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arXiv 2023年

作者： Zhu, Zhongyang Zhao, Junqiao Huang, Kai Tian, Xuebo Lin, Jiaye Ye, Chen Department of Computer Science and Technology School of Electronics and Information Engineering Tongji University Shanghai China The MOE Key Lab of Embedded System and Service Computing Tongji University Shanghai China Institute of Intelligent Vehicles Tongji University Shanghai China The School of Surveying and Geo-Informatics Tongji University Shanghai China

Simultaneous localization and mapping (SLAM) is critical to the implementation of autonomous driving. Most LiDAR-inertial SLAM algorithms assume a static environment, leading to unreliable localization in dynamic environments. Moreover, the accurate tracking of moving objects is of great significance for the control and planning of autonomous vehicles. This study proposes LIMOT, a tightly-coupled multi-object tracking and LiDAR-inertial odometry system that is capable of accurately estimating the poses of both ego-vehicle and objects. We propose a trajectory-based dynamic feature filtering method, which filters out features belonging to moving objects by leveraging tracking results before scan-matching. Factor graph-based optimization is then conducted to optimize the bias of the IMU and the poses of both the ego-vehicle and surrounding objects in a sliding window. Experiments conducted on the KITTI tracking dataset and self-collected dataset show that our method achieves better pose and tracking accuracy than our previous work DL-SLOT and other baseline methods. Our open-source implementation is available at https://***/tiev-tongji/LIMOT. Copyright © 2023, The Authors. All rights reserved.

关键词： Autonomous vehicles

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Learning Sequence Descriptor based on Spatio-Temporal Attention for Visual Place Recognition

arXiv

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arXiv 2023年

作者： Zhao, Junqiao Zhang, Fenglin Cai, Yingfeng Tian, Gengxuan Mu, Wenjie Ye, Chen Feng, Tiantian Department of Computer Science and Technology School of Electronics and Information Engineering Tongji University Shanghai China The MOE Key Lab of Embedded System and Service Computing Tongji University Shanghai China Institute of Intelligent Vehicles Tongji University Shanghai China School of Surveying and Geo-Informatics Tongji University Shanghai China

Visual Place Recognition (VPR) aims to retrieve frames from a geotagged database that are located at the same place as the query frame. To improve the robustness of VPR in perceptually aliasing scenarios, sequence-based VPR methods are proposed. These methods are either based on matching between frame sequences or extracting sequence descriptors for direct retrieval. However, the former is usually based on the assumption of constant velocity, which is difficult to hold in practice, and is computationally expensive and subject to sequence length. Although the latter overcomes these problems, existing sequence descriptors are constructed by aggregating features of multiple frames only, without interaction on temporal information, and thus cannot obtain descriptors with spatio-temporal discrimination. In this paper, we propose a sequence descriptor that effectively incorporates spatio-temporal information. Specifically, spatial attention within the same frame is utilized to learn spatial feature patterns, while attention in corresponding local regions of different frames is utilized to learn the persistence or change of features over time. We use a sliding window to control the temporal range of attention and use relative positional encoding to construct sequential relationships between different features. This allows our descriptors to capture the intrinsic dynamics in a sequence of frames. Comprehensive experiments on challenging benchmark datasets show that the proposed approach outperforms recent state-of-the-art methods. The code is available at https://***/tiev-tongji/Spatio-Temporal-SeqVPR. Copyright © 2023, The Authors. All rights reserved.

关键词： Query processing

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Petri net based model checking for the collaborative-ness of multiple processes systems

Petri net based model checking for the collaborative-ness of...

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IEEE International Conference on Networking, Sensing and Control

作者： Guanjun Liu Changjun Jiang Department of Computer Science and Technology Tongji University Shanghai China MoE Key Lab of Embedded Systems & Service Computing Tongji University Shanghai China

ISBN: (纸本)9781467399760

In many distributed environments, multiple processes both interact/collaborate with each other and share some common resources. To model and analyze such systems, this paper defines a class of Petri nets called Parallel Processes Net (P 2 N). A P 2 N composes of a group of Single-process Nets (SNs). Each SN models a process and these SNs are connected via a set of places. Some of these places represent the common resources shared by these processes, and others represent the channels through which messages are transferred among these processes. We define collaborative-ness for P 2 Ns which requires that each process of a modeled system never enters into a deadlock or livelock state. The collaborative-ness can be represented by a CTL (Computational Tree Logic) formula and thus can be checked (for bounded P 2 Ns) by using some Petri net tools such as INA.

关键词： Petri nets System recovery Nickel Collaboration Computational modeling Analytical models Process control

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A Reduced Reachability Tree for a Class of Unbounded Petri Nets

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IEEE/CAA Journal of Automatica Sinica 2015年第4期2卷 345-352页

作者： Shouguang Wang Mengdi Gan Mengchu Zhou Dan You School of Information and Electronic Engineering Zhejiang Gongshang University State Key Laboratory for Manufacturing Systems Engineering Xi’an Jiaotong University Ministry of Education(MoE)Key Laboratory of Embedded System and Service Computing Tongji University MoE Key Laboratory of Embedded System and Service Computing Tongji University Department of Electrical and Computer Engineering New Jersey Institute of Technology

As a powerful analysis tool of Petri nets, reachability trees are fundamental for systematically investigating many characteristics such as boundedness, liveness and reversibility. This work proposes a method to generate a reachability tree, called ωRT for short, for a class of unbounded generalized nets called ω-independent nets based on new modified reachability trees (NMRTs). ωRT can effectively decrease the number of nodes by removing duplicate and ω-duplicate nodes in the tree, and verify properties such as reachability, liveness and deadlocks. Two examples are provided to show its superiority over NMRTs in terms of tree size. © 2014 Chinese Association of Automation.

关键词： Petri nets

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Collaborative Tensor Factorization and its Application in POI Recommendation

Collaborative Tensor Factorization and its Application in PO...

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IEEE International Conference on Networking, Sensing and Control

作者： Wenjing Luan Guanjun Liu Changjun Jiang Department of Computer Science & Technology Tongji University Shanghai P. R. China MoE Key Lab of Embedded System & Service Computing Tongji University Shanghai P. R. China

ISBN: (纸本)9781467399760

The rapid prevalence of location-based services provides an opportunity to understand people's mobility behavior, helps people easily decide where to go at the next moment, and helps salesmen select the most suitable commercial sites to delivery advertisements. In this paper, we propose a POI recommendation method based on collaborative tensor factorization. Firstly, we present a generalized objective function for collaboratively factorizing an n-mode tensor with m feature matrices. Secondly, all users' check-in behaviors are modeled as a 3-mode tensor and three feature matrices are extracted to characterize the time distribution, category distribution and POI correlation. Thirdly, we fill the missing entries by using our collaborative tensor factorization approach such that a user's rating to a POI at a specific time is recovered. Our experiment on a real check-in database shows that our method can provide more accurate recommendation.

关键词： Tensor factorization context feature extraction POI recommendation

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The global spectrum of tree crown architecture

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Nature communications 2025年第1期16卷 4876页

作者： Tommaso Jucker Fabian Jörg Fischer Jérôme Chave David A Coomes John Caspersen Arshad Ali Grace Jopaul Loubota Panzou Ted R Feldpausch Daniel Falster Vladimir A Usoltsev Toby D Jackson Stephen Adu-Bredu Luciana F Alves Mohammad Aminpour Bhely Angoboy Ilondea Niels P R Anten Cécile Antin Yousef Askari Narayanan Ayyappan Lindsay F Banin Nicolas Barbier John J Battles Hans Beeckman Yannick E Bocko Ben Bond-Lamberty Frans Bongers Samuel Bowers Michiel van Breugel Arthur Chantrain Rajeev Chaudhary Jingyu Dai Michele Dalponte Kangbéni Dimobe Jean-Christophe Domec Jean-Louis Doucet Juan Manuel Dupuy Rada Remko A Duursma Moisés Enríquez Karin Y van Ewijk William Farfán-Rios Adeline Fayolle Marco Ferretti Eric Forni David I Forrester Hammad Gilani John L Godlee Matthias Haeni Jefferson S Hall Jie-Kun He Andreas Hemp José L Hernández-Stefanoni Steven I Higgins Robert J Holdaway Kiramat Hussain Lindsay B Hutley Tomoaki Ichie Yoshiko Iida Hai-Sheng Jiang Puspa Raj Joshi Hasan Kaboli Maryam Kazempour Larsary Tanaka Kenzo Brian D Kloeppel Takashi S Kohyama Suwash Kunwar Shem Kuyah Jakub Kvasnica Siliang Lin Emily R Lines Hongyan Liu Craig Lorimer Jean-Joël Loumeto Yadvinder Malhi Peter L Marshall Eskil Mattsson Radim Matula Jorge A Meave Sylvanus Mensah Xiangcheng Mi Stéphane T Momo Glenn R Moncrieff Francisco Mora Rodrigo Muñoz Sarath P Nissanka Zamah Shari Nur Hajar Kevin L O'Hara Steven Pearce Raphaël Pelissier Pablo L Peri Pierre Ploton Lourens Poorter Mohsen Javanmiri Pour Hassan Pourbabaei Sabina C Ribeiro Casey Ryan Anvar Sanaei Jennifer Sanger Michael Schlund Giacomo Sellan Alexander Shenkin Bonaventure Sonké Frank J Sterck Martin Svátek Kentaro Takagi Anna T Trugman Matthew A Vadeboncoeur Ahmad Valipour Mark C Vanderwel Alejandra G Vovides Peter Waldner Weiwei Wang Li-Qiu Wang Christian Wirth Murray Woods Wenhua Xiang Fabiano de Aquino Ximenes Yaozhan Xu Toshihiro Yamada Miguel A Zavala Niklaus E Zimmermann School of Biological Sciences University of Bristol Bristol BS8 1TQ UK. t.jucker@bristol.ac.uk. School of Biological Sciences University of Bristol Bristol BS8 1TQ UK. UMR5300 Centre de Recherche sur la Biodiversité et l'Environnement CNRS INPT IRD Université de Toulouse Bât 4R1 118 route de Narbonne 31062 Toulouse France. Conservation Research Institute University of Cambridge Cambridge CB2 3EA UK. Institute of Forestry and Conservation University of Toronto 33 Willcocks Street Toronto ON M5S 3B3 Canada. Forest Ecology Research Group College of Life Sciences Hebei University Baoding 071002 Hebei China. Institut Supérieur des Sciences Géographiques Environnementales et de l'Aménagement (ISSGEA) Université DENIS SASSOU-N'GUESSO Kintélé République du Congo. Laboratoire de Biodiversité de Gestion des Ecosystèmes et de l'Environnement (LBGE) Faculté des Sciences et Techniques Université Marien NGOUABI BP 69 Brazzaville Brazzaville République du Congo. Faculty of Environment Science and Economy University of Exeter Exeter EX4 4QE UK. Evolution & Ecology Research Centre University of New South Wales Sydney NSW Sydney Australia. Department of Forest Mensuration and Management Ural State Forest Engineering and Economic University Yekaterinburg Russia. Forestry Research Institute of Ghana Council for Scientific and Industrial Research University Kumasi Ghana. Center for Tropical Research Institute of the Environment and Sustainability University of California Los Angeles Los Angeles CA USA. Natural Recourses and Watershed Management Office West Azerbaijan Province Urmia Iran. Institut National pour l'Etude et la Recherche Agronomiques BP 2037 Kinshasa Democratic Republic of the Congo. Université Pédagogique Nationale BP 8815 Kinshasa-Ngaliema Democratic Republic of the Congo. Center for Crop Systems Analysis Wageningen University & Research Wageningen Netherlands. AMAP lab Montpellier University IRD CIRAD CNRS INRAE Montpellier France. Rese

Trees can differ enormously in their crown architectural traits, such as the scaling relationships between tree height, crown width and stem diameter. Yet despite the importance of crown architecture in shaping the structure and function of terrestrial ecosystems, we lack a complete picture of what drives this incredible diversity in crown shapes. Using data from 374,888 globally distributed trees, we explore how climate, disturbance, competition, functional traits, and evolutionary history constrain the height and crown width scaling relationships of 1914 tree species. We find that variation in height-diameter scaling relationships is primarily controlled by water availability and light competition. Conversely, crown width is predominantly shaped by exposure to wind and fire, while also covarying with functional traits related to mechanical stability and photosynthesis. Additionally, we identify several plant lineages with highly distinctive stem and crown forms, such as the exceedingly slender dipterocarps of Southeast Asia, or the extremely wide crowns of legume trees in African savannas. Our study charts the global spectrum of tree crown architecture and pinpoints the processes that shape the 3D structure of woody ecosystems.

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New reachability trees for unbounded Petri nets

New reachability trees for unbounded Petri nets

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IEEE International Conference on Robotics and Automation (ICRA)

作者： ShouGuang Wang MengChu Zhou MengDi Gan Dan You Yue Li School of Information & Electronic Engineering Zhejiang Gongshang University Hangzhou China State Key Laboratory for Manufacturing Systems Engineering Xi'an Jiaotong University Xi'an China MoE Key Laboratory of Embedded System and Service Computing Tongji University Shanghai China Department of Electrical and Computer Engineering New Jersey Institute of Technology Newark NJ USA

ISBN: (纸本)9781479969241

Reachability is an important dynamic property of Petri nets. Its determination given an unbounded net and initial marking has remained an open problem since 1960s. Due to its extreme difficulty, a great deal of research has been focused on some subclasses of unbounded nets. For arbitrary ones, this work intends to propose a new reachability tree (NRT), which consists of only but all reachable markings from its initial marking. Furthermore, an NRT-based method to decide deadlocks of unbounded nets is presented. An example is provided to show the new results.

关键词： System recovery Petri nets Manufacturing systems Solids Gallium nitride embedded systems

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CDMC2011 data mining competition: LEVIS group results overview

CDMC2011 data mining competition: LEVIS group results overvi...

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2012 International Conference on System Simulation, ICUSS 2012

作者： Zhao, Q.C. Liu, J.M. Wang, X. You, M.Y. Li, G.Z. MOE Key Laboratory of Embedded Systems and Service Computing Department of Control Science and Engineering Tongji University Shanghai 201804 China

ISBN: (纸本)9781849195386

The task for the data mining contest organized in conjunction with the ICONIP2011 conference was to learn three predictive models (i.e. a classifier) capable of distinguishing between different classes for three separate tasks. Different combinations of data preprocess, feature selection and classifier learning methods were tried to obtain the best results.

关键词： Intrusion detection

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