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CPL-SLAM: Centralized Collaborative Multi-Robot Visual-Inertial SLAM Using Point-and-Line Features

IEEE Internet of Things Journal 2025年

作者： Liu, Xin Wen, Shuhuan Liu, Huaping Richard Yu, F. Yanshan University Engineering Research Center The Ministry of Education for Intelligent Control System and Intelligent Equipment Key Lab of Intelligent Rehabilitation and Neuroregulation in Hebei Province Department of Key Lab of Industrial Computer Control Engineering of Hebei Province Qinhuangdao066004 China Tsinghua University Department of Computer Science and Technology Beijing100084 China Shenzhen University College of Computer Science and Software Engineering China Carleton University Canada

Traditional visual-inertial SLAM (Simultaneous Localization and Mapping) systems predominantly rely on feature point matching from a single robot to realize the robot pose estimation and environment map construction. However, in complex scenarios, these traditional systems struggle with issues such as tracking failures due to illumination changes, rapid movements, and low-texture environments, and they perform poorly in terms of mapping efficiency and global consistency. To address these challenges, we propose a centralized collaborative SLAM system that employs both point and line features for tracking in the robot and map fusion in the cloud. The proposed system leverages the fusion of point and line features across all instances in the process, which allows our method to achieve higher localization accuracy in structured, low-texture scenes. With the aid of classifying gravity-aligned vertical lines and spatial parallel lines, the proposed system can deliver faster and more accurate odometry in complex scenes. Furthermore, we developed intra-robot and inter-robot loop closure detection methods based on point and line features, generating a globally consistent sparse point cloud and structured scene map in the cloud. Our method is able to build richer maps while improving accuracy compared to existing methods. Experimental results on public datasets and in real-world environments show that, compared to existing advanced methods, our approach demonstrates better performance. © 2014 IEEE.

关键词： SLAM robotics

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Efficient Cartesian Genetic Programming-Based Automatic Synthesis Framework for Reversible Quantum-Flux-Parametron Logic Circuits

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IEEE Transactions on computer-Aided Design of Integrated Circuits and Systems 2025年

作者： Fu, Rongliang Wille, Robert Yoshikawa, Nobuyuki Ho, Tsung-Yi The Chinese University of Hong Kong Department of Computer Science and Engineering 999077 Hong Kong Technical University of Munich Munich80333 Germany Software Competence Center Hagenberg GmbH Hagenberg4232 Austria Yokohama National University Department of Electrical and Computer Engineering Yokohama240-8501 Japan

Reversible computing has garnered significant attention as a promising avenue for achieving energy-efficient computing systems, particularly within the realm of quantum computing. The reversible quantum-flux-parametron (RQFP) is the first practical reversible logic gate utilizing adiabatic superconducting devices, with experimental evidence supporting both its logical and physical reversibility. Each RQFP logic gate operates on alternating current (AC) power and features three input ports and three output ports. Notably, each output port is capable of implementing a majority function while driving only a single fan-out. Additionally, the three inputs to each gate must arrive in the same clock phase. These inherent characteristics present substantial challenges in the design of RQFP logic circuits. To address these challenges, this paper proposes an automatic synthesis framework for RQFP logic circuit design based on efficient Cartesian genetic programming (CGP). The framework aims to minimize both the number of RQFP logic gates and the number of garbage outputs within the generated RQFP logic circuit. It incorporates the specific characteristics of the RQFP logic circuit by encoding them into the genotype of a CGP individual. It also introduces several point mutation operations to facilitate the generation of new individuals. Furthermore, the framework integrates circuit simulation with formal verification to assess the functional equivalence between the parent and its offspring. Experimental results on RevLib and reversible reciprocal circuit benchmarks demonstrate the effectiveness of our framework. © 2025 IEEE. All rights reserved.

关键词： Genetic programming

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Instructors' Perspectives on Capstone Courses in Computing Fields: A Mixed-Methods Study 2024

Instructors' Perspectives on Capstone Courses in Computing F...

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29th Working Group Reports on Innovation and Technology in computer science Education, ITiCSE WGR 2024

作者： Hooshangi, Sara Shakil, Asma Dasgupta, Subhasish Davis, Karen C.C. Farghally, Mohammed Fitzpatrick, KellyAnn Gutica, Mirela Hardt, Ryan Riddle, Steve Seyam, Mohammed Department of Computer Science Virginia Tech BlacksburgVA United States School of Computer Science University of Auckland Auckland New Zealand Info Systems and Tech Mgmt Dept George Washington University WashingtonDC United States Computer Science and Software Engineering Dept. Miami University OxfordOH United States School of Computing Instruction Georgia Institute of Technology AtlantaGA United States School of Computing & Academic Studies British Columbia Institute of Technology BurnabyBC Canada Computer & Information Science University of St. Thomas Saint PaulVA United States School of Computing Newcastle University Newcastle upon Tyne United Kingdom

ISBN: (纸本)9798400712081

Team-based capstone courses are integral to many undergraduate and postgraduate degree programs in the computing field. They are designed to help students gain hands-on experience and practice professional skills such as communication, teamwork, and self-reflection as they transition into the real world. Prior research on capstone courses has focused primarily on the experiences of students. The perspectives of instructors who teach capstone courses have not been explored comprehensively. However, an instructor's experience, motivation, and expectancy can have a significant impact on the quality of a capstone course. In this working group, we used a mixed methods approach to understand the experiences of capstone instructors. Issues such as class size, industry partnerships, managing student conflicts, and factors influencing instructor motivation were examined using a quantitative survey and semi-structured interviews with capstone teaching staff from multiple institutions across different continents. Our findings show that there are more similarities than differences across various capstone course structures. Similarities include team size, team formation methodologies, duration of the capstone course, and project sourcing. Differences in capstone courses include class sizes and institutional support. Some instructors felt that capstone courses require more time and effort than regular lecture-based courses. These instructors cited that the additional time and effort is related to class size and liaising with external stakeholders, including industry partners. Some instructors felt that their contributions were not recognized enough by the leadership at their institutions. Others acknowledged institutional support and the value that the capstone brought to their department. Overall, we found that capstone instructors were highly intrinsically motivated and enjoyed teaching the capstone course. Most of them agree that the course contributes to their professional de

关键词： Students

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What Drives the Use of Generative Artificial Intelligence to Promote Educational Sustainability? Evidence from SEM-ANN Approach

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TechTrends 2025年 1-15页

作者： Arpaci, Ibrahim Al-Emran, Mostafa Al-Qaysi, Noor Al-Sharafi, Mohammed A. Management Information Systems College of Business Administration Gulf University for Science and Technology Mishref Kuwait Department of Software Engineering Faculty of Engineering and Natural Sciences Bandirma Onyedi Eylul University Balikesir Turkey Department of Computer Science and Engineering College of Informatics Korea University Seoul 02841 South Korea Faculty of Engineering & IT The British University in Dubai Dubai United Arab Emirates Engineering Technical College Al-Bayan University Baghdad Iraq Information and Communication Technology Research Group Scientific Research Center Al-Ayen University Thi-Qar Iraq IRC for Finance and Digital Economy KFUPM Business School King Fahd University of Petroleum & Minerals Dhahran Saudi Arabia

The literature on generative “Artificial Intelligence” (AI) in education primarily focuses on its immediate benefits and applications, such as personalized learning, student engagement, and content generation. However, there is a notable absence of empirical research concerning the holistic use of generative AI within educational institutions and its long-term impact on educational sustainability. This study investigates the factors that predict the use of generative AI and its subsequent influence on educational sustainability. This study enhanced the extended “Unified Theory of Acceptance and Use of Technology” (UTAUT-2) by including personal innovativeness as an external variable and educational sustainability as an outcome. A hybrid methodology, integrating “Structural Equation Modeling” (SEM) and “Artificial Neural Network” (ANN), was used to evaluate the research model using data collected from 1,011 university students. The SEM analysis confirmed all hypotheses. Specifically, a positive relationship was found between use behavior and educational sustainability. These results show that the combined variables collectively account for 63% and 66% of the variance in use behavior and educational sustainability, respectively. The sensitivity analysis identified habit as the most important predictor of use behavior. The findings offer both theoretically important and practically valuable implications for designing user-centered AI integration in education. © Association for Educational Communications & Technology 2025.

关键词： Artificial intelligence Educational sustainability SEM-ANN UTAUT-2

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Real-Time Traffic Sign Detection for Autonomous Vehicles Using YOLOv11

Real-Time Traffic Sign Detection for Autonomous Vehicles Usi...

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International Conference on Electrical, computer and Communication engineering (ECCE)

作者： Md Shahabub Alam Al Sani Md Tanvir Islam Ayan Kumar Ghosh Avijit Chowdhury Department of Computer Science Universität Potsdam Potsdam Germany Dept. of Industrial & Production Engineering Jashore University of Science and Technology Jashore Bangladesh Department of Software Sungkyunkwan University Suwon Republic of Korea Department of Mechanical Engineering Chittagong University of Engineering and Technology Bangladesh

ISBN: (数字)9798350357509

ISBN: (纸本)9798350357516

Reliable detection of traffic signs plays a critical role in autonomous vehicles and driver-assistance technologies, especially when operating under diverse and complex real-world conditions. This study investigates the effectiveness of various YOLO-based object detection frameworks, ranging from YOLOv5 to the newly proposed YOLOv11, in addressing the task of traffic sign recognition. The dataset includes varying class configurations and challenging conditions such as low-light and noise, enabling a comprehensive analysis of model robustness. YOLOv11 outperformed prior versions, achieving the highest mAP of 0.961, establishing it as a state-of-the-art (SOTA) solution. The study also conducted ablations to analyze the impact of batch size, data augmentation, and adverse conditions on model performance. Notably, YOLOv11 demonstrated strong resilience to noise and low-light scenarios, maintaining high accuracy even under dense conditions. Comparisons with existing models further validated its superiority in terms of precision and consistency. These results highlight YOLOv11’s potential for real-world traffic sign detection tasks, where reliability is critical.

关键词： YOLO Analytical models Adaptation models Electric potential Accuracy Noise Robustness Real-time systems Autonomous vehicles Resilience

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Empowering Agricultural Insights: RiceLeafBD - A Novel Dataset and Optimal Model Selection for Rice Leaf Disease Diagnosis through Transfer Learning Technique

arXiv

引用

arXiv 2025年

作者： Rimi, Sadia Afrin Chowdhury, Md. Jalal Uddin Abdullah, Rifat Ahmed, Iftekhar Mim, Mahrima Akter Rahman, Mohammad Shoaib Department of Computer Science and Engineering Leading University Sylhet Bangladesh Department of Software Engineering Daffodil International University Dhaka Bangladesh Department of Business Queensborough Community College Bayside Queens New York United States

The number of people living in this agricultural nation of ours, which is surrounded by lush greenery, is growing on a daily basis. As a result of this, the level of arable land is decreasing, as well as residential houses and industrial factories. The food crisis is becoming the main threat for us in the upcoming days. Because on the one hand, the population is increasing, and on the other hand, the amount of food crop production is decreasing due to the attack of diseases. Rice is one of the most significant cultivated crops since it provides food for more than half of the world’s population. Bangladesh is dependent on rice (Oryza sativa) as a vital crop for its agriculture, but it faces a significant problem as a result of the ongoing decline in rice yield brought on by common diseases. Early disease detection is the main difficulty in rice crop cultivation. In this paper, we proposed our own dataset, which was collected from the Bangladesh field, and also applied Deep learning and Transfer learning models for the evaluation of the datasets. We elaborately explain our dataset and also give direction for further research work to serve society using this dataset. We applied a light CNN model and pre-trained InceptionNet-V2, EfficientNet-V2, and MobileNet-V2 models, which achieved 91.5% performance for the EfficientNet-V2 model of this work. The results obtained assaulted other models and even exceeded approaches that are considered to be part of the state of the art. It has been demonstrated by this study that it is possible to precisely and effectively identify diseases that affect rice leaves using this unbiased datasets. After analysis of the performance of different models, the proposed datasets are significant for the society for research work to provide solutions for decreasing rice leaf disease. © 2025, CC BY.

关键词： Plant diseases

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Highly Accurate Crow Search Optimized CNN Classifier for Cyclone Prediction

Highly Accurate Crow Search Optimized CNN Classifier for Cyc...

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Data science, Agents & Artificial Intelligence (ICDSAAI), International Conference on

作者： R. Ramya Kavin K. S R. Anuja A. T. R. Krishna Priya D. Karthikeyan Kiruba Thangam Raja Department of Electronics and Communication Engineering Saveetha School of Engineering Saveetha Institute of Medical and Technical Sciences (SIMATS) Tamilnadu India Department of Electrical and Electronics Engineering Government College of Engineering Tirunelveli Tamilnadu India Department of Computer Science and Engineering Rohini College of Engineering and Technology Kanyakumari Tamilnadu India Department of Electrical and Electronics Engineering SRM Institute of Science and Technology Chennai India Department of Software and Systems Engineering School of Computer Science Engineering and Information Systems (SCORE) VIT University Vellore

ISBN: (数字)9798331537555

ISBN: (纸本)9798331537562

Accurate and timely prediction of cyclone events is essential for effective disaster management and risk mitigation. This study introduces a highly precise cyclone prediction model that combines Convolutional Neural Networks (CNNs) with the optimization capabilities of the Crow Search Algorithm (CSA). The resulting model, called Crow Search Optimized CNN (CSO-CNN), harnesses the feature extraction and classification strengths of CNNs, while the CSA is used to optimize the hyperparameters of the CNN architecture for optimal performance. The model is trained and validated on a comprehensive dataset that includes satellite imagery and meteorological data from a wide range of cyclone events. The CSO-CNN achieves remarkable classification accuracy, surpassing traditional CNN models and other leading techniques. Its ability to quickly and accurately assess the likelihood of cyclone formation provides crucial decision support for disaster management authorities, enabling timely and effective response strategies. By integrating the CSA optimization technique with the CNN framework, this study presents a novel approach to cyclone prediction. It highlights the potential of combining advanced Machine Learning (ML) algorithms to tackle complex environmental challenges and deepen our understanding of intricate atmospheric phenomena.

关键词： Accuracy Atmospheric modeling Disaster management Predictive models Prediction algorithms Feature extraction Cyclones Satellite images Convolutional neural networks Optimization

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A multi-objective cuckoo search algorithm using generalized Lèvy flight and dissimilar egg identification for multispectral image thresholding

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Applied Soft Computing 2025年 175卷

作者： Pal, Ramen Roy, Pritam Mallick, Srijon Mukhopadhyay, Somnath Sarkar, Sunita Hinchey, Mike Department of Computer Science and Engineering Assam University Silchar Assam India Cognizant Technology Solutions India Pvt. Ltd. India Samsung Semiconductor India Research India Lero the SFI Research Centre for Software Department of Computer Science & Information Systems University of Limerick Limerick Ireland

Cuckoo Search (CS) stands as a highly efficient meta-heuristic optimization algorithm. Existing literature showcases the ability of CS in multi-objective scenarios, delineated by the three fundamental rules. However, the first rule of the algorithm incurs the cost of a generation to update a single nest, while the third rule necessitates hit-and-trial methods for parameter adjustment. To address these concerns, a multi-objective cuckoo search algorithm is proposed in this paper. The algorithm builds upon a generalized concept of Lèvy Flight for generating new solutions. Problem-specific, constraint-based strategies for identifying the best nest and dissimilar eggs are also introduced. The algorithm is further applied to solve multispectral remote sensing image thresholding problem. Prior studies have underscored the efficiency of entropy and clustering-based thresholding methods over other techniques. Nevertheless, most entropy-based approaches entail converting color images to grayscale before segmentation, potentially sacrificing crucial spectral information and consequently degrading segmentation algorithm's performance. To avoid these limitations, this research introduces an entropy-based thresholding method to segment a color image without converting it to grayscale. The experiments are carried out using very high resolution (VHR) and coarse resolution (CR) multispectral (MS) images from the satellite sensors Pl'eidas-1B and Sentinel-2b, respectively. The proposed methods undergo validation against four state-of-the-art techniques on benchmark functions and six clustering indexes, respectively. © 2025 Elsevier B.V.

关键词： Heuristic algorithms

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On EDA-Driven Learning for SAT Solving 23

On EDA-Driven Learning for SAT Solving

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Proceedings of the 60th Annual ACM/IEEE Design Automation Conference

作者： Min Li Zhengyuan Shi Qiuxia Lai Sadaf Khan Shaowei Cai Qiang Xu Department of Computer Science and Engineering The Chinese University of Hong Kong Hong Kong S.A.R Communication University of China China State Key Laboratory of Computer Science Institute of Software Chinese Academy of Sciences China

ISBN: (纸本)9798350323481

We present DeepSAT, a novel end-to-end learning framework for the Boolean satisfiability (SAT) problem. Unlike existing solutions trained on random SAT instances with relatively weak supervision, we propose applying the knowledge of the well-developed electronic design automation (EDA) field for SAT solving. Specifically, we first resort to logic synthesis algorithms to pre-process SAT instances into optimized and-inverter graphs (AIGs). By doing so, the distribution diversity among various SAT instances can be dramatically reduced, which facilitates improving the generalization capability of the learned model. Next, we regard the distribution of SAT solutions being a product of conditional Bernoulli distributions. Based on this observation, we approximate the SAT solving procedure with a conditional generative model, leveraging a novel directed acyclic graph neural network (DAGNN) with two polarity prototypes for conditional SAT modeling. To effectively train the generative model, with the help of logic simulation tools, we obtain the probabilities of nodes in the AIG being logic '1' as rich supervision. We conduct comprehensive experiments on various SAT problems. Our results show that, DeepSAT achieves significant accuracy improvements over state-of-the-art learning-based SAT solutions, especially when generalized to SAT instances that are relatively large or with diverse distributions.

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PDC-ViT: Source Camera Identification using Pixel Difference Convolution and Vision Transformer

arXiv

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arXiv 2025年

作者： Elharrouss, Omar Akbari, Younes Almaadeed, Noor Al-Maadeed, Somaya Khelifi, Fouad Bouridane, Ahmed Department of Computer Science and Software Engineering College of Information Technology United Arab Emirates University United Arab Emirates Department of Computer Science and Engineering Qatar University Doha Qatar Department of Computer and Information Sciences Northumbria University Newcastle United Kingdom Center for Data Analytics and Cybernetics University of Sharjah Sharjah United Arab Emirates

Source camera identification has emerged as a vital solution to unlock incidents involving critical cases like terrorism, violence, and other criminal activities. The ability to trace the origin of an image/video can aid law enforcement agencies in gathering evidence and constructing the timeline of events. Moreover, identifying the owner of a certain device narrows down the area of search in a criminal investigation where smartphone devices are involved. This paper proposes a new pixel-based method for source camera identification, integrating Pixel Difference Convolution (PDC) with a Vision Transformer network (ViT), and named PDC-ViT. While the PDC acts as the backbone for feature extraction by exploiting Angular PDC (APDC) and Radial PDC (RPDC). These techniques enhance the capability to capture subtle variations in pixel information, which are crucial for distinguishing between different source cameras. The second part of the methodology focuses on classification, which is based on a Vision Transformer network. Unlike traditional methods that utilize image patches directly for training the classification network, the proposed approach uniquely inputs PDC features into the Vision Transformer network. To demonstrate the effectiveness of the PDC-ViT approach, it has been assessed on five different datasets, which include various image contents and video scenes. The method has also been compared with state-of-the-art source camera identification methods. Experimental results demonstrate the effectiveness and superiority of the proposed system in terms of accuracy and robustness when compared to its competitors. For example, our proposed PDC-ViT has achieved an accuracy of 94.30%, 84%, 94.22% and 92.29% using the Vision dataset, Daxing dataset, Socrates dataset and QUFVD dataset, respectively. © 2025, CC BY.

关键词： Convolution

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