and rays within each cluster to vary due to the end-user mobility. This is a new and different model compared to the widely used channel models for mmWave two-tier networks. Optimal power control is formulated as a sum-rate maximization problem for downlink and uplink transmissions at two-tier networks and a power allocation scheme is proposed by following Shannon-Hartley theorem. A comprehensive and interesting performance investigation is provided, where it is shown that the upper bound on the number of admitted secondary users has a linear relationship with the outage probability threshold, logarithmic relationship with SINR and exponential relationship with channel gain factors. Simulation results show that the proposed scheme with sub-channel iterative Lagrange multipliers search algorithm is very effective at managing the cross-tier interference and can outperform a competitive scheme from literature that is based on cognitive radio technology. The computational complexity analysis of proposed algorithms are also given, since the complexity of second algorithm can be a performance-complexity trade-off issue for systems with limited computation power and time requirements. © 2022, CC BY.

关键词： Femtocell

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Deep learning model generalization with ensemble in endoscopic images 3

Deep learning model generalization with ensemble in endoscop...

引用

3rd International Workshop and Challenge on Computer Vision in Endoscopy, EndoCV 2021

作者： Hong, Ayoung Lee, Giwan Lee, Hyunseok Seo, Jihyun Yeo, Doyeob Robotics Engineering Convergence Chonnam National University Gwangju Korea Republic of Department of AI Convergence Chonnam National University Gwangju Korea Republic of Daegu-Gyeongbuk Medical Innovation Foundation Daegu Korea Republic of Department of Computer Convergence Software Korea University Sejong Korea Republic of Electronics and Telecommunications Research Institute Daejeon Korea Republic of

Owing to the rapid development of deep learning technologies in recent years, autonomous diagnostic systems are widely used to detect abnormal lesions such as polyps in endoscopic images. However, the image characteristics, such as the contrast and illuminance, vary significantly depending on the center from which the data was acquired;this affects the generalization performance of the diagnostic method. In this paper, we propose an ensemble learning method based on k-fold cross-validation to improve the generalization performance of polyp detection and polyp segmentation in endoscopic images. Weighted box fusion methods were used to ensemble the bounding boxes obtained from each detection model trained for data from each center. The segmentation results of the data center-specific model were averaged to generate the final ensemble mask. We used a Mask R-CNN-based model for both the detection and segmentation tasks. The proposed method achieved a score of 0.7269 on the detection task and 0.7423 ± 0.2839 on the segmentation task in Round 1 of the EndoCV2021 challenge. © 2021 Copyright for this paper by its authors. Use permitted under Creative Commons License Attribution 4.0 International (CC BY 4.0).

关键词： Image enhancement

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On the comparison of optimal NOMA and OMA in a paradigm shift of emerging technologies

TechRxiv

引用

TechRxiv 2022年

作者： Ghosh, Joydev Ra, In-Ho Singh, Saurabh Haci, Hüseyin Al-Utaibi, Khaled A. Sait, Sadiq M. School of Computer Science and Robotics Tomsk Polytechnic University Tomsk Russia School of Computer Information and Communication Engineering Kunsan National University Gunsan Korea Republic of Department of Industrial & Systems Engineering Dongguk University Korea Republic of Department of Electrical and Electronics Engineering Near East University Mersin 10 Turkey Computer Science and Software Engineering Department University of Ha’il Saudi Arabia Department of Computer Engineering King Fahd University of Petroleum & Minerals Dhahran Saudi Arabia

Non-orthogonal multiple access (NOMA) is a better multiple access technique than orthogonal multiple access (OMA), precisely orthogonal frequency division multiple access (OFDMA) scheme, at the conceptual level for fifth-generation (5G) networks and beyond 5G (B5G) networks. We investigate the potentials of the schemes by comparing the proposed NOMA scheme with the traditional cooperative communication NOMA (CCNOMA) scheme, rather than the comparison between NOMA and OMA only. To probe the effectiveness of NOMA as a multiple access technique, we propose a novel NOMA scheme considering two adjacent BSs with a special design of the transceiver architecture. The proposed scheme provides a reasonable data rate to both near user (NU) and far user (FU) without compromising the quality of service (QoS) to anyone of them. The conclusive analyses on the optimization framework of multi-user sum rate, capacity, transmit power, spectral efficiency (SE), and energy efficiency (EE) trade-off for NOMA and OFDMA schemes have been established to a succession of derivations. Under the analytical optimization framework, we also prove quite a few properties for them. Simulation results confirm the theoretical findings and show that the two schemes can efficiently approach the optimal power allocation, minimization of power consumption, and optimal SE-EE trade-off, and the proposed NOMA scheme provides comparatively better data sum rates than the baseline OMA scheme. © 2022, CC BY.

关键词： Energy efficiency

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