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UKF‐MOT:An unscented Kalman filter‐based 3D multi‐object tracker

CAAI Transactions on Intelligence Technology 2024年第4期9卷 1031-1041页

作者： Meng Liu Jianwei Niu Yu Liu Collective Intelligence&Collaboration Laboratory China North Artificial Intelligence and Innovation Research InstituteBeijingChina China North Vehicle Research Institute BeijingChina State Key Laboratory of Software Development Environment School of Computer Science and EngineeringBeihang UniversityBeijingChina State Key Laboratory of Virtual Reality Technology and Systems School of Computer Science and EngineeringBeihang UniversityBeijingChina School of Computer Science and Engineering Beihang UniversityBeijingChina

Multi‐object tracking in autonomous driving is a non‐linear *** better address the tracking problem,this paper leveraged an unscented Kalman filter to predict the object's *** the association stage,the Mahalanobis distance was employed as an affinity metric,and a Non‐minimum Suppression method was designed for *** the detections fed into the tracker and continuous‘predicting‐matching’steps,the states of each object at different time steps were described as their own continuous *** conducted extensive experiments to evaluate tracking accuracy on three challenging datasets(KITTI,nuScenes and Waymo).The experimental results demon-strated that our method effectively achieved multi‐object tracking with satisfactory ac-curacy and real‐time efficiency.

关键词： autonomous vehicle transportation

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CAPS: An Efficient Whole-Program Critical Paths Search Framework for Large-Scale software 35

CAPS: An Efficient Whole-Program Critical Paths Search Frame...

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35th International Conference on software engineering and Knowledge engineering, SEKE 2023

作者： Li, Peiyang Liu, Zixin Su, Yuening Wang, Hao Jiang, Bo State Key Laboratory of Software Development Environment School of Computer Science and Engineering Beihang University China

Tracking the flow of external inputs in a program with taint-analysis techniques can help developers better identify potential security vulnerabilities in the software. However, directly using the static taint analysis provided by Clang Static Analyzer is inefficient for large-scale software due to the huge but redundant ExplodedGraph generated. Therefore, we propose an efficient Whole-Program Critical Paths Search (CAPS) framework. It first performs a set of optimizations to reduce the ExplodedGraph of each function. Then, it constructs a global exploded graph by inserting call edges among the reduced ExplodedGraphs for each function within the Neo4j graph database. Finally, it proposes loop removal and graph segmentation to optimize the search process for critical paths on the global exploded graph. Our experiments on 3 large-scale software show that CAPS can significantly improve the efficiency of critical path search for large-scale software. © 2023 Knowledge Systems Institute Graduate school. All rights reserved.

关键词： Static analysis

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Minimizing the cost of periodically replicated systems via model and quantitative analysis

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Frontiers of computer science 2024年第5期18卷 11-24页

作者： Chenhao ZHANG Liang WANG Limin XIAO Shixuan JIANG Meng HAN Jinquan WANG Bing WEI Guangjun QIN State Key Laboratory of Software Development Environment Beihang UniversityBeijing 100191China School of Computer Science and Engineering Beihang UniversityBeijing 100191China School of Cyberspace Security Hainan UniversityHaikou 570228China Smart City College Beijing Union UniversityBeijing 100101China

Geographically replicating objects across multiple data centers improves the performance and reliability of cloud storage *** consistent replicas comes with high synchronization costs,as it faces more expensive WAN transport prices and increased *** replication is the widely used technique to reduce the synchronization *** replication strategies in existing cloud storage systems are too static to handle traffic changes,which indicates that they are inflexible in the face of unforeseen loads,resulting in additional synchronization *** propose quantitative analysis models to quantify consistency and synchronization cost for periodically replicated systems,and derive the optimal synchronization period to achieve the best tradeoff between consistency and synchronization *** on this,we propose a dynamic periodic synchronization method,Sync-Opt,which allows systems to set the optimal synchronization period according to the variable load in clouds to minimize the synchronization *** results demonstrate the effectiveness of our *** with the policies widely used in modern cloud storage systems,the Sync-Opt strategy significantly reduces the synchronization cost.

关键词： periodic replication consistency maintenance synchronization cost synchronization strategy

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Towards optimized tensor code generation for deep learning on sunway many-core processor

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Frontiers of computer science 2024年第2期18卷 1-15页

作者： Mingzhen LI Changxi LIU Jianjin LIAO Xuegui ZHENG Hailong YANG Rujun SUN Jun XU Lin GAN Guangwen YANG Zhongzhi LUAN Depei QIAN State Key Laboratory of Software Development Environment Beijing 100191China School of Computer Science and Engineering Beihang UniversityBeijing 100191China National University of Singapore Singapore 119077Singapore State Key Laboratory of Mathematical Engineering and Advanced Computing Wuxi 214000China Science and Technology on Special System Simulation Laboratory Beijing Simulation Center Beijing 100854China Department of Computer Science and Technology Tsinghua UniversityBeijing 100084China

The flourish of deep learning frameworks and hardware platforms has been demanding an efficient compiler that can shield the diversity in both software and hardware in order to provide application *** the existing deep learning compilers,TVM is well known for its efficiency in code generation and optimization across diverse hardware *** the meanwhile,the Sunway many-core processor renders itself as a competitive candidate for its attractive computational power in both scientific computing and deep learning *** paper combines the trends in these two ***,we propose swTVM that extends the original TVM to support ahead-of-time compilation for architecture requiring cross-compilation such as *** addition,we leverage the architecture features during the compilation such as core group for massive parallelism,DMA for high bandwidth memory transfer and local device memory for data locality,in order to generate efficient codes for deep learning workloads on *** experiment results show that the codes generated by swTVM achieve 1.79x improvement of inference latency on average compared to the state-of-the-art deep learning framework on Sunway,across eight representative *** work is the first attempt from the compiler perspective to bridge the gap of deep learning and Sunway processor particularly with productivity and efficiency in *** believe this work will encourage more people to embrace the power of deep learning and Sunwaymany-coreprocessor.

关键词： sunway processor deep learning compiler code generation performance optimization

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OpenSN: An Open Source Library for Emulating LEO Satellite Networks

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IEEE Transactions on Parallel and Distributed Systems 2025年第8期36卷 1574-1590页

作者： Lu, Wenhao Wang, Zhiyuan Zhang, Hefan Zhang, Shan Luo, Hongbin Beihang University School of Computer Science and Engineering Beijing 100191 China Zhongguancun Laboratory State Key Laboratory of Virtual Reality Technology and Systems Beijing 100191 China State Key Laboratory of Software Development Environment China

Low- earth-orbit (LEO) satellite constellations (e.g., Starlink) are becoming a necessary component of future Internet. There have been increasing studies on LEO satellite networking. It is a crucial problem how to evaluate these studies in a systematic and reproducible manner. In this paper, we present OpenSN, i.e., an open source library for emulating large-scale satellite network (SN). Different from Mininet-based SN emulators (e.g., LeoEM), OpenSN adopts container-based virtualization, thus allows for running distributed routing software on each node, and can achieve horizontal scalability via flexible multi-machine extension. Compared to other container-based SN emulators (e.g., StarryNet), OpenSN streamlines the interaction with Docker command line interface and significantly reduces unnecessary operations of creating virtual links. These modifications improve emulation efficiency and vertical scalability on a single machine. Furthermore, OpenSN separates user-defined configuration from container network management via a key-Value Database that records the necessary information for SN emulation. Such a separation architecture enhances the function extensibility. To sum up, OpenSN exhibits advantages in efficiency, scalability, and extensibility, thus is a valuable open source library that empowers research on LEO satellite networking. Experiment results show that OpenSN constructs mega-constellations 5X-10X faster than StarryNet, and updates link state 2X-4X faster than LeoEM. We also verify the scalability of OpenSN by successfully emulating the five-shell Starlink constellation with a total of 4408 satellites. © 1990-2012 IEEE.

关键词： Container low- earth-orbit satellite constellations satellite network emulator

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Research on performance optimization of virtual data space across WAN

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Frontiers of computer science 2024年第6期18卷 167-187页

作者： Jiantong HUO Zhisheng HUO Limin XIAO Zhenxue HE State Key Laboratory of Software Development Environment Beihang UniversityBeijing 100191China School of Computer Science and Engineering Beihang UniversityBeijing 100191China High Performance Computing Center Beihang UniversityBeijing 100191China Hebei Key Laboratory of Agricultural Big Data Hebei Agricultural UniversityBaoding 071001China

For the high-performance computing in a WAN environment,the geographical locations of national supercomputing centers are scattered and the network topology is complex,so it is difficult to form a unified view of *** aggregate the widely dispersed storage resources of national supercomputing centers in China,we have previously proposed a global virtual data space named GVDS in the project of“High Performance Computing Virtual Data Space”,a part of the National key Research and development Program of *** GVDS enables large-scale applications of the high-performance computing to run efficiently across ***,the applications running on the GVDS are often data-intensive,requiring large amounts of data from multiple supercomputing centers across *** this regard,the GVDS suffers from performance bottlenecks in data migration and access across *** solve the above-mentioned problem,this paper proposes a performance optimization framework of GVDS including the multitask-oriented data migration method and the request access-aware IO proxy resource allocation *** a WAN environment,the framework proposed in this paper can make an efficient migration decision based on the amount of migrated data and the number of multiple data sources,guaranteeing lower average migration latency when multiple data migration tasks are running in *** addition,it can ensure that the thread resource of the IO proxy node is fairly allocated among different types of requests(the IO proxy is a module of GVDS),so as to improve the application’s performance across *** experimental results show that the framework can effectively reduce the average data access delay of GVDS while improving the performance of the application greatly.

关键词： storage aggregation across WANs large-scale applications GVDS data migration allocation of IO proxy resource

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Effective Training of PINNs by Combining CMA-ES with Gradient Descent 13

Effective Training of PINNs by Combining CMA-ES with Gradien...

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13th IEEE Congress on Evolutionary Computation, CEC 2024

作者： Liu, Lin Yuan, Yuan School of Computer Science and Engineering Beihang University Beijing100191 China State Key Laboratory of Software Development Environment Zhongguancun Laboratory Beijing100191 China

ISBN: (纸本)9798350308365

Physics-Informed Neural Networks (PINNs) have recently received increasing attention, however, optimizing the loss function of PINNs is notoriously difficult, where the landscape of the loss function is often highly non-convex and rugged. Local optimization methods based on gradient information can converge quickly but are prone to being trapped in local minima for training PINNs. Evolutionary algorithms (EAs) are well known for the global search ability, which can help escape from local minima. It has been reported in the literature that EAs show some advantages over gradient-based methods in training PINNs. Inspired by the Memetic Algorithm, we combine global-search based EAs and local-search based batch gradient descent in order to make the best of both word. In addition, since the PINN loss function is composed of multiple terms, balancing these terms is also a challenging issue. Therefore, we also attempt to combine EAs with multiple-gradient descent algorithm for multi-objective optimization. Our experiments provide strong evidence for the superiority of the above algorithms. © 2024 IEEE.

关键词： Optimization algorithms

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Light field depth estimation:A comprehensive survey from principles to future

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High-Confidence Computing 2024年第1期4卷 92-107页

作者： Tun Wang Hao Sheng Rongshan Chen Da Yang Zhenglong Cui Sizhe Wang Ruixuan Cong Mingyuan Zhao State Key Laboratory of Virtual Reality Technology and Systems School of Computer Science and EngineeringBeihang UniversityBeijing 100191China Zhongfa Aviation Institute Beihang UniversityHangzhou 311115China Faculty of Applied Sciences Macao Polytechnic UniversityMacao 999078China State Key Laboratory of Software Development Environment School of Computer Science and EngineeringBeihang UniversityBeijing 100191China

Light Field(LF)depth estimation is an important research direction in the area of computer vision and computational photography,which aims to infer the depth information of different objects in threedimensional scenes by capturing LF *** this new era of significance,this article introduces a survey of the key concepts,methods,novel applications,and future trends in this *** summarize the LF depth estimation methods,which are usually based on the interaction of radiance from rays in all directions of the LF data,such as epipolar-plane,multi-view geometry,focal stack,and deep *** analyze the many challenges facing each of these approaches,including complex algorithms,large amounts of computation,and speed *** addition,this survey summarizes most of the currently available methods,conducts some comparative experiments,discusses the results,and investigates the novel directions in LF depth estimation.

关键词： Light field Depth estimation Deep learning Sub-aperture image Epipolar-plane image

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Adaptive Cost Aggregation in Iterative Depth Estimation for Efficient Multi-view Stereo 12th

Adaptive Cost Aggregation in Iterative Depth Estimation for...

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12th International Conference on Image and Graphics, ICIG 2023

作者： Wang, Xiang Bai, Xiao Wang, Chen School of Computer Science and Engineering State Key Laboratory of Software Development Environment Jiangxi Research Institute Beihang University Beijing China

ISBN: (纸本)9783031463075

The deep multi-view stereo (MVS) approaches generally construct 3D cost volumes to regularize and regress the depth map. These methods are limited with high-resolution outputs since the memory and time costs grow cubically as the volume resolution increases. In this paper, we presented an multi-stage iterative depth map estimation method for MVS. In our network, the cost volume is iteratively processed by lightweight 2D convolution based GRU modules, and the multi-stage coarse-to-fine structure is adopted to speed up the depth estimation process. To further improve the 3D reconstruction quality, we make improvements from two different perspectives of adaptive cost aggregation: a view-adaptive weighting module is proposed to account for the occlusion problem in cost volume fusion, and a spatial-adaptive deformable geometric feature encoding module is introduced to the cost volume feature encoding before feeding into GRUs for stronger modeling capability. Experiments on the DTU dataset demonstrated the effectiveness of the proposed network in accuracy with remarkable efficiency performance. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2023.

关键词： Iterative methods

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SMEC:Scene Mining for E-Commerce

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Journal of computer science & Technology 2024年第1期39卷 192-210页

作者：王罡李翔郭子义殷大伟马帅 State Key Laboratory of Software Development Environment Beihang UniversityBeijing 100191China School of Data Science and Engineering East China Normal UniversityShanghai 200062China *** Inc.Beijing 100176China Baidu Inc.Beijing 100085China

Scene-based recommendation has proven its usefulness in E-commerce,by recommending commodities based on a given ***,scenes are typically unknown in advance,which necessitates scene discovery for *** this article,we study scene discovery for E-commerce *** first formalize a scene as a set of commodity cate-gories that occur simultaneously and frequently in real-world situations,and model an E-commerce platform as a heteroge-neous information network(HIN),whose nodes and links represent different types of objects and different types of rela-tionships between objects,*** then formulate the scene mining problem for E-commerce as an unsupervised learning problem that finds the overlapping clusters of commodity categories in the *** solve the problem,we pro-pose a non-negative matrix factorization based method SMEC(Scene Mining for E-Commerce),and theoretically prove its *** six real-world E-commerce datasets,we finally conduct an extensive experimental study to evaluate SMEC against 13 other methods,and show that SMEC consistently outperforms its competitors with regard to various evaluation measures.

关键词： graph clustering E-commerce heterogeneous information network(HIN) scene mining

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