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CPL-SLAM: Centralized Collaborative Multi-Robot Visual-Inertial SLAM Using Point-and-Line Features

IEEE Internet of Things Journal 2025年

作者： Liu, Xin Wen, Shuhuan Liu, Huaping Richard Yu, F. Yanshan University Engineering Research Center The Ministry of Education for Intelligent Control System and Intelligent Equipment Key Lab of Intelligent Rehabilitation and Neuroregulation in Hebei Province Department of Key Lab of Industrial Computer Control Engineering of Hebei Province Qinhuangdao066004 China Tsinghua University Department of Computer Science and Technology Beijing100084 China Shenzhen University College of Computer Science and Software Engineering China Carleton University Canada

Traditional visual-inertial SLAM (Simultaneous Localization and Mapping) systems predominantly rely on feature point matching from a single robot to realize the robot pose estimation and environment map construction. However, in complex scenarios, these traditional systems struggle with issues such as tracking failures due to illumination changes, rapid movements, and low-texture environments, and they perform poorly in terms of mapping efficiency and global consistency. To address these challenges, we propose a centralized collaborative SLAM system that employs both point and line features for tracking in the robot and map fusion in the cloud. The proposed system leverages the fusion of point and line features across all instances in the process, which allows our method to achieve higher localization accuracy in structured, low-texture scenes. With the aid of classifying gravity-aligned vertical lines and spatial parallel lines, the proposed system can deliver faster and more accurate odometry in complex scenes. Furthermore, we developed intra-robot and inter-robot loop closure detection methods based on point and line features, generating a globally consistent sparse point cloud and structured scene map in the cloud. Our method is able to build richer maps while improving accuracy compared to existing methods. Experimental results on public datasets and in real-world environments show that, compared to existing advanced methods, our approach demonstrates better performance. © 2014 IEEE.

关键词： SLAM robotics

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RGB-D Fusion Network for Glass Segmentation

SSRN

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SSRN 2024年

作者： Tao, Tao Yang, Jianfeng Xiao, Jinsheng Zheng, Hong Wang, Hanfang School of Electronic information Wuhan University Wuhan China Lab. of Industrial IoT System Wuhan China Wuhan Vocational College of Software and Engineering Wuhan Open University Wuhan China Guangdong University of Technology China

Due to the optical properties of glass materials, most glass appears transparent in RGB images. However, in depth images, different acquisition methods make glass visible. Therefore, Therefore, using RGB-D dual-channel feature input makes it easier to recognize and segment glass objects. Building on this concept, we propose a multi-layer symmetrical dual-channel network architecture, which can effectively realize trans-modal feature fusion of RGB-D images based on attention mechanism, and integrate Convolutional and Transformer architectures to extract local features and non-local dependencies, respectively. To further enhance segmentation accuracy and efficiency, this paper also designs a boundary optimization module. This module constructs a distance map based on edge prediction guidance, enabling high-precision glass edge recognition. To support this work, we collect a new dataset comprising 5551 sets of calibrated RGB-D images. The effectiveness and accuracy of the proposed glass segmentation method are rigorously evaluated quantitatively and qualitatively. The code for this paper has been published at:https://***/Jaccury/RGB-D-Transparent-object-segmentation. © 2024, The Authors. All rights reserved.

关键词： Glass

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DarkFed: A Data-Free Backdoor Attack in Federated Learning

arXiv

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arXiv 2024年

作者： Li, Minghui Wan, Wei Ning, Yuxuan Hu, Shengshan Xue, Lulu Zhang, Leo Yu Wang, Yichen School of Software Engineering Huazhong University of Science and Technology China National Engineering Research Center for Big Data Technology and System China Services Computing Technology and System Lab China Hubei Engineering Research Center on Big Data Security China Hubei Key Laboratory of Distributed System Security China School of Cyber Science and Engineering Huazhong University of Science and Technology China School of Computer Science and Technology Huazhong University of Science and Technology China School of Information and Communication Technology Griffith University Australia

Federated learning (FL) has been demonstrated to be susceptible to backdoor attacks. However, existing academic studies on FL backdoor attacks rely on a high proportion of real clients with main task-related data, which is impractical. In the context of real-world industrial scenarios, even the simplest defense suffices to defend against the state-of-the-art attack, 3DFed. A practical FL backdoor attack remains in a nascent stage of development. To bridge this gap, we present DarkFed. Initially, we emulate a series of fake clients, thereby achieving the attacker proportion typical of academic research scenarios. Given that these emulated fake clients lack genuine training data, we further propose a data-free approach to backdoor FL. Specifically, we delve into the feasibility of injecting a backdoor using a shadow dataset. Our exploration reveals that impressive attack performance can be achieved, even when there is a substantial gap between the shadow dataset and the main task dataset. This holds true even when employing synthetic data devoid of any semantic information as the shadow dataset. Subsequently, we strategically construct a series of covert backdoor updates in an optimized manner, mimicking the properties of benign updates, to evade detection by defenses. A substantial body of empirical evidence validates the tangible effectiveness of DarkFed. Copyright © 2024, The Authors. All rights reserved.

关键词： Semantics

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Securely Fine-tuning Pre-trained Encoders Against Adversarial Examples

arXiv

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arXiv 2024年

作者： Zhou, Ziqi Li, Minghui Liu, Wei Hu, Shengshan Zhang, Yechao Wan, Wei Xue, Lulu Zhang, Leo Yu Yao, Dezhong Jin, Hai National Engineering Research Center for Big Data Technology and System China Services Computing Technology and System Lab. China Cluster and Grid Computing Lab. China Hubei Engineering Research Center on Big Data Security China Hubei Key Laboratory of Distributed System Security China School of Computer Science and Technology Huazhong University of Science and Technology China School of Software Engineering Huazhong University of Science and Technology China School of Cyber Science and Engineering Huazhong University of Science and Technology China School of Information and Communication Technology Griffith University Australia

With the evolution of self-supervised learning, the pre-training paradigm has emerged as a predominant solution within the deep learning landscape. Model providers furnish pre-trained encoders designed to function as versatile feature extractors, enabling downstream users to harness the benefits of expansive models with minimal effort through fine-tuning. Nevertheless, recent works have exposed a vulnerability in pre-trained encoders, highlighting their susceptibility to downstream-agnostic adversarial examples (DAEs) meticulously crafted by attackers. The lingering question pertains to the feasibility of fortifying the robustness of downstream models against DAEs, particularly in scenarios where the pre-trained encoders are publicly accessible to the attackers. In this paper, we initially delve into existing defensive mechanisms against adversarial examples within the pre-training paradigm. Our findings reveal that the failure of current defenses stems from the domain shift between pre-training data and downstream tasks, as well as the sensitivity of encoder parameters. In response to these challenges, we propose Genetic Evolution-Nurtured Adversarial Fine-tuning (Gen-AF), a two-stage adversarial fine-tuning approach aimed at enhancing the robustness of downstream models. Gen-AF employs a genetic-directed dual-track adversarial fine-tuning strategy in its first stage to effectively inherit the pre-trained encoder. This involves optimizing the pre-trained encoder and classifier separately while incorporating genetic regularization to preserve the model’s topology. In the second stage, Gen-AF assesses the robust sensitivity of each layer and creates a dictionary, based on which the top-k robust redundant layers are selected with the remaining layers held fixed. Upon this foundation, we conduct evolutionary adaptability fine-tuning to further enhance the model’s generalizability. Our extensive experiments, conducted across ten self-supervised training methods and six

关键词： Topology

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Detecting Backdoors During the Inference Stage Based on Corruption Robustness Consistency

Detecting Backdoors During the Inference Stage Based on Corr...

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Conference on Computer Vision and Pattern Recognition (CVPR)

作者： Xiaogeng Liu Minghui Li Haoyu Wang Shengshan Hu Dengpan Ye Hai Jin Libing Wu Chaowei Xiao School of Cyber Science and Engineering Huazhong University of Science and Technology National Engineering Research Center for Big Data Technology and System Services Computing Technology and System Lab Hubei Key Laboratory of Distributed System Security Hubei Engineering Research Center on Big Data Security School of Software Engineering Huazhong University of Science and Technology School of Cyber Science and Engineering Wuhan University School of Computer Science and Technology Huazhong University of Science and Technology Cluster and Grid Computing Lab Arizona State University

Deep neural networks are proven to be vulnerable to backdoor attacks. Detecting the trigger samples during the inference stage, i.e., the test-time trigger sample detection, can prevent the backdoor from being triggered. However, existing detection methods often require the defenders to have high accessibility to victim models, extra clean data, or knowledge about the appearance of backdoor triggers, limiting their practicality. In this paper, we propose the test-time corruption robustness consistency evaluation (TeCo) 1 1 https://***/CGCL-codes/TeCo, a novel test-time trigger sample detection method that only needs the hard-label outputs of the victim models without any extra information. Our journey begins with the intriguing observation that the backdoor-infected models have similar performance across different image corruptions for the clean images, but perform discrepantly for the trigger samples. Based on this phenomenon, we design TeCo to evaluate test-time robustness consistency by calculating the deviation of severity that leads to predictions' transition across different corruptions. Extensive experiments demonstrate that compared with state-of-the-art defenses, which even require either certain information about the trigger types or accessibility of clean data, TeCo outperforms them on different backdoor attacks, datasets, and model architectures, enjoying a higher AUROC by 10% and 5 times of stability.

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Validating SMT Solvers via Skeleton Enumeration Empowered by Historical Bug-Triggering Inputs

Validating SMT Solvers via Skeleton Enumeration Empowered by...

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International Conference on software engineering (ICSE)

作者： Maolin Sun Yibiao Yang Ming Wen Yongcong Wang Yuming Zhou Hai Jin School of Cyber Science and Engineering Huazhong University of Science and Technology China Hubei Key Laboratory of Distributed System Security Services Computing Technology and System Lab Cluster and Grid Computing Lab Hubei Engineering Research Center on Big Data Security National Engineering Research Center for Big Data Technology and System State Key Laboratory for Novel Software Technology Nanjing University China School of Computer Science and Technology Huazhong University of Science and Technology China

SMT solvers check the satisfiability of logic formulas over first-order theories, which have been utilized in a rich number of critical applications, such as software verification, test case generation, and program synthesis. Bugs hidden in SMT solvers would severely mislead those applications and further cause severe consequences. Therefore, ensuring the reliability and robustness of SMT solvers is of critical importance. Although many approaches have been proposed to test SMT solvers, it is still a challenge to discover bugs effectively. To tackle such a challenge, we conduct an empirical study on the historical bug-triggering formulas in SMT solvers' bug tracking systems. We observe that the historical bug-triggering formulas contain valuable skeletons (i.e., core structures of formulas) as well as associated atomic formulas which can cast significant impacts on formulas' ability in triggering bugs. Therefore, we propose a novel approach that utilizes the skeletons extracted from the historical bug-triggering formulas and enumerates atomic formulas under the guidance of association rules derived from historical formulas. In this study, we realized our approach as a practical fuzzing tool HistFuzz and conducted extensive testing on the well-known SMT solvers Z3 and cvc5. To date, HistFuzz has found 111 confirmed new bugs for Z3 and cvc5, of which 108 have been fixed by the developers. More notably, out of the confirmed bugs, 23 are soundness bugs and invalid model bugs found in the solvers' default mode, which are essential for SMT solvers. In addition, our experiments also demonstrate that HistFuzz outperforms the state-of-the-art SMT solver fuzzers in terms of achieved code coverage and effectiveness.

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A Lightweight CNN-Based Pothole Detection Model for Embedded systems Using Knowledge Distillation 21

A Lightweight CNN-Based Pothole Detection Model for Embedded...

引用

21st International Conference on New Trends in Intelligent software Methodologies, Tools and Techniques, SoMeT 2022

作者： Musa, Aminu Hassan, Mohammed Hamada, Mohamed Kakudi, Habeebah Adamu Amin, Md. Faizul Ibne Watanobe, Yutaka Department of Computer Science Federal University Dutse Nigeria Faculty of Computer Sci. & Info. Technology Bayero University Kano Nigeria Software Engineering Lab University of Aizu Japan Graduate School of Computer Science University of Aizu Japan Division of Information System University of Aizu Japan

ISBN: (纸本)9781643683164

Recent breakthroughs in computer vision have led to the invention of several intelligent systems in different sectors. In transportation, this advancement led to the possibility of proposing autonomous vehicles. This recent technology relies heavily on wireless sensors and Deep learning. For an autonomous vehicle to navigate safely on highways, the vehicle needs equipment to aid with detecting road anomalies such as potholes ahead of time. The massive improvement in computer vision models such as Deep Convolutional Neural networks (DCNN) or vision transformers (ViT) resulted in many success stories and tremendous breakthroughs in object detection tasks;this enabled the use of such models in different application areas. But many of the reported results are theoretical and unrealistic in real-life. Usually, the nature of these models is extensive;they are trained on High-performance computers or cloud computing environments with GPUs, which challenge their usage on edge devices. However, to come up with a light model that can fit into embedded devices, the model size has to be reduced significantly so that the performance will not be affected. Therefore, this paper proposes a lightweight model of pothole detection for an embedded device. The model achieved a state-of-the-art accuracy of 98%, with the number of parameters reduced to more than 70% compared with a deep CNN model;the model can be trained and deployed on embedded devices such as smartphones efficiently. © 2022 The authors and IOS Press. All rights reserved.

关键词： Autonomous vehicles

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Graph Neural Networks for Vulnerability Detection: A Counterfactual Explanation

arXiv

引用

arXiv 2024年

作者： Chu, Zhaoyang Wan, Yao Li, Qian Wu, Yang Zhang, Hongyu Sui, Yulei Xu, Guandong Jin, Hai School of Computer Science and Technology Huazhong University of Science and Technology China School of Electrical Engineering Computing and Mathematical Sciences Curtin University Australia School of Big Data and Software Engineering Chongqing University China School of Computer Science and Engineering University of New South Wales Australia School of Computer Science University of Technology Sydney Australia National Engineering Research Center for Big Data Technology and System Services Computing Technology and System Lab Cluster and Grid Computing Lab Huazhong University of Science and Technology Wuhan430074 China

Vulnerability detection is crucial for ensuring the security and reliability of software systems. Recently, Graph Neural Networks (GNNs) have emerged as a prominent code embedding approach for vulnerability detection, owing to their ability to capture the underlying semantic structure of source code. However, GNNs face significant challenges in explainability due to their inherently black-box nature. To this end, several factual reasoning-based explainers have been proposed. These explainers provide explanations for the predictions made by GNNs by analyzing the key features that contribute to the outcomes. We argue that these factual reasoning-based explanations cannot answer critical what-if questions: "What would happen to the GNN's decision if we were to alter the code graph into alternative structures?" Inspired by advancements of counterfactual reasoning in artificial intelligence, we propose CFExplainer, a novel counterfactual explainer for GNN-based vulnerability detection. Unlike factual reasoning-based explainers, CFExplainer seeks the minimal perturbation to the input code graph that leads to a change in the prediction, thereby addressing the what-if questions for vulnerability detection. We term this perturbation a counterfactual explanation, which can pinpoint the root causes of the detected vulnerability and furnish valuable insights for developers to undertake appropriate actions for fixing the vulnerability. Extensive experiments on four GNN-based vulnerability detection models demonstrate the effectiveness of CFExplainer over existing state-of-the-art factual reasoning-based explainers. © 2024, CC BY.

关键词： Graph neural networks

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A Dynamic Load Balancing Algorithm for Stable Pushing of Docker Images in Nginx

A Dynamic Load Balancing Algorithm for Stable Pushing of Doc...

引用

International Conference on Machine Learning, Big Data and Business Intelligence (MLBDBI)

作者： Hajie Xi Song Hu He Zhang Shuang Zhang Jingnong Weng Jian Huang School of Computer Science and Engineering Beihang University Beijing China State Key Lab of Transportation System Research Institute of Highway Ministry of Transport Beijing China Transportation Comprehensive Enforcement Corps Beijing China School of Software Beihang University Beijing China

ISBN: (数字)9798331541798

ISBN: (纸本)9798331505615

With the rapid development of artificial intelligence, a wide variety of deep learning models have emerged across various fields. Nevertheless, the quality of these models varies significantly, making the effective evaluation of model performance a pressing issue. In some open data competitions, remote evaluation based on Docker images has increasingly become a novel and reliable approach, providing a consistent environment to ensure the fairness of model evaluations. However, it imposes high demands on hardware resources, typically requiring dedicated resources for each participant to serve as Docker Registries for the pushing and management of Docker images. In this paper, we extend the load balancing module of the Nginx server by integrating Lua scripts and propose a Cache-based Dynamic Smooth Weighted Round-robin (CDSWRR) algorithm to optimize the pushing process of Docker images. By constructing a unified load balancing entry, the proposed approach simplifies the deployment of Docker Registry clusters. Experiments show that compared to weighted round-robin and IP hash algorithms of Nginx, the CDSWRR algorithm is able to ensure stable pushing of Docker images and reduce both response error rate and response time.

关键词： Machine learning algorithms Error analysis Heuristic algorithms Clustering algorithms Pressing Load management Time factors Servers Reliability Open data

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A Four-Pronged Defense Against Byzantine Attacks in Federated Learning

arXiv

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arXiv 2023年

作者： Wan, Wei Hu, Shengshan Li, Minghui Lu, Jianrong Zhang, Longling Zhang, Leo Yu Jin, Hai School of Cyber Science and Engineering Huazhong University of Science and Technology China School of Software Engineering Huazhong University of Science and Technology China School of Information and Communication Technology Griffith University Australia School of Computer Science and Technology Huazhong University of Science and Technology China National Engineering Research Center for Big Data Technology and System Services Computing Technology and System Lab Hubei Key Laboratory of Distributed System Security China Hubei Engineering Research Center on Big Data Security China Cluster and Grid Computing Lab

Federated learning (FL) is a nascent distributed learning paradigm to train a shared global model without violating users' privacy. FL has been shown to be vulnerable to various Byzantine attacks, where malicious participants could independently or collusively upload well-crafted updates to deteriorate the performance of the global model. However, existing defenses could only mitigate part of Byzantine attacks, without providing an all-sided shield for FL. It is difficult to simply combine them as they rely on totally contradictory assumptions. In this paper, we propose FPD, a four-pronged defense against both non-colluding and colluding Byzantine attacks. Our main idea is to utilize absolute similarity to filter updates rather than relative similarity used in existingI works. To this end, we first propose a reliable client selection strategy to prevent the majority of threats in the bud. Then we design a simple but effective score-based detection method to mitigate colluding attacks. Third, we construct an enhanced spectral-based outlier detector to accurately discard abnormal updates when the training data is not independent and identically distributed (non-IID). Finally, we design update denoising to rectify the direction of the slightly noisy but harmful updates. The four sequentially combined modules can effectively reconcile the contradiction in addressing non-colluding and colluding Byzantine attacks. Extensive experiments over three benchmark image classification datasets against four state-of-the-art Byzantine attacks demonstrate that FPD drastically outperforms existing defenses in IID and non-IID scenarios (with 30% improvement on model accuracy). © 2023, CC BY.

关键词： Classification (of information)

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