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arXiv 2025年

作者： Ming, Yuhang Ma, Di Dai, Weichen Yang, Han Fan, Rui Zhang, Guofeng Kong, Wanzeng School of Computer Science Key Laboratory of Brain Machine Collaborative Intelligence of Zhejiang Province Hangzhou Dianzi University Hangzhou310018 China College of Electronics & Information Engineering Shanghai Institute of Intelligent Science and Technology Shanghai Research Institute for Intelligent Autonomous Systems The State Key Laboratory of Intelligent Autonomous Systems Frontiers Science Center for Intelligent Autonomous Systems Tongji University Shanghai201804 China State Key Lab of CAD&CG Zhejiang University Hangzhou310058 China

Targeting the notorious cumulative drift errors in NeRF SLAM, we propose a Semantic-guided Loop Closure using Shared Latent Code, dubbed SLC2-SLAM. We argue that latent codes stored in many NeRF SLAM systems are not fully exploited, as they are only used for better reconstruction. In this paper, we propose a simple yet effective way to detect potential loops using the same latent codes as local features. To further improve the loop detection performance, we use the semantic information, which are also decoded from the same latent codes to guide the aggregation of local features. Finally, with the potential loops detected, we close them with a graph optimization followed by bundle adjustment to refine both the estimated poses and the reconstructed scene. To evaluate the performance of our SLC2-SLAM, we conduct extensive experiments on Replica and ScanNet datasets. Our proposed semantic-guided loop closure significantly outperforms the pre-trained NetVLAD and ORB combined with Bag-of-Words, which are used in all the other NeRF SLAM with loop closure. As a result, our SLC2-SLAM also demonstrated better tracking and reconstruction performance, especially in larger scenes with more loops, like ScanNet. Copyright © 2025, The Authors. All rights reserved.

关键词： SLAM robotics

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Using Target Detection Probability to Evaluate Area Coverage by a UAV

Using Target Detection Probability to Evaluate Area Coverage...

引用

International Conference on Unmanned Aircraft systems (ICUAS)

作者： Zachary Bortoff Alec Luterman Derek A. Paley Stephen M. Nogar Department of Aerospace Engineering University of Maryland College Park MD USA Department of Computer Science University of Maryland College Park MD USA Department of Aerospace Engineering Institute for Systems Research University of Maryland College Park MD USA DEVCOM Army Research Laboratory

ISBN: (数字)9798331513283

ISBN: (纸本)9798331513290

A common task for unmanned aerial vehicles (UAVs) is wide area search using an onboard camera with an object detection model. However, constraints of flight time, camera optics, and onboard compute, particularly in time sensitive applications like search and rescue, requires tradeoffs in strategies that balance precision and speed. To address these needs, we propose a novel method for evaluating coverage path plans by estimating the probabilities of detection and false alarm for ground targets for a set of poses that the UAV can reach in the search domain. To demonstrate our method, we evaluate trajectories for various coverage path plans flown by a UAV in a high-fidelity simulation.

关键词： Target tracking Vehicle routing Robot vision systems Object detection Transforms Autonomous aerial vehicles Cameras Search problems Trajectory Time factors

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Structural uncertainty estimation for medical image segmentation

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Medical Image Analysis 2025年 103卷 103602页

作者： Yang, Bing Zhang, Xiaoqing Zhang, Huihong Li, Sanqian Higashita, Risa Liu, Jiang Department of Computer Science and Engineering Southern University of Science and Technology Shenzhen518055 China TOMEY Corporation Nagoya4510051 Japan Research Institute of Trustworthy Autonomous Systems Southern University of Science and Technology Shenzhen518055 China Guangdong Provincial Key Laboratory of Brain-inspired Intelligent Computation Southern University of Science and Technology Shenzhen518055 China Singapore Eye Research Institute 169856 Singapore

Precise segmentation and uncertainty estimation are crucial for error identification and correction in medical diagnostic assistance. Existing methods mainly rely on pixel-wise uncertainty estimations. They (1) neglect the global context, leading to erroneous uncertainty indications, and (2) bring attention interference, resulting in the waste of extensive details and potential understanding confusion. In this paper, we propose a novel structural uncertainty estimation method, based on Convolutional Neural Networks (CNN) and Active Shape Models (ASM), named SU-ASM, which incorporates global shape information for providing precise segmentation and uncertainty estimation. The SU-ASM consists of three components. Firstly, multi-task generation provides multiple outcomes to assist ASM initialization and shape optimization via a multi-task learning module. Secondly, information fusion involves the creation of a Combined Boundary Probability (CBP) and along with a rapid shape initialization algorithm, Key Landmark Template Matching (KLTM), to enhance boundary reliability and select appropriate shape templates. Finally, shape model fitting where multiple shape templates are matched to the CBP while maintaining their intrinsic shape characteristics. Fitted shapes generate segmentation results and structural uncertainty estimations. The SU-ASM has been validated on cardiac ultrasound dataset, ciliary muscle dataset of the anterior eye segment, and the chest X-ray dataset. It outperforms state-of-the-art methods in terms of segmentation and uncertainty estimation. © 2025 Elsevier B.V.

关键词： Image segmentation

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Data-Driven Learning and Control with Event-Triggered Measurements

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IEEE Transactions on Automatic Control 2025年

作者： Feng, Shilun Shi, Dawei Chen, Tongwen Shi, Ling Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems MIIT Key Laboratory of Servo Motion System Drive and Control School of Automation Beijing100081 China University of Alberta Department of Electrical and Computer Engineering EdmontonABT6G 1H9 Canada Hong Kong University of Science and Technology Department of Electronic and Computer Engineering Clear Water Bay Kowloon Hong Kong

Event-triggered control has attracted considerable attention for its effectiveness in resource-restricted applications. To make event-triggered control as an end-to-end solution, a key issue is how to effectively learn unknown system dynamics from event-triggered measurements and consequently, develop a learning-based event-triggered controller. Existing works learn system dynamics based on periodic time-triggered measurements, and it is yet to know how to learn a controller with performance guarantee based on event-triggered measurements. To address this issue, we consider the problem of learning an event-triggered state feedback controller for an unknown linear system based on event-triggered state measurements in this work. In particular, we first analyze the event-triggered measurements within a set-membership framework. We prove that the estimation error belongs to a bounded ellipsoid determined by the historical measurements and the event-triggering condition. Subsequently, we demonstrate that all admissible systems compatible with the collected data samples can be explicitly represented in the form of quadratic matrix inequalities using the state estimates. With the acquired set of admissible systems, a co-design problem for the data-driven controller and event-triggering condition is solved using the linear matrix inequality technique, with guaranteed closed-loop stability and L2-gain performance. Finally, numerical examples and comparisons are provided to illustrate the effectiveness of the proposed event-triggered learning and control approach. © 1963-2012 IEEE.

关键词： Networked control systems

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An Efficient Multi-band Infrared Small Objects Detection Approach for Low-Altitude Artificial Intelligence of Thing

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IEEE Internet of Things Journal 2025年

作者： Peng, Yuhuai Wang, Jing Wang, Wenqian Liu, Lei Atiquzzaman, Mohammed Guizani, Mohsen Dustdar, Schahram Northeastern University School of Computer Science and Engineering Shenyang110819 China Zhiyuan Research Institute Hangzhou310024 China Northeastern University School of Computer Science and Engineering Shenyang110819 China Xidian University State Key Laboratory of Integrated Service Networks Xi'an710071 China University of Oklahoma School of Computer Science NormanOK73019 United States Mohamed Bin Zayed University of Artificial Intelligence Department of Machine Learning Masdar United Arab Emirates Technische Universität Wien Distributed Systems Group Vienna1040 Austria

As a cutting-edge technology of low-altitude Artificial Intelligence of Thing (AIoT), UAV object detection significantly enhances the surveillance services capabilities of low-altitude AIoT. However, the difficulty of object detection is exacerbated by the high proportion of small and obscure objects in the captured images. To address the mentioned challenges, we present an efficient multi-band infrared small object detection approach for low-altitude intelligent surveillance services. Firstly, we propose the Multi-band infrared Image Fusion algorithm based on Cascade-GAN (MIF-CGAN), which produces fused images with high information entropy and high contrast. Then, the Transformer-based Multi-scale Dense Small Object Detection (MsDSOD) algorithm is proposed. The algorithm consists of the Global-Local Object Detection (G-LOD) network, the Object Dense Area Extraction (O-DAE) module, and the Weighted Boxes Fusion (WBF) module. It extracts small objects features at different scales from infrared images and fuses the global and local detection results to accurately identify small objects in dense scenes. Furthermore, compared to the traditional algorithms, the mean Average Precision (mAP) of MsDSOD is improved by 0.80% and the Average Precision in small object detection (APs) is improved by 0.72%. The proposed algorithm is optimally suited to deal with complex scenes with dense small objects and background occlusion. © 2014 IEEE.

关键词： Infrared imaging

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A Low Cost Triple-Node-Upset Self-Recoverable Latch Design for Nanoscale CMOS

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IEEE Transactions on Device and Materials Reliability 2025年

作者： Bai, Na Zhang, Pengshuai Xu, Yaohua Guo, Yunhui Li, Hang Wang, Yi Wen, Xiaoqing Anhui University Information Materials and Intelligent Sensing Laboratory of Anhui Province Anhui Hefei230601 China National University of Defense Technology College of Computers Hunan Changsha410073 China Kyushu Institute of Technology Graduate School of Computer Science and Systems Engineering Fukuoka8208502 Japan

Due to the constant reduction of semiconductor feature sizes, the charge sharing effect is getting worse. The occurrence probability of triple-node upset (TNU), which has a significant impact on the circuit’s reliability, is rising in nanoscale digital circuits. This paper proposes a low overhead and TNU self-recovery latch (TNU-SR) based on the 28 nm CMOS technology to efficiently tolerate TNU and reduce the power dissipation and latency of the latch. The latch design proposed in this article adopts stacked transistors to reduce sensitive nodes and area overhead. The TNU-SR latch uses clock gating and high-speed transfer path technology, resulting in low power dissipation and low delay. For simulation results, compared with existing latches, it can be known that the TNU-SR latch performs well in terms of delay, power consumption, and area, so it is a good choice for radiation-hardened design for space applications. In addition, compared with the latest TNU self-recovery latch (HLTNURL), the TNU-SR latch proposed in this paper reduces the Power-Area-Delay Product (PADP) metric by 111.13%. © 2001-2011 IEEE.

关键词： CMOS integrated circuits

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KKL Observer Synthesis for Nonlinear systems via Physics-Informed Learning

arXiv

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arXiv 2025年

作者： Niazi, M.B. Umar Cao, John Barreau, Matthieu Johansson, Karl Henrik Division of Decision and Control Systems Digital Futures KTH Royal Institute of Technology StockholmSE-100 44 Sweden Laboratory for Information and Decision Systems Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology CambridgeMA02139 United States Department of Electrical Engineering Stanford University StanfordCA94305 United States

This paper proposes a novel learning approach for designing Kazantzis-Kravaris/Luenberger (KKL) observers for autonomous nonlinear systems. The design of a KKL observer involves finding an injective map that transforms the system state into a higher-dimensional observer state, whose dynamics is linear and stable. The observer’s state is then mapped back to the original system coordinates via the inverse map to obtain the state estimate. However, finding this transformation and its inverse is quite challenging. We propose to sequentially approximate these maps by neural networks that are trained using physics-informed learning. We generate synthetic data for training by numerically solving the system and observer dynamics. Theoretical guarantees for the robustness of state estimation against approximation error and system uncertainties are provided. Additionally, a systematic method for optimizing observer performance through parameter selection is presented. The effectiveness of the proposed approach is demonstrated through numerical simulations on benchmark examples and its application to sensor fault detection and isolation in a network of Kuramoto oscillators using learned KKL observers. © 2025, CC BY.

关键词： State estimation

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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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A Unified Modeling Framework for Automated Penetration Testing

arXiv

引用

arXiv 2025年

作者： Wang, Yunfei Liu, Shixuan Wang, Wenhao Zhou, Changling Zhang, Chao Jin, Jiandong Zhu, Cheng National Key Laboratory of Information Systems Engineering National University of Defense Technology Hunan China Department of Intelligent Data Science College of Computer Science and Technology National University of Defense Technology Hunan China National University of Defense Technology Hunan China Tsinghua University Beijing China Computer Center Peking University Beijing China

The integration of artificial intelligence into automated penetration testing (AutoPT) has highlighted the necessity of simulation modeling for the training of intelligent agents, due to its cost-efficiency and swift feedback capabilities. Despite the proliferation of AutoPT research, there is a recognized gap in the availability of a unified framework for simulation modeling methods. This paper presents a systematic review and synthesis of existing techniques, introducing MDCPM to categorize studies based on literature objectives, network simulation complexity, dependency of technical and tactical operations, and scenario feedback and variation. To bridge the gap in unified method for multi-dimensional and multi-level simulation modeling, dynamic environment modeling, and the scarcity of public datasets, we introduce AutoPT-Sim, a novel modeling framework that based on policy automation and encompasses the combination of all sub dimensions. AutoPT-Sim offers a comprehensive approach to modeling network environments, attackers, and defenders, transcending the constraints of static modeling and accommodating networks of diverse scales. We publicly release a generated standard network environment dataset and the code of Network Generator. By integrating publicly available datasets flexibly, support is offered for various simulation modeling levels focused on policy automation in MDCPM and the network generator help researchers output customized target network data by adjusting parameters or fine-tuning the network generator. Copyright © 2025, The Authors. All rights reserved.

关键词： Intelligent agents

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Safe Reinforcement Learning for Social Motor Coordination in Two Dimensional Space 26

Safe Reinforcement Learning for Social Motor Coordination in...

引用

26th International Conference on Industrial Technology, ICIT 2025

作者： Yang, Fan Huang, Yuening Zhai, Chao Zhang, Hehong China University of Geosciences School of Automation Wuhan Campus China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China Rice University George R. Brown School of Engineering and Computing HoustonTX United States Fuzhou University School of Computer and Data Science Fuzhou China

ISBN: (纸本)9798331521950

This paper presents an interactive motion control method based on reinforcement learning, designed to assist children with autism who have social motor impairments through a mirror game intervention. The virtual teacher uses the Deep Deterministic Policy Gradient (DDPG) algorithm to optimize its actions, guiding the participant to follow a Lissajous trajectory. To ensure safety, a motion-correction mechanism was developed, which automatically adjusts actions when the predicted trajectory surpasses predefined safety boundaries. The reward function considers both the distance between the virtual teacher and the target trajectory, as well as the distance between the virtual teacher and the participant, with dynamic adjustments applied by the motion-correction mechanism. Experimental results demonstrate that the virtual teacher effectively guides the participant towards the target trajectory while adhering to safety constraints. © 2025 IEEE.

关键词： Reinforcement learning

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