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PPS-SLAM: Dynamic Visual SLAM with a Precise Pruning Strategy

Computers, Materials & Continua 2025年第2期82卷 2849-2868页

作者： Jiansheng Peng Wei Qian Hongyu Zhang College of Automation Guangxi University of Science and TechnologyLiuzhou545000China Department of Artificial Intelligence and Manufacturing Hechi UniversityHechi546300China Key Laboratory of AI and Information Processing Education Department of Guangxi Zhuang Autonomous RegionHechi546300China Guangxi Key Laboratory of Sericulture Ecology and Applied Intelligent Technology School of Chemistry and BioengineeringHechi UniversityHechi546300China

Dynamic visual SLAM (Simultaneous Localization and Mapping) is an important research area, but existing methods struggle to balance real-time performance and accuracy in removing dynamic feature points, especially when semantic information is missing. This paper presents a novel dynamic SLAM system that uses optical flow tracking and epipolar geometry to identify dynamic feature points and applies a regional dynamic probability method to improve removal accuracy. We developed two innovative algorithms for precise pruning of dynamic regions: first, using optical flow and epipolar geometry to identify and prune dynamic areas while preserving static regions on stationary dynamic objects to optimize tracking performance;second, propagating dynamic probabilities across frames to mitigate the impact of semantic information loss in some frames. Experiments show that our system significantly reduces trajectory and pose errors in dynamic scenes, achieving dynamic feature point removal accuracy close to that of semantic segmentation methods, while maintaining high real-time performance. Our system performs exceptionally well in highly dynamic environments, especially where complex dynamic objects are present, demonstrating its advantage in handling dynamic scenarios. The experiments also show that while traditional methods may fail in tracking when semantic information is lost, our approach effectively reduces the misidentification of dynamic regions caused by such loss, thus improving system robustness and accuracy.

关键词： Visual SLAM dynamic SLAM YOLOv8

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DKP-SLAM:A Visual SLAM for Dynamic Indoor Scenes Based on Object Detection and Region Probability

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Computers, Materials & Continua 2025年第1期82卷 1329-1347页

作者： Menglin Yin Yong Qin Jiansheng Peng College of Automation Guangxi University of Science and TechnologyLiuzhou545000China Department of Artificial Intelligence and Manufacturing Hechi UniversityHechi546300China Key Laboratory of AI and Information Processing Education Department of Guangxi Zhuang Autonomous RegionHechi546300China Guangxi Key Laboratory of Sericulture Ecology and Applied Intelligent Technology School of Chemistry and BioengineeringHechi UniversityHechi546300China

In dynamic scenarios,visual simultaneous localization and mapping(SLAM)algorithms often incorrectly incorporate dynamic points during camera pose computation,leading to reduced accuracy and *** paper presents a dynamic SLAM algorithm that leverages object detection and regional dynamic ***,a parallel thread employs the YOLOX object detectionmodel to gather 2D semantic information and compensate for missed ***,an improved K-means++clustering algorithm clusters bounding box regions,adaptively determining the threshold for extracting dynamic object contours as dynamic points *** process divides the image into low dynamic,suspicious dynamic,and high dynamic *** the tracking thread,the dynamic point removal module assigns dynamic probability weights to the feature points in these *** with geometric methods,it detects and removes the dynamic *** final evaluation on the public TUM RGB-D dataset shows that the proposed dynamic SLAM algorithm surpasses most existing SLAM algorithms,providing better pose estimation accuracy and robustness in dynamic environments.

关键词： Visual SLAM dynamic scene YOLOX K-means++clustering dynamic probability

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EPI-Mamba: State Space Model for Semantic Segmentation from Light Fields

EPI-Mamba: State Space Model for Semantic Segmentation from ...

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2025 IEEE International Conference on Acoustics, Speech, and Signal processing, ICASSP 2025

作者： Li, Yan Chen, Jianan Wang, Qiong Xu, Jinshan College of Computer Science & Technology Zhejiang University of Technology Hangzhou China Guangdong Provincial Key Laboratory of Intelligent Information Processing Shenzhen Key Laboratory of Media Security Shenzhen University Shenzhen China

ISBN: (纸本)9798350368741

Global contextual dependency is of significance for semantic segmentation from light fields. However, previous works mostly exploit attention mechanisms to model spatial context dependency and angular context dependency separately, since a light field capture is very data-intensive. Considering that self-attention is resource-consuming, existing methods only use it to capture spatial contextual dependency for the central view of light fields, and employ resource-efficient attention mechanisms to model angular view dependencies instead. Inspired by the recent success of State Space Sequence model (SSM), we present a novel SSM-based encoder for light field semantic segmentation, which models spatio-angular contextual dependency together. The proposed method is evaluated on the existing light field semantic segmentation datasets, and experimental results show that the proposed method significantly outperforms previous state-of-the-art methods. The code and models used in this work are available in https://***/YanWQ/EPI-Mamba. © 2025 IEEE.

关键词： Light field semantic segmentation Mamba State space model

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A survey of distributed algorithms for aggregative games

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IEEE/CAA Journal of Automatica Sinica 2025年第5期12卷 859-871页

作者： Li, Huaqing Li, Jun Ran, Liang Zheng, Lifeng Huang, Tingwen Chongqing Key Laboratory of Nonlinear Circuits and Intelligent Information Processing The College of Electronic and Information Engineering Southwest University Chongqing400715 China College of Computer Science and Engineering Chongqing University of Technology Chongqing400054 China School of Computer Science and Control Engineering Shenzhen University of Advanced Technology Shenzhen518107 China

Game theory-based models and design tools have gained substantial prominence for controlling and optimizing behavior within distributed engineering systems due to the inherent distribution of decisions among individuals. In non-cooperative settings, aggregative games serve as a mathematical framework model for the interdependent optimal decision-making problem among a group of non-cooperative players. In such scenarios, each player's decision is influenced by an aggregation of all players' decisions. Nash equilibrium (NE) seeking in aggregative games has emerged as a vibrant topic driven by applications that harness the aggregation property. This paper presents a comprehensive overview of the current research on aggregative games with a focus on communication topology. A systematic classification is conducted on distributed algorithm research based on communication topologies such as undirected networks, directed networks, and time-varying networks. Furthermore, it sorts out the challenges and compares the algorithms' convergence performance. It also delves into real-world applications of distributed optimization techniques grounded in aggregative games. Finally, it proposes several challenges that can guide future research directions. © 2025 Institute of Electrical and Electronics Engineers Inc.. All rights reserved.

关键词： Nash equilibrium

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Visual Language Model based Cross-modal Semantic Communication Systems

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IEEE Transactions on Wireless Communications 2025年第5期24卷 3937-3948页

作者： Jiang, Feibo Tang, Chuanguo Dong, Li Wang, Kezhi Yang, Kun Pan, Cunhua Hunan Normal University Hunan Provincial Key Laboratory of Intelligent Computing and Language Information Processing Changsha410081 China Hunan Normal University School of Information Science and Engineering Changsha410081 China Hunan University of Technology and Business School of Computer Science Changsha410205 China Xiangjiang Laboratory Changsha410205 China Brunel University London Department of Computer Science UxbridgeUB8 3PH United Kingdom Nanjing University School of Intelligent Software and Engineering Suzhou215163 China Southeast University National Mobile Communications Research Laboratory Nanjing210096 China

Semantic Communication (SC) has emerged as a novel communication paradigm in recent years. Nevertheless, extant Image Semantic Communication (ISC) systems face several challenges in dynamic environments, including low information density, catastrophic forgetting, and uncertain Signal-to-Noise Ratio (SNR). To address these challenges, we propose a novel Vision-Language Model-based Cross-modal Semantic Communication (VLM-CSC) system. The VLM-CSC comprises three novel components: (1) Cross-modal Knowledge Base (CKB) is used to extract high-density textual semantics from the semantically sparse image at the transmitter and reconstruct the original image based on textual semantics at the receiver. The transmission of high-density semantics contributes to alleviating bandwidth pressure. (2) Memory-assisted Encoder and Decoder (MED) employ a hybrid long/short-term memory mechanism, enabling the semantic encoder and decoder to overcome catastrophic forgetting in dynamic environments when there is a drift in the distribution of semantic features. (3) Noise Attention Module (NAM) employs attention mechanisms to adaptively adjust the semantic coding and the channel coding based on SNR, ensuring the robustness of the CSC system. The experimental simulations validate the effectiveness, adaptability, and robustness of the CSC system. © 2002-2012 IEEE.

关键词： Decoding

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MARL-DCF: A Dual-Channel Fusion Routing Algorithm Based on Multi-agent Reinforcement Learning 24th

MARL-DCF: A Dual-Channel Fusion Routing Algorithm Based on ...

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24th International Conference on Algorithms and Architectures for Parallel processing, ICA3PP 2024

作者： Li, Zhenyu Sun, Runyuan Liang, Zhifeng Liu, Bo Sun, Zhenxiang School of Information Science and Engineering University of Jinan Jinan250022 China Shandong Provincial Key Laboratory of Network Based Intelligent Computing University of Jinan Jinan250022 China

ISBN: (纸本)9789819615414

Emerging applications have imposed stringent demands on Internet quality of service (QoS). To ensure that various data streams within different Internet services receive the appropriate QoS, advancements in flow classification technology, software-defined networking (SDN), and programmable network devices have enabled the network to identify user demands and precisely control fine-grained traffic routing quickly. Although significant progress has been made with these technologies, optimizing the transmission paths of business flows to meet diverse QoS requirements in real-time remains a challenge. To address this issue, this paper proposes a dual-channel fusion routing algorithm based on multi-agent reinforcement learning (MARL-DCF). Implemented within an SDN architecture, the algorithm was experimentally validated in a Mininet environment using real network topologies and traffic trajectories. The results demonstrate that MARL-DCF can optimize routing paths according to the network environment, meet various QoS demands, and exhibit strong adaptability and reliability in complex scenarios such as link failures and traffic fluctuations. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Quality of service

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ANALYSIS OF TRIPARTITE GAME IN POWER SYSTEMS BASED ON UNCERTAIN NASH EQUILIBRIUM THEORY

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UPB Scientific Bulletin, Series A: Applied Mathematics and Physics 2025年第1期87卷 117-128页

作者： Wu, Liang Yan, Xiaolin Yao, Zhangsong Zhao, Teng School of Management and Ningxia Key Laboratory of intelligent information and Big Data Processing North Minzu University Ningxia Yinchuan750021 China School of Mathematical Sciences Tiangong University Tianjin300387 China School of Information Engineering Nanjing Xiaozhuang University Nanjing211171 China School of Mathematics and Information Science North Minzu University Ningxia Yinchuan750021 China

Power systems serve as the fundamental infrastructure for the socioeconomic development of modern societies. Researching power systems can stimulate the growth of the power industry and contribute to the sustainable development of society. This paper aims to address uncertainties prevalent in power systems, including extreme weather events, disruptions in renewable energy supply, and adjustments in economic policies. To achieve this objective, an uncertain Nash equilibrium model is established. Subsequently, a game theoretic analysis is conducted to maximize the interests of users, grid companies, and proxy purchasers. Under the condition of not necessarily continuous differentiability, the Riemann-Stieltjes discrete approximation method has been proposed. The difficulty of calculating the expectation of the optimal revenue function has been resolved. Weak first-order equilibrium condition based on Clarke’s generalized gradient, the convergence and convergence rate of uncertain Nash equilibrium solutions are proved. © 2025, Politechnica University of Bucharest. All rights reserved.

关键词： power system tripartite game uncertain Nash equilibrium uncertainty theory

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Efficient Homomorphic Approximation of Max Pooling for Privacy-Preserving Deep Learning 6th

Efficient Homomorphic Approximation of Max Pooling for Pri...

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6th International Conference on Machine Learning for Cyber Security, ML4CS 2024

作者： Zhang, Peng Qiu, Dongyan Duan, Ao Liu, Hongwei The Guangdong Key Laboratory of Intelligent Information Processing College of Electronics and Information Engineering Shenzhen University Guangdong Shenzhen518060 China College of Big Data and Internet Shenzhen Technology University Guangdong Shenzhen518118 China

ISBN: (纸本)9789819645657

Privacy-Preserving Deep Learning (PPDL) using Fully Homomorphic Encryption (FHE) addresses potential data privacy exposure risks associated with deploying deep learning models in untrusted cloud environments. FHE-based PPDL enables users to encrypt their data locally, allowing cloud service providers to perform computations directly on the encrypted data without ever accessing it. However, FHE faces challenges in efficiently handling nonlinear computations, which are essential to deep learning frameworks, particularly in implementing activation functions and max pooling layers. To address this challenge, we improve the homomorphic max pooling approximation scheme HMaxPool, and propose an efficient homomorphic max pooling algorithm, denoted as HMaxPool+. Specifically, we first redefine the approximation of the maximum function, and then design sub-algorithm to address the potential output expansion issue. The experimental results validate that both the homomorphic max pooling algorithm itself and the corresponding homomorphic SqueezeNet neural network demonstrate enhancements in computational efficiency and accuracy. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Differential privacy

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Deep Learning Algorithm for Person Re-Identification Based on Dual Network Architecture

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Computers, Materials & Continua 2025年第5期83卷 2889-2905页

作者： Meng Zhu Xingyue Wang Honge Ren Abeer Hakeem Linda Mohaisen College of Information Engineering Harbin UniversityHarbin150086China Heilongjiang Provincial Key Laboratory of the Intelligent Perception and Intelligent Software Harbin UniversityHarbin150086China College of Computer and Control Engineering Northeast Forestry UniversityHarbin150040China Heilongjiang Forestry Intelligent Equipment Engineering Research Center Northeast Forestry UniversityHarbin150040China Faculty of Computing and Information Technology King Abdulaziz UniversityJeddah21589Saudi Arabia

Changing a person’s posture and low resolution are the key challenges for person re-identification(ReID)in various deep learning *** this paper,we introduce an innovative architecture using a dual attention network that includes an attentionmodule and a joint measurement module of spatial-temporal *** proposed approach can be classified into two main ***,the spatial attention feature map is formed by aggregating features in the spatial ***,the same operation is carried out on the channel dimension to formchannel attention ***,the receptive field size is adjusted adaptively tomitigate the changing person posture ***,we use a joint measurement method for the spatial-temporal information to fully harness the data,and it can also naturally integrate the information into the visual features of supervised ReID and hence overcome the low resolution *** experimental results indicate that our proposed algorithm markedly improves the accuracy in addressing changing human postures and low-resolution issues compared with contemporary leading *** proposed method shows superior outcomes on widely recognized benchmarks,which are the Market-1501,MSMT17,and DukeMTMC-reID ***,the proposed algorithmattains a Rank-1 accuracy of 97.4% and 94.9% mAP(mean Average Precision)on the Market-1501 ***,it achieves a 94.2% Rank-1 accuracy and 91.8% mAP on the DukeMTMC-reID dataset.

关键词： Person reidentification ReID computer vision self-attention spatial-temporal information

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DNN Task Assignment in UAV Networks: A Generative AI Enhanced Multi-Agent Reinforcement Learning Approach

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IEEE Internet of Things Journal 2025年第10期12卷 13340-13352页

作者： Tang, Xin Chen, Qian Weng, Wenjie Liao, Binhan Wang, Jiacheng Cao, Xianbin Li, Xiaohuan Guilin University of Electronic Technology Guangxi University Key Laboratory of Intelligent Networking and Scenario System School of Information and Communication Guilin541004 China Nanyang Technological University College of Computing and Data Science 639798 Singapore Guilin University of Electronic Technology School of Architecture and Transportation Engineering Guilin541004 China Nanning530001 China Beihang University School of Electronic and Information Engineering Key Laboratory of Advanced Technology of Near Space Information System Ministry of Industry and Information Technology of China Beijing100191 China

Unmanned Aerial Vehicles (UAVs) offer high mobility and flexible deployment capabilities, making them ideal for Internet of Things (IoT) applications. However, the substantial amount of data generated by various applications within the existing low-altitude network requires processing through Deep Neural Networks (DNN) on UAVs, which is challenging due to their limited computational resources. To address this issue, we propose a two-stage optimization method for flight path planning and task allocation based on a mother-child UAV swarm system. In the first stage, we employ a greedy algorithm to solve the path planning problem by considering the task size of the target area to be inspected and the shortest flight path as constraints. The goal is to minimize both the flight path of the UAV and the overall cost of the system. In the second stage, we introduce a novel DNN task assignment algorithm that combines Multi-Agent Deep Deterministic Policy Gradient (MADDPG) and Generative Diffusion Models (GDM), named GDM-MADDPG. This algorithm takes advantage of the reverse denoising process of GDM to replace the actor network in MADDPG. It enables UAVs to generate specific DNN task assignment actions based on agents' observations in a dynamic environment, thereby improving the efficiency of task assignment and overall system performance. The simulation results demonstrate that our algorithm outperforms the benchmarks in terms of path planning, Age of information (AoI), task completion rate, and system utility, demonstrating its effectiveness. © 2014 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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