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S2KAN-SLAM: Elastic Neural LiDAR SLAM with SDF Submaps and Kolmogorov-Arnold Networks

IEEE Transactions on Circuits and systems for Video technology 2025年

作者： Wang, Zhong Zhang, Lin Wang, Hesheng Shanghai Jiao Tong University State Key Laboratory of Avionics Integration and Aviation System-of-Systems Synthesis Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Shanghai200240 China Tongji University School of Computer Science and Technology National Pilot Software Engineering School with Chinese Characteristics Shanghai201804 China

Traditional LiDAR SLAM approaches prioritize localization over mapping, yet high-precision dense maps are essential for numerous applications involving intelligent agents. Recent advancements have introduced methods leveraging neural fields to enhance mapping capabilities;however, these approaches still face several limitations. Firstly, concerning scene representation, they typically employ neural fields with high-dimensional features and multi-layer perceptron decoders utilizing non-continuous activation functions. This results in low learning efficiency and challenges in capturing high-frequency signals. Secondly, in terms of scene organization, these methods often treat the entire scene as a singular neural field, leading to inefficiencies, inflexibility, and difficulties in rectifying accumulated errors when mapping large-scale environments over extended periods. To tackle the first issue, we propose a lightweight continuous SDF regression approach by encoding the scene in single-valued embeddings and decoding SDF values from a Kolmogorov-Arnold Network. By minimizing discrepancies in measuring range, sampling distance, and decoded SDF values, we facilitate iterative frame-to-model tracking and bundle adjustment neural mapping. To mitigate the second challenge, we propose structuring the whole scene into multiple neural SDF submaps. By establishing node-node, node-submap, and loop closure constraints into a global pose graph, the system can create dense neural maps with global consistency across large-scale scenes. Experimental evaluations in both real-world and simulated settings indicate that our system achieves superior mapping completeness and accuracy, enhanced learning efficiency, reduced memory consumption, and greater flexibility compared to its counterparts. © 2025 IEEE.

关键词： Mapping

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The SGC-Informer-Based Deep Learning Framework: Managing the Efficiency-Accuracy Trade-off in Vehicle Trajectory Prediction

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IEEE Transactions on Vehicular technology 2025年

作者： He, Rui Meng, Zhiwei Zhang, Sumin Cui, Shaohua Chang, Yupeng Jin, Xiaosong Bai, Ri Xu, Tao Jilin University National Key Laboratory of Automotive Chassis Integration and Bionics Changchun130022 China Ministry of Education Key Laboratory of Intelligent Transportation Technology and System Beijing100191 China Beihang University School of Transportation Science and Engineering Beijing100191 China

Accurate and efficient trajectory prediction of surrounding vehicles is critical for ensuring the safety of autonomous driving systems, as it provides vital input for subsequent decision-making and planning modules. Relying solely on historical trajectory information is insufficient to accurately predict, especially in complex traffic scenarios with interwoven roads such as ramps, intersections, and roundabouts. Therefore, predicting future trajectories requires consideration not only of the historical trajectories of vehicles but also of the interaction among various entities of the environmental context. However, existing prediction methods suffer from expensive rendering costs and entity information loss, unnecessary complexity and redundant computation, and all-to-all interaction modeling and high computational costs, facing the challenge of the trade-off of efficiency and accuracy. To this end, we propose the SGC-Informer-based deep learning framework for fast and accurate trajectory prediction, called FESIG. Specifically, a comprehensive explicit entity vectorized representation is constructed based on Feature Engineering for the agent's trajectories and High-Definition (HD) map information, avoiding expensive rendering costs and entity information loss. Then, to mitigate excess complexity, we introduce the Simple Graph Convolution (SGC) network to effectively extract the local feature of each entity, which can remove the nonlinear transformation of the information propagation. Additionally, the Informer mechanism is employed to automatically sort and select the entities in the scenario, and then capture the complex interactions between the target vehicle and these entities that significantly impact it, thereby reducing computation costs. Experiments performed on the Argoverse forecasting dataset illustrate that the FESIG achieves the trade-off between accuracy and efficiency in the vehicle trajectory prediction task compared with the existing methods. © 1967-

关键词： Cost engineering

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Robust pupil center estimation using input estimation based Gaussian significance test

Robust pupil center estimation using input estimation based ...

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2012 International Conference on system Simulation, ICUSS 2012

作者： Zhai, M. Wu, J.M. Liu, B.W. National Key Laboratory of Science and Technology on Avionics System Integration Shanghai China

ISBN: (纸本)9781849195386

In this paper a low cost pupil center locating system was introduced and target maneuver onset detection algorithm, input estimation based Gaussian significance test, was applied to estimate pupil center. Firstly, eye images were converted into Gaussian significance space of input estimate. In statistical significance space, pupil area was enhanced while other area was depressed. Secondly, threshold selected by input estimation based Gaussian significance test algorithm was used to binarize image in the space of statistical significance. At last pupil center was obtained by calculating mass center of the binarized image. Experiments showed that the proposed method was effective.

关键词： Gaussian distribution

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A fast and robust noise reduction method for tiny contours in image sequence

A fast and robust noise reduction method for tiny contours i...

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2012 International Conference on system Simulation, ICUSS 2012

作者： Zhai, M. Wu, J.M. Liu, B.W. National Key Laboratory of Science and Technology on Avionics System Integration Shanghai China

ISBN: (纸本)9781849195386

Remote object contours abstracted from image sequence obtained by space optical sensor were often tiny and inclined to be stained by noise. It would deteriorate the results of most contour based algorithms. In order to solve the problem a fast and robust noise reduction technique for tiny contour in image sequence was presented in this paper. In the proposed technique, every contour in the sequence were described in frequency domain by the Fourier Descriptors (FD's). And then, a set of Kalman filters were used to filter the noise in every frequency point of the contours FD's. The contour after noise reduction was retrieved by inverting the filtered contour FD's. The experimental results showed the proposed method was useful and effective.

关键词： Kalman filters

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INFORMATION DISTRIBUTION METHOD FOR MULTI-AIRCRAFT COOPERATION BASED ON COLLABORATIVE FILTERING ALGORITHM 32

INFORMATION DISTRIBUTION METHOD FOR MULTI-AIRCRAFT COOPERATI...

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32nd Congress of the International Council of the Aeronautical sciences, ICAS 2021

作者： Wang, Yunhui Zhan, Zhijuan Xue, Bing Deng, Pingyu National Key Laboratory of Science and Technology on Avionics System Integration Shanghai200233 China

ISBN: (纸本)9783932182914

The information interaction in the formation tasks has higher and higher requirements on the timeliness of the communication system, but the electromagnetic environment in the confrontation environment is extremely unfavorable for the communication channel. Therefore, the high speed, high bandwidth and information interaction environmental interference, security, and cyber defense are the main contradictions in information interaction in systemic joint operations. The core task of the information distribution system is to maximize the compression of information content and reduce the pressure on information distribution to the communication system under the premise of ensuring the information needs of the node. The information distribution system mainly improves the periodic information distribution to distribution on demand, and global broadcast to accurate information push, realizing optimized information distribution. The information distribution algorithm based on collaborative filtering can effectively reduce the acquiring time, improve the accuracy of information for nodes, reduce communication bandwidth, and improve the information interaction efficiency of informationized operations. © 2021 32nd Congress of the International Council of the Aeronautical sciences, ICAS 2021. All rights reserved.

关键词： Aircraft

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Real-time embedded software testing method based on extended finite state machine

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Journal of systems Engineering and Electronics 2012年第2期23卷 276-285页

作者： Yongfeng Yin Bin Liu Hongying Ni School of Reliability and Systems Engineering Beihang University Beijing 100191 P. R. China National Key Laboratory of Science and Technology on Avionics System Integration Shanghai 200233 P. R. China

The reliability of real-time embedded software directly determines the reliability of the whole real-time embedded sys- tem, and the effective software testing is an important way to ensure software quality and reliability. Based on the analysis of the characteristics of real-time embedded software, the formal method is introduced into the real-time embedded software testing field and the real-time extended finite state machine （RT-EFSM） model is studied firstly. Then, the time zone division method of real-time embedded system is presented and the definition and description methods of time-constrained transition equivalence class （timeCTEC） are presented. Furthermore, the approaches of the testing sequence and test case generation are put forward. Finally, the proposed method is applied to a typical avionics real- time embedded software testing practice and the examples of the timeCTEC, testing sequences and test cases are given. With the analysis of the testing result, the application verification shows that the proposed method can effectively describe the real-time embedded software state transition characteristics and real-time requirements and play the advantages of the formal methods in accuracy, effectiveness and the automation supporting. Combined with the testing platform, the real-time, closed loop and automated simulation testing for real-time embedded software can be realized effectively.

关键词： real-time system real-time embedded software for- mal method extended finite state machine （EFSM） testing se- quence test case.

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Research on automatic testing technology oriented intelligent mobile terminal software

Research on automatic testing technology oriented intelligen...

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2010 International Conference on Communications and Mobile Computing, CMC 2010

作者： Yin, Yongfeng Liu, Bin Wang, Chen Ni, Hongying Dept. of System Engineering of Engineering Technology Beihang University China National Key Laboratory of Science and Technology on Avionics System Integration China

ISBN: (纸本)9780769539898

With the rapid development of ubiquitous computing technology, software is widely used in the intelligent mobile terminals. How to improve the intelligent mobile terminal software quality is one of the hot topics in embedded software testing field. Combined with the developed intelligent mobile terminal software automatic testing environment, the intelligent mobile terminal software testing script technology (TST-IMTS) was proposed firstly. And then, the main characteristics of the TST-IMTS and its modeling method applied to intelligent mobile terminal devices were studied. Furthermore, the automatic testing process based on the TST-IMTS was presented. Finally, TST-IMTS was applied in real intelligent mobile terminal software testing practice, and the verification result showed that the method proposed in this paper was efficient and of great value in engineering application. © 2010 IEEE.

关键词： Software testing

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Limit beat-frequency noise by employing receive low-pass filter and earn extra power budget margin for dual-band RSOA-based WDM-PON

Limit beat-frequency noise by employing receive low-pass fil...

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Network Architectures, Management, and Applications VI

作者： Xie, Weilin Dong, Yi Lin, Qingyuan Jin, Yaohui Hu., Weisheng Huang, Haoyi Wu, Jianming State Key Laboratory on Fiber-Optic Local Area Networks and Advanced Optical Communication System Shanghai Jiao Tong University Shanghai 200240 China National Defence Science and Technology Key Laboratory for Avionics System Integration Technology

In this work, we use a low-pass filter in the burst-mode receiver between PIN+TIA and LA to optimize the receive bandwidth, and finally to improve the receiver performance of uncooled Reflective-SOA-based WDM-PON sign... 详细信息

ISBN: (纸本)9780819473776

关键词： Low pass filters

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Dynamic Analysis of Service-oriented Advanced avionics system based on Stochastic Evolutionary Game

Dynamic Analysis of Service-oriented Advanced Avionics Syste...

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2022 Chinese Automation Congress, CAC 2022

作者： Liu, Zhaohui Liu, Qingchun Li, Bingfei Zhang, Shuo China National Aeronautical Radio Electronic Research Institute National Key Laboratory of Science and Technology on Avionics System Integration Shanghai China

ISBN: (纸本)9781665465335

Service-oriented advanced avionics system(SOAAS) is a complex network system with different stakeholders. Stake-holders are irrational behavior and may take aberrant behaviors in advanced avionics system. Different behavior will lead the avionics system to different states. In order to accurately predict the development trend of SOAAS and grasp its dynamic characteristics, stochastic evolutionary game theory is applied to study and analyze SOAAS in this paper. A multi-party game model is constructed to describe the behaviours of participant, and Ito stochastic differential equation is established based on stochastic theory to break through the limitation of replicator dynamics equation. The stability problem of SOAAS is effectively analyzed, and sufficient conditions of system stability are given. Simulation results show the correct and practicable of the established game model and analysis method. © 2022 IEEE.

关键词： Stochastic systems

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A fast and robust method for pupil center estimation using chi-square significance test of measurement residual

A fast and robust method for pupil center estimation using c...

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Asia-Pacific Signal and Information Processing Association Annual Summit and Conference 2011, APSIPA ASC 2011

作者： Zhai, Ming Wu, Jianmin National Key Laboratory of Science and Technology on Avionics System Integration Shanghai China China National Aeronautical Radio Electronics Research Institute Shanghai China

In this paper a low cost pupil center locating system was introduced and a robust pupil center estimation method was presented. Differing from other methods, eye image was converted into the space of chi-square significance of measurement residual (CSMR) first in the proposed method. In CSMR space, pupil area was enhanced while others were depressed. And then, a threshold selected by the statistical method was used to binarize the image in CSMR space. Finally pupil center was obtained by calculating mass center of the binarized image. Experiments showed that the proposed method was effective, even if in sunlight environment, pupil was small and images of eye were noisy.

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