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UDI-3DVT: A Novel Network for 3-D Reconstruction via Uncertainty-Driven Sampling and Incremental Visual-Tactile Fusion

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IEEE Sensors Journal 2025年第6期25卷 10358-10369页

作者： Zhang, Chenyang Zhang, Shaohua Li, Yao Chen, Wenbai Gao, Guowei Wu, Peiliang Yanshan University Key Laboratory for Computer Virtual Technology and System Integration of Hebei Province School of Information Science and Engineering Qinhuangdao066004 China Beijing Information Science and Technology University School of Automation Beijing100192 China

The fusion of visual and tactile senses allows robots to reconstruct and understand objects, aiding in downstream tasks such as object recognition and object grasping. However, most existing visual-tactile reconstruction methods typically overlook the role of visual point cloud processing in reconstruction, sampling points using generative-based methods rather than uncertainty-driven approaches. In addition, these methods only concatenate visual and tactile features, failing to fully leverage the complementary advantages of these two modalities, resulting in unsatisfactory reconstruction results. To address this issue, leveraging the open-source GelSight tactile sensor, this article proposes a novel method called UDI-3DVT, which reconstructs 3-D shapes by combining visual point clouds and multiple tactile images. Specifically, we explore the uncertainty of point clouds, performing additional sampling on high-uncertainty edge points, and propose an attention-based point cloud sampling method. Then, the framework leverages the efficiency of convolutional neural network (CNN) in image processing and the transformer's superiority in context modeling by using CNN for tactile features and transformer for visual features. A feature fusion module based on 1 × 1 convolution is designed to aggregate features from two branches. By gradually adding tactile features, we achieve incremental visual-tactile integration. Furthermore, since the contact-based perception of tactile sensors may cause slight deformations in objects, UDI-3DVT supports the reconstruction of both rigid and deformable objects. Extensive experiments demonstrate that our proposed framework outperforms current state-of-the-art (SOTA) methods, especially the Chamfer distance (CD) metric increased by 14.8%. © 2001-2012 IEEE.

关键词： Image reconstruction

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Unsupervised Outlier Detection with Reinforced Noise Discriminator

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ACM Transactions on Intelligent systems and technology 2025年第2期16卷 1-26页

作者： Zhang, Zhongping Liu, Daoheng Zhu, Jinwei Wu, Youxi Hebei Key Laboratory of Computer Virtual Technology and System Integration School of Information Science and Engineering Yanshan University Qinhuangdao China School of Information Science and Engineering Yanshan University Qinhuangdao China School of Artificial Intelligence Hebei University of Technology Tianjin China

Outlier detection is one of the hot topics in the field of machine learning and data mining. At present, there are many kinds of outlier detection algorithms. The accuracies of traditional outlier detection algorithms are often affected by unique parameters, and an increase in the amount of data and the dimensions of the data can seriously affect their efficiency and effectiveness. Methods based on generative adversarial networks (GANs) can solve the above problems, but they are unacceptable since the model often collapses during the training period. In this article, to solve the problems of curse of dimensionality and model collapse, we propose a novel reinforced noise discriminator (RND) method for unsupervised outlier detection in tabular data. We consider outlier detection as a binary classification problem. Thus, we apply a learnable reinforced discriminator and generate a large number of potential outliers with a uniform distribution and potential outliers that are close to the original data that are used as a negative sample to train the discriminator, which learns the distribution of the original data to detect outliers. We empirically compare the proposed approach with ten state-of-the-art outlier detection methods on both synthetic and real-world tabular datasets. The experimental results show that RND outperforms its competitors in the majority of cases. The codes used to perform the experiments described in this article are available at https://***/urlhearts/r-n-d. © 2025 Copyright held by the owner/author(s). Publication rights licensed to ACM.

关键词： Generative adversarial networks

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DSAA: Cross-modal transferable double sparse adversarial attacks from images to videos

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Neurocomputing 2025年 639卷

作者： Han, Xueqiang Zhang, Shihui Wang, Houlin Tian, Qing School of Information Science and Engineering Yanshan University Hebei Qinhuangdao China The Key Laboratory for Computer Virtual Technology and System Integration of Hebei Province Hebei Qinhuangdao China Department of Computer Science University of Alabama at Birmingham AL United States

Recent preliminary research has examined cross-modal attacks, enabling the transition of unlabeled attacks from images to videos. The current cross-modal attacks are mainly dense attacks, while sparse attacks have not been explored. To bridge this gap, this paper proposes a cross-modal transferable double sparse adversarial attack (DSAA) method. Specifically, DSAA incorporates both spatial sparsity and temporal sparsity. Firstly, we design a novel double-cross-shaped patch paradigm to achieve spatial sparsity. Leveraging this patch for perturbation addition enables a more effective global impact on video frames. Subsequently, we propose a uniform temporal sparsity strategy to achieve temporal sparsity. Even if only half of the frames are perturbed, the resulting average attack success rate remains comparable to that of perturbing all frames. Furthermore, we take into account the luminance, contrast, and structure of images and propose a structural similarity loss function (SSLF). By utilizing SSLF to measure the similarity of intermediate feature maps and incorporating it into perturbation optimization, DSAA achieves excellent attack performance. Extensive experiments demonstrate DSAA's superiority over state-of-the-art approaches in terms of attack success rate. The proposed DSAA uses video adversarial examples generated by four ImageNet-pretrained image models on Kinetics-400 and UCF-101 to attack six video recognition models, achieving average attack success rates of 85.83% and 82.02%, respectively. © 2025 Elsevier B.V.

关键词： Cross-modal attacks Spatial sparsity Temporal sparsity Unlabeled attacks Video adversarial examples

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Non-Line-of-Sight Multipath Classification Method for BDS Using Convolutional Sparse Autoencoder with LSTM

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Tsinghua Science and technology 2025年第1期30卷 68-86页

作者： Yahang Qin Zhenni Li Shengli Xie Bo Li Ming Liu Victor Kuzin School of Automation Guangdong University of Technologyand also with Guangdong-Hong Kong-Macao Joint Laboratory for Smart Discrete ManufacturingGuangzhou 510006China School of Automation Guangdong University of TechnologyGuangdong Key Laboratory of IoT Information TechnologyGuangzhou 510006China 111 Center for Intelligent Batch Manufacturing Based on IoT Technology Key Laboratory of Intelligent Information Processing and System Integration of IoTMinistry of EducationGuangzhou 510006China Department of Electronic and Computer Engineering Hong Kong University of Science and TechnologHong Kong 999077China Academician of Russian Engineering Academy Moscow Moscow 125009Russia

Multipath signal recognition is crucial to the ability to provide high-precision absolute-position services by the BeiDou Navigation Satellite system(BDS).However,most existing approaches to this issue involve supervised machine learning(ML)methods,and it is difficult to move to unsupervised multipath signal recognition because of the limitations in signal *** by an autoencoder with powerful unsupervised feature extraction,we propose a new deep learning(DL)model for BDS signal recognition that places a long short-term memory(LSTM)module in series with a convolutional sparse autoencoder to create a new autoencoder ***,we propose to capture the temporal correlations in long-duration BeiDou satellite time-series signals by using the LSTM module to mine the temporal change patterns in the time ***,we develop a convolutional sparse autoencoder method that learns a compressed representation of the input data,which then enables downscaled and unsupervised feature extraction from long-duration BeiDou satellite series ***,we add an l_(1/2) regularizer to the objective function of our DL model to remove redundant neurons from the neural network while ensuring recognition *** tested our proposed approach on a real urban canyon dataset,and the results demonstrated that our algorithm could achieve better classification performance than two ML-based methods(e.g.,11%better than a support vector machine)and two existing DL-based methods(e.g.,7.26%better than convolutional neural networks).

关键词： convolutional sparse autoencoder BeiDou Navigation Satellite system(BDS) long short-term memory(LSTM) multipath classification

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Geo-Enhanced High-Order Feature Interaction Network for Cloud API QoS Prediction 19th

Geo-Enhanced High-Order Feature Interaction Network for Clou...

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19th CCF Conference on computer Supported Cooperative Work and Social Computing, ChineseCSCW 2024

作者： Ma, Xinhong Zeng, Yehong Qi, Mingyang Si, Yali Chen, Zhen School of Information Science and Engineering Yanshan University Qinhuangdao066004 China Key Laboratory for Computer Virtual Technology and System Integration of Hebei Province Yanshan University Qinhuangdao066004 China Changshu Institute of Technology Jiangsu Changshu215500 China

ISBN: (纸本)9789819623754

In the era of open cloud, cloud API is an important component and key enabling technology to achieve efficient data transmission, artificial intelligence algorithm empowerment, and software development cost reduction and efficiency. With the proliferation of cloud API with similar functionality, quality of service (QoS) becomes essential for differentiating cloud API performance, and QoS-driven prediction for cloud API has emerged as a critical topic for high quality cloud API selection. However, existing methods often inadequately utilize contextual information in resource-constrained scenario, limiting the improvement of cloud API prediction performance. We in this paper propose a geo-enhanced high-order feature interaction network (GHFIN) for cloud API QoS prediction. Firstly, a correlation analysis was conducted on real-world QoS dataset to explore the relationship between QoS data and geospatial context. Then, we design a geo-enhanced strategy that effectively utilizes the hierarchical relationships of geospatial entities (country, province, city, and district) through an offline real-time coordinate conversion module. On this basis, a geo-enhanced cloud API QoS prediction network GHFIN was designed, which aims to learn the high-order feature interactions through layer-wise feature stacking. Experimental results on two real-world QoS datasets illustrate the effectiveness of GHFIN compared to the classic and state-of-the-art methods, and our extensive analysis shows how the geospatial context and high-order feature interaction positively impact the performance of cloud API QoS prediction. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Quality of service

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Low Chirp Dual-Racetrack Modulator for PAM-4 Modulation With Low Driving Voltage

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Journal of Lightwave technology 2025年第10期43卷 4840-4847页

作者： Yu, Fuhao Zeng, Zhaobang Tang, Kaifei Yang, Shichong Ji, Xiang Xin, Yu Gu, Tingyi Jiang, Wei Nanjing University Key Laboratory of Intelligent Optical Sensing and Manipulation Engineering Research Center for Precision Photonics Integration & System Applications Ministry of Education The National Laboratory of Solid-State Microstructures The College of Engineering and Applied Sciences Institute of Optical Communication Engineering Nanjing210023 China Nanjing University of Information Science & Technology School of Physics and Optoelectronic Engineering Nanjing210044 China University of Delaware Department of Electrical and Computer Engineering NewarkDE19716 United States

Micro-ring modulators with a small footprint and energy consumption have been explored for densely integrated high throughput optical interconnects. However, their strong dispersive response results in frequency chirp and pulse broadening, which limits their signal transmission distance. Here we explore the low chirp operation of a dual-racetrack modulator symmetrically coupled to a bus waveguide. With opposite index changes in the two resonators, the coherent couplings of two resonators' optical fields with the bus waveguide and their interference can cancel out the output phase variation due to a single resonator. This allows the push-pull operation to achieve a lower chirp compared to the single-drive operation. The advantage of lower chirp operation is experimentally verified through open eye diagram with 100 Gbps PAM-4 transmitted over 2 km single-mode fiber (SMF), with a peak-to-peak driving voltage of 1.6 V. © 1983-2012 IEEE.

关键词： Single mode fibers

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

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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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Depression Scale Dictionary Decomposition Framework for Multimodal Automatic Depression Level Prediction

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IEEE Transactions on Circuits and systems for Video technology 2025年

作者： Niu, Mingyue Wang, Xu Gong, Jibing Liu, Bin Tao, Jianhua Schuller, Bjorn W. Yanshan University School of Information Science and Engineering Hebei province Qinhuangdao066004 China Hebei Key Laboratory of Computer Virtual Technology and System Integration China Technology Co. Ltd Bejing100022 China Bejing100190 China Tsinghua University Department of Automation Bejing100190 China University of Chinese Academy of Sciences School of Artificial Intelligence Beijing100049 China University of Augsburg ZD.B. Chair of Embedded Intelligence for Health Care and Wellbeing Augsburg Germany Glam - Group on Language Audio and Music United Kingdom

Currently, many researchers aim to achieve automatic depression level prediction via speech and video behavior analysis. However, previous works have struggled to decompose audio and video sequences into the information related to and unrelated to depression scores, hindering the model's perception of depression cues. Besides, previous works implement multimodal fusion using attention mechanisms or linear layers, but failed to simultaneously consider the Euclidean relationship among tokens and the non-Euclidean relationship among channels, which bring limitations in capturing depression cues. In response to the above issues, we propose a depression scale dictionary decomposition framework, which mainly includes a Bidirectional Dictionary Decomposition (BDD) module and a Bidirectional Multimodal Fusion (BMF) module. The BDD module can use the dictionaries generated based on the depression scale to semantically decompose audio and video sequences into the information related to and unrelated to depression scores along token and channel dimensions for promoting depression cue perception. Moreover, considering the respective characteristics of tokens and channels, the BMF module uses linear layers and graph convolution to achieve cross-modal mixing, which is used to aggregate audio and video sequences for predicting depression levels. The validation on AVEC 2013, AVEC 2014 and DAIC-WOZ datasets demonstrates our method's superiority. © 1991-2012 IEEE.

关键词： Boolean functions

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PcdGS: A point cloud densification method for Gaussian Splatting

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computers & Graphics 2025年

作者： Jing Zhao Chenxi Li Shuhui Zhang Feng Wang Ying Yin Yuhan Liu School of Information Science and Engineering Yanshan University Qinhuangdao 066000 Hebei China Hebei Key Laboratory of Computer Virtual Technology and System Integration Qinhuangdao Hebei China

Novel view synthesis (NVS) from limited observations continues to be an important and persistent challenge. Currently, methods based on Neural Radiance Fields (NeRF) are not very efficient, and although methods based on 3D Gaussian Splatting (3DGS) outperform NeRF in terms of rendering quality and speed, they still lack sufficient details. To tackle these issues, we introduce a new method for densifying the point cloud, which enhances the rendering effect of 3DGS-based techniques under sparse view conditions. First, we introduce a mask-based densification technique to improve rendering details under limited input views. Second, We propose a monocular pixel depth-based mapping method that leverages a pre-trained model to predict depth, effectively normalizing point locations within the resulting point cloud. Lastly, we implement a filtering method based on depth and RGB color to minimize noise introduced by the additional data. We conduct comparative experiments on the LLFF, Mip-NeRF 360, and Blender datasets, demonstrating that our method outperforms existing approaches in both evaluation metrics and visual quality, thereby validating its effectiveness.

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Examining the Fourier Spectrum of Speech Signal from a Time-Frequency Perspective for Automatic Depression Level Prediction

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IEEE Transactions on Affective Computing 2025年

作者： Niu, Mingyue Tao, Jianhua He, Yongjun Zhang, Shiqing Li, Ming YanShan University School of Information Science and Engineering Qinhuangdao 066004 China Key Laboratory for Computer Virtual Technology and System Integration of Hebei Province China Tsinghua University Department of Automation Bejing 100190 China University of Chinese Academy of Sciences School of Artificial Intelligence Beijing 100049 China Harbin Institute of Technology School of Computer Science and Technology Harbin 150001 China Taizhou University Institute of Intelligent Information Processing Taizhou 318000 China Zhejiang Normal University Zhejiang Key Laboratory of Intelligent Education Technology and Application Jinhua 321004 China Zhejiang Institute of Optoelectronics Jinhua 321004 China

Currently, many studies use Fourier amplitude spectra of speech signals to predict depression levels. However, those works often treat Fourier amplitude spectra as images or sequences to capture depression cues using convolutional neural networks or multilayer perceptrons. Therefore, they ignore the complex element composition and time-frequency attributes of Fourier spectra, which is not conducive to capturing the differences among individuals with different depression levels. For this reason, we construct a Time-Frequency Self-Embedding (TFSE) module, which not only stores the correlation relationship among real (imaginary) parts of Fourier spectra of different subjects from the time-frequency perspective, but also maintain the physical properties of data through the weight embedding process. Besides, Global Average Pooling (GAP) or linear layers are difficult to balance both temporal and frequency dimensions in the vectorization process. Therefore, we construct a Time-Frequency Tensor Vectorization (TFTV) module, which summarizes each channel along time and frequency dimensions, and then generates the vectorization result by integrating various channels. In this way, we combine TFSE and TFTV modules to form our SpectrumFormer model for predicting depression levels. Evaluation indicators on AVEC 2013 and AVEC 2014 depression databases imply the progressiveness of our model. © 2010-2012 IEEE.

关键词： Depression level prediction Real and imaginary parts Tensor vectorization Time-frequency attributes

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