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gTRAVEL+: Enhancing Ground Segmentation for 3D Point Cloud With Temporal Noise Removal and Adaptive Plane Fitting for Urban and Off-Road Environments

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IEEE Access 2025年 13卷 82431-82440页

作者： Dao, Truong Giang Tran, Dinh Tuan Nguyen, Duc Manh Lee, Joo-Ho Nguyen, Anh Quang Hanoi University of Science and Technology School of Electrical and Electronic Engineering Hanoi100000 Viet Nam Shiga University Faculty of Data Science Hikone522-8522 Japan Shiga University Data Science and AI Innovation Research Promotion Center Hikone522-8522 Japan Ritsumeikan University College of Information Science and Engineering Kyoto603-8577 Japan

Ground segmentation plays an increasingly important role as a preprocessing module for numerous applications such as Simultaneous Localization and Mapping (SLAM), place recognition, and point cloud registration. The efficiency and accuracy of ground segmentation can directly influence the performance of these applications. While several methods have been proposed, they continue to struggle to meet the comprehensive requirements of robust ground segmentation. To this end, we propose a ground segmentation method called gTRAVEL+, an improvement of TRAVEL that focuses exclusively on enhancing ground segmentation performance. Our method exploits a temporal and locally-aware noise removal strategy, termed Temporal Node-Wise Noise Removal (TNNR), which effectively eliminates noise points that compromise the ground plane fitting process. Additionally, Merge Node Plane Fitting (MNPF) is proposed to address issues of partial under-segmentation arising from suboptimal region sizing. Finally, Rejected Ground Node Revert (RNGR) ensures thorough geometric relationship verification, significantly improving true positives. Quantitative and qualitative experiments conducted on both urban and off-road environments show that our proposed method demonstrates superior performance, achieving a F1 -score of 95.16% and competitive speed compared to state-of-the-art methods. © 2013 IEEE.

关键词： Image segmentation

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Trustworthy Sensor Fusion Against Inaudible Command Attacks in Advanced Driver-Assistance Systems

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IEEE Internet of Things Journal 2023年第19期10卷 17254-17264页

作者： Guan, Jiwei Pan, Lei Wang, Chen Yu, Shui Gao, Longxiang Zheng, Xi Macquarie University School of Computing SydneyNSW2109 Australia CSIRO Data61 SydneyNSW1710 Australia Deakin University School of Information Technology Waurn PondsVIC3125 Australia University of Technology Sydney Faculty of Engineering and Information Technology SydneyNSW2007 Australia Qilu University of Technology Shangdong Computer Science Center Jinan250316 China

There are increasing concerns about malicious attacks on autonomous vehicles. In particular, inaudible voice command attacks pose a significant threat as voice commands become available in autonomous driving systems. How to empirically defend against these inaudible attacks remains an open question. Previous research investigates utilizing deep learning-based multimodal fusion for defense, without considering the model uncertainty in trustworthiness. As deep learning has been applied to increasingly sensitive tasks, uncertainty measurement is crucial in helping improve model robustness, especially in mission-critical scenarios. In this article, we propose the multimodal fusion framework (MFF) as an intelligent security system to defend against inaudible voice command attacks. MFF fuses heterogeneous audio-vision modalities using VGG family neural networks and achieves the detection accuracy of 92.25% in the comparative fusion method empirical study. Additionally, extensive experiments on audio-vision tasks reveal the model's uncertainty. Using expected calibration errors, we measure calibration errors and Monte Carlo Dropout to estimate the predictive distribution for the proposed models. Our findings show empirically to train robust multimodal models, improve standard accuracy and provide a further step toward interpretability. Finally, we discuss the pros and cons of our approach and its applicability for advanced driver assistance systems. © 2014 IEEE.

关键词： Speech recognition

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In-Memory Neural Stochastic Differential Equations with Probabilistic Differential Pair Achieved by In-situ P-bit using CMOS Integrated Voltage-Controlled Magnetic Tunnel Junctions

In-Memory Neural Stochastic Differential Equations with Prob...

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2024 IEEE International Electron Devices Meeting, IEDM 2024

作者： Xiao, Zhihua Hou, Yaoru Tong, Zihan Jiang, Yicheng Zhang, Yiyang Wu, Xuezhao Lee, Albert Wu, Di Cai, Hao Shao, Qiming Department of Electronic and Computer Engineering The Hong Kong University of Science and Technology Hong Kong AI Chip Center for Emerging Smart Systems InnoHK Centers Hong Kong Science Park Hong Kong Department of Physics The Hong Kong University of Science and Technology Hong Kong InstonTech Suzhou China School of Integrated Circuit Southeast University Nanjing China

ISBN: (纸本)9798350365429

The probabilistic bit (P-bit) is the core of probabilistic computing. We propose a novel in-situ P-bit compatible with compute-in-memory (CIM) schemes using voltage-controlled magnetic tunnel junctions (MTJs) to eliminate the generation-sample-transfer-compute paradigm of current P-bits. The conventional approach of sampling and transferring random sequences between separate P-bits and computing units reintroduces the memory bottleneck seen in von Neumann architectures, thereby limiting the efficiency of probabilistic computing. By pairing a data-bit and a P-bit as a probabilistic differential pair in a crossbar array, we enable random sequences to be directly utilized for computing. This generation-compute scheme eradicates the sampling and transfer costs associated with previous probabilistic computing methods. Full reuse of devices in the differential cells allows for probabilistic CIM with a large number of P-bits and high parallelism, suitable for real-world probabilistic computing tasks. We demonstrated in-memory neural stochastic differential equations for the reverse diffusion process in generative models. The results shows that without the bottlenecks, in-situ P-bit throughput is 6×faster and 2.19×more efficient than ex-situ P-bits using the same technology. Compared to other devices and schemes, the proposed scheme is 3×faster than state-of-the-art CMOS designs and 1.36×more energy efficient. © 2024 IEEE.

关键词： CMOS integrated circuits

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Post-Processing of Thresholding or Deep Learning Methods for Enhanced Tissue Segmentation of Whole-Slide Histopathological Images

Post-Processing of Thresholding or Deep Learning Methods for...

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18th International Joint Conference on Biomedical engineering Systems and Technologies, BIOSTEC 2025

作者： Marczyk, Michal Wrobel, Agata Merta, Julia Polanska, Joanna Department of Data Science and Engineering Silesian University of Technology Gliwice44-100 Poland Yale Cancer Center Yale School of Medicine New HavenCT06511 United States Faculty of Automatic Control Electronics and Computer Science Silesian University of Technology Gliwice44-100 Poland

Digital pathology allows for the efficient storage and advanced computational analysis of stained histopathological slides of various tissues. Tissue segmentation is a crucial first step of digital pathology aimed at eliminating background, pen markings, and other artifacts, reducing image size, and increasing the efficiency of further analysis. In most cases, color thresholding or deep learning models are used, but their effectiveness is reduced due to complex artifacts and huge color variations between slides. We propose a post processing method to increase the tissue segmentation performance of any initial segmentation algorithm. Using a set of 197 manually annotated histopathological images of breast cancer patients and 63 images of endometrial cancer patients, we tested our method with 3 thresholding techniques and 3 deep learning-based algorithms by calculating the Dice index, Jaccard index, precision, and recall. In both datasets, applying post processing increased precision and recall for thresholding methods and mostly precision for deep learning models. Overall, applying post-processing gave better tissue segmentation performance than initial segmentation methods, significantly increasing Dice and Jaccard indices. Our results proved that thanks to post-processing, the tissue segmentation pipeline is more robust to noises and artifacts commonly present in histopathological images. © 2025 by SCITEPRESS– science and Technology Publications, Lda.

关键词： Image segmentation

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Generalized-Extended-State-Observer and Equivalent-Input-Disturbance Methods for Active Disturbance Rejection: Deep Observation and Comparison

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IEEE/CAA Journal of Automatica Sinica 2023年第4期10卷 957-968页

作者： Jinhua She Kou Miyamoto Qing-Long Han Min Wu Hiroshi Hashimoto Qing-Guo Wang School of Engineering Tokyo University of TechnologyHachiojiTokyo 192-0982Japan K.Miyamoto is with the Institute of Technology Shimizu CorporationKotoTokyo 135-0044Japan School of Science Computing and Engineering TechnologiesSwinburne University of TechnologyMelbourneVIC 3122Australia School of Automation China University of GeosciencesWuhan 430074 Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of EducationWuhan 430074China School of Industrial Technology Advanced Institute of Industrial TechnologyTokyo 140-0011Japan Institute of Artificial Intelligence and Future Networks Beijing Normal UniversityZhuhai 519087 Guangdong Key Lab of AI and Multi-Modal Data Processing Guangdong Provincial Key Laboratory of Interdisciplinary Research and Application for Data Science BNUHKBU United International College Zhuhai 519087China

Active disturbance-rejection methods are effective in estimating and rejecting disturbances in both transient and steady-state *** paper presents a deep observation on and a comparison between two of those methods:the generalized extended-state observer(GESO)and the equivalent input disturbance(EID)from assumptions,system configurations,stability conditions,system design,disturbance-rejection performance,and extensibility.A time-domain index is introduced to assess the disturbance-rejection performance.A detailed observation of disturbance-suppression mechanisms reveals the superiority of the EID approach over the GESO method.A comparison between these two methods shows that assumptions on disturbances are more practical and the adjustment of disturbance-rejection performance is easier for the EID approach than for the GESO method.

关键词： Active disturbance-rejection control(ADRC) disturbance observer(DOB) equivalent input disturbance(EID) extendedstate observer(ESO) generalized extended-state observer(GESO)

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HiPoser: 3D Human Pose Estimation with Hierarchical Shared Learning at Parts-Level Using Inertial Measurement Units 39

HiPoser: 3D Human Pose Estimation with Hierarchical Shared L...

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39th Annual AAai Conference on Artificial Intelligence, AAai 2025

作者： Liao, Guorui Zheng, Chunyuan Cheng, Li Xie, Haoyu Huang, Shanshan Liao, Jun Li, Haoxuan Liu, Li School of Big Data & Software Engineering Chongqing University China School of Mathematical Sciences Peking University China Department of Electrical and Computer Engineering University of Alberta Canada Center for Data Science Peking University China

ISBN: (纸本)157735897X

This paper considers the challenging problem of 3D Human Pose Estimation (HPE) from a sparse set of Inertial Measurement Units (IMUs). Existing efforts typically reconstruct a pose sequence by either directly tackling whole-body motions or focusing on distinctive spatio-temporal features of local body parts. Unfortunately, these methods ignore existing interdependent motor synergies amongst body parts, which may lead to pose estimation with ambiguous local parts. This observation motivates us to propose a hierarchical learning-based approach, HiPoser, which utilizes a hierarchical shared structure using Mamba blocks as the backbone to focus on the following estimation tasks, involving: 1) torso pose, 2) lower limbs pose, 3) upper limbs pose, and finally 4) global translation. These tasks selectively incorporate body motion states and are to be carried out sequentially in reconstructing part-based poses, which are amalgamated to estimate the final full-body pose with the global translation that satisfies inter-part consistencies. Our hierarchical structure allows HiPoser the flexibility in prioritizing different aspects of pose estimation, to emphasize more on detail or stability. Empirical evaluations over three benchmark datasets demonstrate the superiority of HiPoser over existing state-of-the-art models, suggesting that analyzing the synergistic movement of body parts is indeed important for advancing IMU-based 3D HPE. Copyright © 2025, Association for the Advancement of Artificial Intelligence (***). All rights reserved.

关键词： Metric system

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Mini-InternVL: a flexible-transfer pocket multi-modal model with 5% parameters and 90% performance

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Visual Intelligence 2024年第1期2卷 1-17页

作者： Gao, Zhangwei Chen, Zhe Cui, Erfei Ren, Yiming Wang, Weiyun Zhu, Jinguo Tian, Hao Ye, Shenglong He, Junjun Zhu, Xizhou Lu, Lewei Lu, Tong Qiao, Yu Dai, Jifeng Wang, Wenhai Shanghai AI Laboratory Shanghai 200232 China School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai 200240 China School of Computer Science Nanjing University Nanjing 210023 China Tsinghua Shenzhen International Graduate School Tsinghua University Shenzhen 518055 China School of Computer Science Fudan University Shanghai 200433 China SenseTime Research Shanghai 200233 China Department of Electronic Engineering Tsinghua University Beijing 100084 China Beijing National Research Center for Information Science and Technology Department of Automation Tsinghua University Beijing 100084 China Department of Information Engineering The Chinese University of Hong Kong 999077 Hong Kong

Multi-modal large language models (MLLMs) have demonstrated impressive performance in vision-language tasks across a wide range of domains. However, the large model scale and associated high computational cost pose significant challenges for training and deploying MLLMs on consumer-grade GPUs or edge devices, thereby hindering their widespread application. In this work, we introduce Mini-InternVL, a series of MLLMs with parameters ranging from 1 billion to 4 billion, which achieves 90% of the performance with only 5% of the parameters. This significant improvement in efficiency and effectiveness makes our models more accessible and applicable in various real-world scenarios. To further promote the adoption of our models, we are developing a unified adaptation framework for Mini-InternVL, which enables our models to transfer and outperform specialized models in downstream tasks, including autonomous driving, medical image processing, and remote sensing. We believe that our models can provide valuable insights and resources to advance the development of efficient and effective MLLMs. © The Author(s) 2024.

关键词： Knowledge distillation Lightweight multi-modal large language model Vision-language model Visual instruction tuning

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BDLR:lncRNA identification using ensemble learning

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BIOCELL 2022年第4期46卷 951-960页

作者： LEJUN GONG SHEHai ZHOU JINGMEI CHEN YONGMIN LI LI ZHANG ZHIHONG GAO Jiangsu Key Lab of Big Data Security&Intelligent Processing School of Computer Science Nanjing University of Posts and TelecommunicationsNanjing210046China Smart Health Big Data Analysis and Location Services Engineering Laboratory of Jiangsu Province Nanjing210046China Zhejiang Engineering Research Center of Intelligent Medicine Wenzhou325035China College of Computer Science and Technology Nanjing Forestry UniversityNanjing210037China

Long non-coding RNAs(lncRNAs)play an important role in many life activities such as epigenetic material regulation,cell cycle regulation,dosage compensation and cell differentiation regulation,and are associated with many human *** are many limitations in identifying and annotating lncRNAs using traditional biological experimental *** the development of high-throughput sequencing technology,it is of great practical significance to identify the lncRNAs from massive RNA sequence data using machine learning *** on the Bagging method and Decision Tree algorithm in ensemble learning,this paper proposes a method of lncRNAs gene sequence identification called *** identification results of this classification method are compared with the identification results of several models including Byes,Support Vector Machine,Logical Regression,Decision Tree and Random *** experimental results show that the lncRNAs identification method named BDLR proposed in this paper has an accuracy of 86.61%in the human test set and 90.34%in the mouse for lncRNAs,which is more than the identification results of the other ***,the proposed method offers a reference for researchers to identify lncRNAs using the ensemble learning.

关键词： lncRNAs High-throughput sequencing Ensemble learning Bagging Decision Tree

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AFaVS: Accurate Yet Fast Version Switching for Graph Processing Systems 39

AFaVS: Accurate Yet Fast Version Switching for Graph Process...

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39th IEEE International Conference on data engineering, ICDE 2023

作者： Zheng, Long Ye, Xiangyu Liu, Haifeng Wang, Qinggang Huang, Yu Gui, Chuangyi Yao, Pengcheng Liao, Xiaofei Jin, Hai Xue, Jingling Huazhong University of Science and Technology National Engineering Research Center for Big Data Technology and System Services Computing Technology and System Lab Cluster and Grid Computing Laboratory Wuhan430074 China Zhejiang Lab Hangzhou311121 China Unsw School of Computer Science and Engineering Sydney Australia

ISBN: (纸本)9798350322279

Multi-version graph processing has been widely used to solve many real-world problems. The process of the multi-version graph processing typically includes: (1) a history graph version switching at a specific time and (2) graph processing on this history graph. Existing multi-version graph systems assume ideally that every request for a particular graph version at a particular time will have a corresponding snapshot available. However, in most cases, this is not true. Then existing solutions usually have to settle with an "approximating"version as a substitute, leading to unexpected results for the underlying graph algorithm and thus reducing the practicality of a multi-version graph system for many application scenarios *** this paper, we observe that only a few graph updates have a great impact on the final results. We therefore present AFaVS, a novel multi-version graph system that can improve accuracy effectively in both time- and memory-efficient manners. The cornerstone of AFaVS lies in a novel concept "value"that characterizes the importance of graph updates. AFaVS proposes differential management of updates based on their values and achieves higher accuracy while preserving processing and memory efficiency. AFaVS is also equipped with value-guided version switching and locality-aware optimizations to boost its overall efficiency. Our results on a variety of real-world datasets show that AFaVS outperforms four state-of-the-art multi-version graph systems by 74.35%~95.72% in terms of accuracy improvement and 57.03%~90.44% in terms of memory reduction while introducing less than 2.96% extra computing time. We have deployed AFaVS in a disaster recovery system on the production cluster of Alibaba, achieving 78.8%~90.1% fewer error rates than advanced systems at a comparable efficiency. © 2023 IEEE.

关键词： Efficiency

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Decentralized Federated Graph Learning with Lightweight Zero Trust Architecture for Next-Generation Networking Security

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IEEE Journal on Selected Areas in Communications 2025年第6期43卷 1908-1922页

作者： Zhou, Xiaokang Liang, Wei Wang, Kevin I-Kai Yada, Katsutoshi Yang, Laurence T. Ma, Jianhua Jin, Qun Kansai University Faculty of Business Data Science Osaka565-0823 Japan RIKEN Center for Advanced Intelligence Project RIKEN Tokyo103-0027 Japan Hunan University of Technology and Business School of Computer Science Changsha410205 China Xiangjiang Laboratory Changsha410205 China The University of Auckland Department of Electrical Computer and Software Engineering Auckland1010 New Zealand St. Francis Xavier University Department of Computer Science AntigonishNSB2G 2W5 Canada Hosei University Faculty of Computer and Information Sciences Chiyoda-ku102-8160 Japan Waseda University Faculty of Human Sciences Tokorozawa359-1192 Japan

The rapid development and usage of digital technologies in modern intelligent systems and applications bring critical challenges on data security and privacy. It is essential to allow cross-organizational data sharing to achieve smart service provisioning, while preventing unauthorized access and data leak to ensure end users' efficient and secure collaborations. Federated Learning (FL) offers a promising pathway to enable innovative collaboration across multiple organizations. However, more stringent security policies are needed to ensure authenticity of participating entities, safeguard data during communication, and prevent malicious activities. In this paper, we propose a Decentralized Federated Graph Learning (FGL) with Lightweight Zero Trust Architecture (ZTA) model, named DFGL-LZTA, to provide context-aware security with dynamic defense policy update, while maintaining computational and communication efficiency in resource-constrained environments, for highly distributed and heterogeneous systems in next-generation networking. Specifically, with a re-designed lightweight ZTA, which leverages adaptive privacy preservation and reputation-based aggregation together to tackle multi-level security threats (e.g., data-level, model-level, and identity-level attacks), a Proximal Policy Optimization (PPO) based Deep Reinforcement Learning (DRL) agent is introduced to enable the real-time and adaptive security policy update and optimization based on contextual features. A hierarchical Graph Attention Network (GAT) mechanism is then improved and applied to facilitate the dynamic subgraph learning in local training with a layer-wise architecture, while a so-called sparse global aggregation scheme is developed to balance the communication efficiency and model robustness in a P2P manner. Experiments and evaluations conducted based on two open-source datasets and one synthetic dataset demonstrate the usefulness of our proposed model in terms of training performance, computa

关键词： Federated learning

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