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End-to-end 2D-3D Registration between Image and LiDAR Point Cloud for Vehicle Localization

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arXiv 2023年

作者： Wang, Guangming Zheng, Yu Guo, Yanfeng Liu, Zhe Zhu, Yixiang Burgard, Wolfram Wang, Hesheng Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China China Department of Artificial Intelligence Shanghai Jiao Tong University Shanghai200240 China Electrical and Computer Engineering University of California Los Angeles United States Institute of Artificial Intelligence Shanghai Jiao Tong University Shanghai200240 China Department of Electrical Engineering Shanghai Jiao Tong University Shanghai200240 China Department of Engineering University of Technology Nuremberg Germany

Robot localization using a previously built map is essential for a variety of tasks including highly accurate navigation and mobile manipulation. A popular approach to robot localization is based on image-to-point cloud registration, which combines illumination-invariant LiDAR-based mapping with economical image-based localization. However, the recent works for image-to-point cloud registration either divide the registration into separate modules or project the point cloud to the depth image to register the RGB and depth images. In this paper, we present I2PNet, a novel end-to-end 2D-3D registration network. I2PNet directly registers the raw 3D point cloud with the 2D RGB image using differential modules with a unique target. The 2D-3D cost volume module for differential 2D-3D association is proposed to bridge feature extraction and pose regression. 2D-3D cost volume module implicitly constructs the soft point-to-pixel correspondence on the intrinsic-independent normalized plane of the pinhole camera model. Moreover, we introduce an outlier mask prediction module to filter the outliers in the 2D-3D association before pose regression. Furthermore, we propose the coarse-to-fine 2D-3D registration architecture to increase localization accuracy. We conduct extensive localization experiments on the KITTI Odometry and nuScenes datasets. The results demonstrate that I2PNet outperforms the state-of-the-art by a large margin. In addition, I2PNet has a higher efficiency than the previous works and can perform the localization in real-time. Moreover, we extend the application of I2PNet to the camera-LiDAR online calibration and demonstrate that I2PNet outperforms recent approaches on the online calibration task. Copyright © 2023, The Authors. All rights reserved.

关键词： Calibration

A Recommendation Method for Highly Sparse Dataset Based on Teaching Recommendation Factorization Machines

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computers, Materials & Continua 2020年第9期64卷 1959-1975页

作者： Dunhong Yao Shijun Li Ang Li Yu Chen School of Computer Science and Engineering Huaihua UniversityHuaihua418000China Key Laboratory of Wuling-Mountain Health Big Data Intelligent Processing and Application in Hunan Province Universities Huaihua418000China Key Laboratory of Intelligent Control Technology for Wuling-Mountain Ecological Agriculture in Hunan Province Huaihua418000China School of Computer Wuhan UniversityWuhan430072China Department of Electrical and Computer Engineering Duke UniversityDurhamNC 27708USA School of Computer Science and Engineering Yulin Normal UniversityYulin537000China

There is no reasonable scientific basis for selecting the excellent teachers of the school’s *** solve the practical problem,we firstly give a series of normalization models for defining the key attributes of teachers’professional foundation,course difficulty coefficient,and comprehensive evaluation of ***,we define a partial weight function to calculate the key attributes,and obtain the partial recommendation ***,we construct a highly sparse Teaching Recommendation Factorization Machines(TRFMs)model,which takes the 5-tuples relation including teacher,course,teachers’professional foundation,course difficulty,teaching evaluation as the feature vector,and take partial recommendation value as the recommendation ***,we design a novel Top-N excellent teacher recommendation algorithm based on TRFMs by course classification on the highly sparse *** results show that the proposed TRFMs and recommendation algorithm can accurately realize the recommendation of excellent teachers on a highly sparse historical teaching *** recommendation accuracy is superior to that of the three-dimensional tensor decomposition model algorithm which also solves sparse *** proposed method can be used as a new recommendation method applied to the teaching arrangements in all kinds of schools,which can effectively improve the teaching quality.

关键词： Highly sparse dataset normalized models teaching recommendation factorization machines excellent teacher recommendation

Signal structure information-based data association for maneuvering targets with a convolutional Siamese network

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Signal structure information-based data association for mane...

IEEE International Conference on Radar

作者： Chang Gao Hongwei Liu Pramod K. Varshney Junkun Yan Penghui Wang National Laboratory of Radar Signal Processing Xidian University Xi'an China Department of Electrical Engineering and Computer Science Syracuse University NY USA

ISBN: (纸本)9781665468893

Traditional data association methods usually suffer performance degradation caused by model mismatch when target maneuvers occur. In addition, the signal structure information (SSI) available from the employed signal processing techniques is rarely used in data association due to the lack of appropriate tools. To overcome the model mismatch problem brought by the target maneuvers, we resort to a data driven method to design the data association algorithm. To make full use of the SSI, a convolutional neural network is used to transform the SSI into a feature space, where the similarity of the SSI between two observations can be calculated using the Euclidean distance. The resulting structure is the convolutional Siamese network (CSN). By comparing the similarity with a predetermined margin parameter, the decision about association can be made. Simulation results are presented to show that the use of SSI in the designed CSN can improve the association probability of maneuvering targets.

关键词： Correlation Convolution Simulation Radar Euclidean distance Transforms Radar tracking

Semantic Communications:Theories,Technologies and Applications

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中国通信（英文版） 2024年第7期21卷前插1-前插5页

作者： Zhang Ping Shi Guangming Cui Shuguang Zhang Zhaoyang Niu Kai Xiao Yong Qin Zhijin Dai Jincheng Shao Shuo Deniz Gündüz Eleonora Grassucci School of Information and Communication Engineering at Beijing University of Posts and Telecommunications State Key Laboratory of Networking and Switching Technology IMT-2020(5G)Experts Panel Experts Panel for China's 6G development Peng Cheng Laboratory School of Artifi-cial Intelligence Xidian University electrical and computer engineering with the University of Arizona Texas A&M University UC Davis Chinese Univer-sity of Hong Kong(Shenzhen)(CUHK-Shenzhen) Zhejiang University School of Artificial Intelli-gence BUPT School of Electron-ic Information and Communications at the Huazhong University of Science and Technology(HUST) WuhanChina Peng Cheng Laboratory Guang-zhouChina and the Pazhou Laboratory(Huangpu)Guang-zhouChina Tsinghua University BeijingChina Key Laboratory of Universal Wireless Communications Ministry of EducationBeijing University of Posts and Telecommunications School of Electronics Informa-tion and Electrical EngineeringShanghai Jiao Tong Univer-sityChina Information Processing in the Electrical and Electronic Engineering Department at Imperial College London UK Intelligent Systems and Networks Group Department at Imperial College London UK Department of Information Engineering Electronicsand Telecommunications of the Sapienza University of Rome

The last seventy years have witnessed the transi-tion of communication from Shannon's theoretical concept to current high-efficiency practical *** respect to Shannon information theory,to fulfill the high-bandwidth utilization,any further increase in the data rate requires a significant augmentation in the received signal power unless the bandwidth is extended in proportion to the incre-mental data rate.

关键词： Special issues and sections Semantics Communication systems Data processing Information theory Data augmentation

Decentralized Nonconvex Robust Optimization over Unsafe Multiagent Systems: System Modeling, Utility, Resilience, and Privacy Analysis

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arXiv 2024年

作者： Hu, Jinhui Chen, Guo Li, Huaqing Cheng, Huqiang Guo, Xiaoyu Huang, Tingwen School of Automation Central South University Changsha410083 China Department of Biomedical Engineering City University of Hong Kong Kowloon Hong Kong School of Electrical Engineering and Telecommunications University of New South Wales SydneyNSW2052 Australia Chongqing Key Laboratory of Nonlinear Circuits and Intelligent Information Processing College of Electronic and Information Engineering Southwest University Chongqing400715 China Key Laboratory of Dependable Services Computing in Cyber Physical Society Ministry of Education College of Computer Science Chongqing University Chongqing400044 China Faculty of Computer Science and Control Engineering Shenzhen University of Advanced Technology Shenzhen518055 China

Privacy leakage and Byzantine failures are two adverse factors to the intelligent decision-making process of multiagent systems (MASs). Considering an unsafe MAS with these two issues, this paper targets the resolution of a class of nonconvex optimization problems under the Polyak-Lojasiewicz (P-L) condition. To address this problem, we first identify and construct the unsafe MAS model. Under this kind of unfavorable MASs, we mask the local gradients with Gaussian noises and adopt a resilient aggregation method self-centered clipping (SCC) to design a differentially private (DP) decentralized Byzantine-resilient algorithm, namely DP-SCC-PL, which simultaneously achieves differential privacy and Byzantine resilience. The convergence analysis of DP-SCC-PL is challenging since the convergence error can be contributed jointly by privacy-preserving and Byzantine-resilient mechanisms, as well as the nonconvex relaxation, which is addressed via seeking the contraction relationships among the disagreement measure of reliable agents before and after SCC aggregation, together with the optimal gap. Theoretical results reveal that DP-SCC-PL achieves consensus among all reliable agents and sublinear (inexact) convergence with well-designed step-sizes. It has also been proved that if there are no privacy issues and Byzantine agents, then the asymptotic exact convergence can be recovered. Numerical experiments verify the utility, resilience, and differential privacy of DP-SCC-PL by tackling a nonconvex optimization problem satisfying the P-L condition under various Byzantine attacks. Copyright © 2024, The Authors. All rights reserved.

关键词： Differential privacy

Uncertainty-aware Sampling for Long-tailed Semi-supervised Learning

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arXiv 2024年

作者： Yang, Kuo Li, Duo Hu, Menghan Zhai, Guangtao Yang, Xiaokang Zhang, Xiao-Ping The Shanghai Key Laboratory of Multidimensional Information Processing School of Communication and Electronic Engineering East China Normal University Shanghai200241 China The Kargobot of DiDi Shanghai201210 China The Institute of Image Communication and Network Engineering Shanghai Jiao Tong University Shanghai200240 China Tsinghua Berkeley Shenzhen Institute Shenzhen China The Department of Electrical Computer and Biomedical Engineering Toronto Metropolitan University ONM5B 2K3 Canada

For semi-supervised learning with imbalance classes, the long-tailed distribution of data will increase the model prediction bias toward dominant classes, undermining performance on less frequent classes. Existing methods also face challenges in ensuring the selection of sufficiently reliable pseudo-labels for model training and there is a lack of mechanisms to adjust the selection of more reliable pseudo-labels based on different training stages. To mitigate this issue, we introduce uncertainty into the modeling process for pseudo-label sampling, taking into account that the model performance on the tailed classes varies over different training stages. For example, at the early stage of model training, the limited predictive accuracy of model results in a higher rate of uncertain pseudo-labels. To counter this, we propose an Uncertainty-Aware Dynamic Threshold Selection (UDTS) approach. This approach allows the model to perceive the uncertainty of pseudo-labels at different training stages, thereby adaptively adjusting the selection thresholds for different classes. Compared to other methods such as the baseline method FixMatch, UDTS achieves an increase in accuracy of at least approximately 5.26%, 1.75%, 9.96%, and 1.28% on the natural scene image datasets CIFAR10-LT, CIFAR100-LT, STL-10-LT, and the medical image dataset TissueMNIST, respectively. The source code of UDTS is publicly available at: https://***/yangk/UDTS. Copyright © 2024, The Authors. All rights reserved.

关键词： Uncertainty analysis

Delay Constraint Energy Efficient Cooperative Offloading in MEC for IoT 16th

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Delay Constraint Energy Efficient Cooperative Offloading in ...

16th EAI International Conference on Collaborative Computing: Networking, Applications, and Worksharing, CollaborateCom 2020

作者： Sun, Haifeng Wang, Jun Peng, Haixia Song, Lili Qin, Mingwei School of Computer Science and Technology Southwest University of Science and Technology Mianyang621010 China Guangdong Key Laboratory of Intelligent Information Processing Shenzhen University Shenzhen518061 China Department of Electrical and Computer Engineering University of Waterloo WaterlooN2L 3G1 Canada School of Information Engineering Southwest University of Science and Technology Mianyang621010 China

ISBN: (纸本)9783030675363

Mobile edge computing (MEC) is a promising approach to execute delay-sensitive and computation-intensive applications in the resource-limited IoT mobile devices (IMDs) by offloading computing tasks to MEC servers. In this paper, we propose a neighbor-aided cooperative offloading scheme with delay constraint to improve the energy efficiency in MEC-based Internet of Things (IoT) networks. The network consists of a target IMD with some IMD neighbors, and an access point integrated with an MEC server. The latency-constrained tasks in the IMD can be partially offloaded to and executed by the selected neighboring IMD or the MEC server. Different from other works, our proposed offloading scheme selects the most energy-efficient one from all the neighboring IMDs as the offloading helper. Specifically, we formulate an optimization problem to minimize the total energy consumption while satisfying the computation delay constraint of each task, and obtain the most energy-efficient neighbor with the optimized division of tasks by solving the formulated problem. Moreover, we design an easy neighbor selection scheme with lower time complexity by the weighted value of the transmission rate for each neighbor. Numerical results show that the proposed scheme outperforms benchmark schemes significantly in terms of energy consumption and the supported maximum task length. © 2021, ICST Institute for computer Sciences, Social Informatics and Telecommunications engineering.

关键词： Energy efficiency

Few-Shot Class-Incremental Learning with Prior Knowledge

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arXiv 2024年

作者： Jiang, Wenhao Li, Duo Hu, Menghan Zhai, Guangtao Yang, Xiaokang Zhang, Xiao-Ping Shanghai Key Laboratory of Multidimensional Information Processing School of Communication and Electronic Engineering East China Normal University Shanghai200241 China Kargobot of DiDi Shanghai201210 China Institute of Image Communication and Network Engineering Shanghai Jiao Tong University Shanghai200240 China Tsinghua Berkeley Shenzhen Institute Shenzhen China Department of Electrical Computer and Biomedical Engineering Toronto Metropolitan University ONM5B 2K3 Canada

To tackle the issues of catastrophic forgetting and overfitting in few-shot class-incremental learning (FSCIL), previous work has primarily concentrated on preserving the memory of old knowledge during the incremental phase. The role of pre-trained model in shaping the effectiveness of incremental learning is frequently underestimated in these studies. Therefore, to enhance the generalization ability of the pre-trained model, we propose Learning with Prior Knowledge (LwPK) by introducing nearly free prior knowledge from a few unlabeled data of subsequent incremental classes. We cluster unlabeled incremental class samples to produce pseudo-labels, then jointly train these with labeled base class samples, effectively allocating embedding space for both old and new class data. Experimental results indicate that LwPK effectively enhances the model resilience against catastrophic forgetting, with theoretical analysis based on empirical risk minimization and class distance measurement corroborating its operational principles. The source code of LwPK is publicly available at: https://***/StevenJ308/LwPK. Copyright © 2024, The Authors. All rights reserved.

关键词： Risk assessment

Adaptive Estimation for Environmental Monitoring Using an Autonomous Underwater Vehicle

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Adaptive Estimation for Environmental Monitoring Using an Au...

IEEE Conference on Decision and Control

作者： Ziwen Yang Joana Fonseca Shanying Zhu Cailian Chen Xinping Guan Karl H. Johansson Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Digital Futures

This paper considers the problem of monitoring and adaptively estimating an environmental field, such as temperature or salinity, using an autonomous underwater vehicle (AUV). The AUV moves in the field and persistently measures environmental scalars and its position in its local coordinate frame. The environmental scalars are approximately linearly distributed over the region of interest, and an adaptive estimator is designed to estimate the gradient. By orthogonal decomposition of the velocity of the AUV, a linear time-varying system is equivalently constructed, and the sufficient conditions on the motion of the AUV are established, under which the global exponential stability of the estimation error system is rigorously proved. Furthermore, an estimate of the exponential convergence rate is given, and a reference trajectory that maximizes the estimate of the convergence rate is obtained for the AUV to track. Numerical examples verify the stability and efficiency of the system.

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