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Deep Learning-based Moving Object Segmentation:Recent Progress and Research Prospects

Machine Intelligence Research 2023年第3期20卷 335-369页

作者： Rui Jiang Ruixiang Zhu Hu Su Yinlin Li Yuan Xie Wei Zou College of Information Engineering Shanghai Maritime UniversityShanghai201306China School of Computer Science and Technology East China Normal UniversityShanghai200062China Research Center of Precision Sensing and Control Institute of AutomationChinese Academy of SciencesBeijing100190China State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing100190China

Moving object segmentation(MOS),aiming at segmenting moving objects from video frames,is an important and challenging task in computer vision and with various *** the development of deep learning(DL),MOS has also entered the era of deep models toward spatiotemporal feature *** paper aims to provide the latest review of recent DL-based MOS methods proposed during the past three ***,we present a more up-to-date categorization based on model characteristics,then compare and discuss each category from feature learning(FL),and model training and evaluation *** FL,the methods reviewed are divided into three types:spatial FL,temporal FL,and spatiotemporal FL,then analyzed from input and model architectures aspects,three input types,and four typical preprocessing subnetworks are *** terms of training,we discuss ideas for enhancing model *** terms of evaluation,based on a previous categorization of scene dependent evaluation and scene independent evaluation,and combined with whether used videos are recorded with static or moving cameras,we further provide four subdivided evaluation setups and analyze that of reviewed *** also show performance comparisons of some reviewed MOS methods and analyze the advantages and disadvantages of reviewed MOS methods in terms of ***,based on the above comparisons and discussions,we present research prospects and future directions.

关键词： Moving object segmentation(MOS) change detection background subtraction deep learning(DL) video understanding

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ProSy: API-Based Synthesis with Probabilistic Model

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Journal of computer Science & Technology 2020年第6期35卷 1234-1257页

作者： Bin-Bin Liu Wei Dong Jia-Xin Liu Ya-Ting Zhang Dai-Yan Wang College of Computer Science National University of Defense TechnologyChangsha 410072China Key Laboratory of Software Engineering for Complex Systems College of Computer ScienceNational University of Defense TechnologyChangsha 410072China

Program synthesis is an exciting topic that desires to generate programs satisfying user intent automatically. But in most cases, only small programs for simple or domain-specific tasks can be synthesized. The major obstacle of synthesis lies in the huge search space. A common practice in addressing this problem is using a domain-specific language, while many approaches still wish to synthesize programs in general programming languages. With the rapid growth of reusable libraries, component-based synthesis provides a promising way, such as synthesizing Java programs which are only composed of APIs (application programming interfaces). However, the efficiency of searching for proper solutions for complex tasks is still a challenge. Given an unfamiliar programming task, programmers would search for API usage knowledge from various coding resources to reduce the search space. Considering this, we propose a novel approach named ProSy to synthesize API-based programs in Java. The key novelty is to retrieve related knowledge from Javadoc and Stack Overflow and then construct a probabilistic reachability graph. It assigns higher probabilities to APIs that are more likely to be used in implementing the given task. In the synthesis process, the program sketch with a higher probability will be considered first;thus, the number of explored reachable paths would be decreased. Some extension and optimization strategies are further studied in the paper. We implement our approach and conduct several experiments on it. We compare ProSy with SyPet and other state-of-the-art API-based synthesis approaches. The experimental results show that ProSy reduces the synthesis time of SyPet by up to 80%.

关键词： application programming interface(API)-based program Petri net probabilistic reachability graph program synthesis

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A Hybrid Marine Predator Algorithm for Thermal-aware Routing Scheme in Wireless Body Area Networks

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Journal of Bionic engineering 2023年第1期20卷 81-104页

作者： Tao Hai Jincheng Zhou Mohammad Masdari Haydar Abdulameer Marhoon School of Computer and Information Qiannan Normal University for NationalitiesDuyun558000GuizhouChina Key Laboratory of Complex Systems and Intelligent Optimization of Guizhou Duyun558000GuizhouChina Institute for Big Data Analytics and Artificial Intelligence(IBDAAI) Universiti Teknologi MARA40450Shah AlamSelangorMalaysia Department of Computer Engineering Islamic Azad UniversityUrmia BranchUrmiaIran Information and Communication Technology Research Group Scientific Research CenterAl-Ayen UniversityThi-QarIraq College of Computer Sciences and Information Technology University of KerbalaKarbalaIraq

Thermal-aware routing protocols in WBANs consider temperature factors in the routing process for preventing overheating of the tissues surrounding the sensor ***,providing an energy-efficient and thermal-aware routing in WBANs is a challenging *** deal with this problem,this article presents a novel temperature-aware routing protocol that applies Mamdani-based Fuzzy Logic Controllers(FLCs)for selecting the next forwarding node in routing data *** FLCs apply five important input factors such as the priority of the packet,and sensor node's remaining energy,temperature,distance,and link path ***,a new hybrid version of the Marine Predator Algorithm(MPA),named MPAOA is presented by combining the exploration and exploitation phases of the MPA and Arithmetic Optimization Algorithm(AOA).This algorithm is effectively applied for selecting the best possible set of fuzzy rules for FLCs and tuning their fuzzy *** experiments conducted in the Castalia simulator exhibit that the proposed temperature and priority-aware routing scheme can outperform other well-known routing schemes such as LATOR,TTRP,TAEO,ATAR,and EOCC-TARA in terms of metrics such as sensor nodes lifetime,the average temperature of the sensor nodes,and the percentage of the packets routed through non-overheated ***,it is shown that the MPAOA outperforms other algorithms such as Bat Algorithm(BA),Genetic Algorithm(GA),AOA,and MPA regarding the specified metrics.

关键词： WBANs Multi-hop routing Temperature Priority Fuzzy logic Bio-inspiration

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An efficient ROS package searching approach powered by knowledge graph 33

An efficient ROS package searching approach powered by knowl...

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33rd International Conference on software engineering and Knowledge engineering, SEKE 2021

作者： Chen, Long Mao, Xinjun Zhang, Yinyuan Yang, Shuo Wang, Shuo College of Computer National University of Defense Technology Changsha China Key Laboratory of Software Engineering for Complex Systems National University of Defense Technology Changsha China

ISBN: (纸本)1891706527

Over the past several years, the Robot Operating System (ROS), has grown from a small research project into the most popular framework for robotics development. It offers a core set of software for operating robots that can be extended by creating or using existing packages, making it possible to program robotic software that can be reused on different hardware platforms. With thousands of packages available per stable distribution, encapsulating algorithms, sensor drivers, etc., it is the de facto middleware for robotics. However, finding the proper ROS package is a nontrivial task because ROS packages involve different functions and even with the same function, there are different ROS packages for different tasks. So it is time-consuming for developers to find suitable ROS packages for given task, especially for newcomers. To tackle this challenge, we build a ROS package knowledge graph, ROSKG, including the basic information of ROS packages and ROS package characteristics extracted from text descriptions, to comprehensively and precisely characterize ROS packages. Based on ROSKG, we support ROS packages search with specific task description or attributes as input. A comprehensive evaluation of ROSKG shows the high accuracy of our knowledge construction approach. A user study shows that ROSKG is promising in helping developers find suitable ROS packages for robotics software development tasks. © 2021 Knowledge systems Institute Graduate School. All rights reserved.

关键词： Middleware

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Exploring Communication-efficient Federated Learning via Stateless In-network Aggregation

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IEEE Transactions on Mobile Computing 2025年

作者： Xia, Junxu Cheng, Geyao Wu, Wenfei Luo, Lailong Guo, Deke National University of Defense Technology National Key Laboratory of Information Systems Engineering Changsha Hunan410073 China National University of Defense Technology State Key Laboratory of Complex & Critical Software Environment College of Information and Communication Changsha Hunan410073 China Peking University School of Computer Science Beijing100091 China

As an ambitious training paradigm, federated learning has garnered increasing attention in recent years, which enables collaborative training of a global model without accessing users' private data. However, due to the simultaneous and constant model updates gathering from massive distributed clients, the central server generally becomes a performance bottleneck. Additionally, the stateful aggregation (retaining all the updates from each client) conducted by the central server further poses potential threats to privacy, since it may recover the raw data based on such model updates inversely. The state-of-the-art methodologies, however, fail to address these two problems concurrently and efficiently. To this end, we propose GAIN, a secure aggregation acceleration service for federated learning. At its core, GAIN leverages programmable switches deployed at the edge network to aggregate model updates in a stateless manner before transmitting them to the central server. Consequently, GAIN can accelerate the transmission and aggregation of model updates while eliminating the chance of recovering private data. We evaluate the performance of GAIN through FPGA-based experiments and large-scale simulations. The results show that GAIN can effectively reduce bandwidth overhead and achieve up to 4.11× training throughput acceleration while prioritizing privacy protection. © 2025 IEEE.

关键词： Differential privacy

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Asymptotic behavior of least squares estimators for nonlinear autoregressive models

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Science China(Information Sciences) 2023年第6期66卷 299-300页

作者： Zhaobo LIU Chanying LI College of Computer Science and Software Engineering Shenzhen University Key Laboratory of Systems and Control Academy of Mathematics and Systems ScienceChinese Academy of Sciences School of Mathematical Sciences University of Chinese Academy of Sciences

Dear editor,Estimations of nonlinear autoregressive(AR) models in the literature typically involve ergodic series. Based on this assumption,the asymptotic theory has been established accordingly(see [1–3]). However,t...

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A SINS Error Correction Approach Based on Dual-Threshold ZV Detection and Cubature Kalman Filter

A SINS Error Correction Approach Based on Dual-Threshold ZV ...

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2023 IEEE International Conference on systems, Man, and Cybernetics, SMC 2023

作者： Xu, Ruijie Chen, Shichao Sun, Wenqiao Lv, Yisheng Luo, Jialiang Tang, Ying Institute of Automation Chinese Academy of Sciences College of Information Science & Technology Beijing University of Chemical Technology The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing China Institute of Automation Chinese Academy of Sciences The Center of National Railway Intelligent Transportation System Engineering and Technology China Academy of Railway Sciences Corporation Limited The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing China Transportation and Economics Research Institute The Center of National Railway Intelligent Transportation System Engineering and Technology China Academy of Railway Sciences Corporation Limited Beijing China Institute of Automation Chinese Academy of Sciences The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing China Institute of Automation Chinese Academy of Sciences China University of Geosciences Beijing School of Information Engineering The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing China Rowan University Department of Electrical and Computer Engineering Glassboro United States

ISBN: (纸本)9798350337020

Global Navigation Satellite systems (GNSS) can provide real-time positioning information for outdoor users, but cannot for indoor scenarios or heavily occluded outdoor scenarios. Strap-down Inertial Navigation System (SINS) are widely used to locate people in complex interior or heavily occluded outdoor scenarios due to its light weight and low power consumption. However, IMU of SINS are noisy, and the sampling data error is large, which is a divergence of the error with time. Therefore, it will generate a positioning accumulation error, which affects the final positioning accuracy. The problem of cumulative IMU errors is usually dealt with by Zero-Velocity Update (ZUPT). The zero-velocity detection part of basic ZUPT method usually uses a single threshold to determine the gait of pedestrian, which often has the problem of gait misjudgment and omission. To address these problems, this paper proposes a composite conditional detection method to solve the problem of misjudgment in the zero-velocity interval. In addition, we redesign the zero-velocity update algorithm and uses the Cubature Kalman filter (CKF) for pedestrian positioning error correction. The experimental results demonstrate that the proposed ZUPT method based on dual-threshold detection can better detect the interval between pedestrian motion and stationery than ones with single threshold. The zero-velocity update algorithm based on CKF has higher performance than conventional EKF and UKF methods, which constrains the cumulative error of SINS to about 0.2% of the whole walking distance. © 2023 IEEE.

关键词： Cubature Kalman Filter Inertial Pedestrian Navigation Zero-Velocity Update

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A survey of Blockchain consensus algorithms:mechanism, design and applications

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Science China(Information Sciences) 2021年第2期64卷 100-114页

作者： Xiang FU Huaimin WANG Peichang SHI College of Computer National University of Defense Technology Key Laboratory of Software Engineering for Complex Systems National University of Defense Technology

In 2008, Blockchain was introduced to the world as the underlying technology of the Bitcoin system. After more than a decade of development, various Blockchain systems have been proposed by both academia and industry. This paper focuses on the consensus algorithm, which is one of the core technologies of Blockchain. In this paper, we propose a unified consensus algorithm process model that is suitable for Blockchains based on both the chain and directed acyclic graph(DAG) structure. Subsequently, we analyze various mainstream Blockchain consensus algorithms and classify them according to their design in different phases of the process model. Additionally, we present an evaluation framework of Blockchain consensus algorithms and then discuss the security design principles that enable resistance from different ***, we provide some suggestions for selecting consensus algorithms in different Blockchain application scenarios.

关键词： Blockchain consensus algorithm Byzantine fault-tolerant process model design principles

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UR4NNV: Neural Network Verification, Under-approximation Reachability Works!

arXiv

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arXiv 2024年

作者： Liang, Zhen Wu, Taoran Zhao, Ran Xue, Bai Wang, Ji Yang, Wenjing Deng, Shaojun Liu, Wanwei College of Computer Science and Technology National University of Defense Technology China Institute of Software Chinese Academy of Sciences China School of Computer Science and Technology University of Chinese Academy of Sciences China Key Laboratory of Software Engineering for Complex Systems National University of Defense Technology China

Recently, formal verification of deep neural networks (DNNs) has garnered considerable attention, and over-approximation based methods have become popular due to their effectiveness and efficiency. However, these strategies face challenges in addressing the "unknown dilemma" concerning whether the exact output region or the introduced approximation error violates the property in question. To address this, this paper introduces the UR4NNV verification framework, which utilizes under-approximation reachability analysis for DNN verification for the first time. UR4NNV focuses on DNNs with Rectified Linear Unit (ReLU) activations and employs a binary tree branch-based under-approximation algorithm. In each epoch, UR4NNV under-approximates a sub-polytope of the reachable set and verifies this polytope against the given property. Through a trial-and-error approach, UR4NNV effectively falsifies DNN properties while providing confidence levels when reaching verification epoch bounds and failing falsifying properties. Experimental comparisons with existing verification methods demonstrate the effectiveness and efficiency of UR4NNV, significantly reducing the impact of the "unknown dilemma".MSC Codes 68Q60, 68T07 Copyright © 2024, The Authors. All rights reserved.

关键词： Deep neural networks

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CoEdge: A Collaborative Architecture for Efficient Task Offloading among Multiple Edge Service Providers

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IEEE Internet of Things Journal 2025年

作者： Xie, Xingrui Cheng, Geyao Liu, Han Luo, Lailong Ren, Bangbang Guo, Deke National University of Defense Technology National Key Laboratory of Information Systems Engineering Hunan Changsha410073 China National University of Defense Technology State Key Laboratory of Complex and Critical Software Environment College of Information and Communication Hubei Wuhan430019 China National University of Defense Technology National Key Laboratory of Information Systems Engineering National Laboratory for Parallel and Distributed Processing Hunan Changsha410073 China

Edge computing is an emerging paradigm poised to process a substantial portion of latency-sensitive and computation-intensive tasks through edge service providers (ESPs). However, these ESPs typically operate independently and locally to serve their registered users. When processing burst tasks, the ESPs have to either scale up their respective capacities by introducing additional hardware or compromise user experience by rejecting some user requests, leading to high commercial investment or service degradation. Inspired by the promise of the win-win situation for ESPs and users, we envision a novel task offloading strategy that realizes the following rationales simultaneously: 1) collaborative service, 2) rapid response, and 3) sustainable profitability, while the existing methods fail to achieve them at one shot. To this end, we report CoEdge, a collaborative architecture for efficient task offloading among multiple ESPs in the edge network, aiming at simultaneously minimizing service delay for users and enhancing service profit for ESPs. To achieve this, CoEdge employs a central optimizer to implement a two-stage strategy that determines the task scheduling and service pricing hierarchically. We then formulate these problems and prove their NP-hardness. Additionally, we also propose efficient approximate algorithms to accommodate large-scale computing scenarios with low complexity. Experimental results using real-world datasets demonstrate that our CoEdge can significantly reduce service delay by 2.87x to 4.15x for users and considerably increase service profit by 32% for ESPs. © 2014 IEEE.

关键词： NP-hard

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