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PLS-FUSION: Tightly-Coupled Stereo Visual-Inertial SLAM with Point and Line Features

IEEE Transactions on Automation Science and engineering 2025年

作者： Liu, Zun Tan, Jinxiao Zhou, Jin Wang, Kaiwen Li, Jianqiang Shenzhen University National Engineering Laboratory for Big Data System Computing Technology Shenzhen China

In this paper, we propose the PLS-FUSION, where P stands for point features, L for line features, and S for stereo vision. Together, these components form a tightly-coupled stereo visual-inertial Simultaneous Localization and Mapping (SLAM) system that leverages both point and line features to enhance the robustness and accuracy of tracking. Compared with the classic SLAM methods which only use the point features, we extract both the point features and the line features of the stereo camera in the front end and use a modified Line Segment Detector (LSD) algorithm of PL-VINS to improve the speed of extracting the line features. We use Plücker coordinates and orthonormal representation to represent the line features and add re-projection errors of the line features between the stereo camera in the back end. Our proposal has been tested with several popular datasets (EuRoC and TUMVI) and in the real world with our flight platform based on PX4 and QGroundControl (QGC). The experiments validate that PLS-FUSION has a more robust performance than state-of-the-art methods such as PL-VINS and VINS-FUSION. © 2025 IEEE.

关键词： Mapping

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Towards High-throughput and Low-latency Billion-scale Vector Search via CPU/GPU Collaborative Filtering and Re-ranking 23

Towards High-throughput and Low-latency Billion-scale Vector...

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23rd USENIX Conference on File and Storage Technologies, FAST 2025

作者： Tian, Bing Liu, Haikun Tang, Yuhang Xiao, Shihai Duan, Zhuohui Liao, Xiaofei Jin, Hai Zhang, Xuecang Zhu, Junhua Zhang, Yu National Engineering Research Center for Big Data Technology and System Service Computing Technology and System Lab/Cluster and Grid Computing Lab School of Computer Science and Technology Huazhong University of Science and Technology China Huawei Technologies Co. Ltd. China

ISBN: (纸本)9781939133458

Approximate nearest neighbor search (ANNS) has emerged as a crucial component of database and AI infrastructure. Ever-increasing vector datasets pose significant challenges in terms of performance, cost, and accuracy for ANNS services. None of modern ANNS systems can address these issues simultaneously. In this paper, we present FusionANNS, a high-throughput, low-latency, cost-efficient, and high-accuracy ANNS system for billion-scale datasets using SSDs and only one entry-level GPU. The key idea of FusionANNS lies in CPU/GPU collaborative filtering and re-ranking mechanisms, which significantly reduce I/O operations across CPUs, GPU, and SSDs to break through the I/O performance bottleneck. Specifically, we propose three novel designs: (1) multi-tiered indexing to avoid data swapping between CPUs and GPU, (2) heuristic re-ranking to eliminate unnecessary I/Os and computations while guaranteeing high accuracy, and (3) redundant-aware I/O deduplication to further improve I/O efficiency. We implement FusionANNS and compare it with the state-of-the-art SSD-based ANNS system-SPANN and GPU-accelerated in-memory ANNS system-RUMMY. Experimental results show that FusionANNS achieves 1) 9.4-13.1× higher query per second (QPS) and 5.7-8.8× higher cost efficiency compared with SPANN;2) and 2-4.9× higher QPS and 2.3-6.8× higher cost efficiency compared with RUMMY, while guaranteeing low latency and high accuracy. © 2025 FAST. All Rights Reserved.

关键词： Collaborative filtering

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MetaHG: Enhancing HGNN systems Leveraging Advanced Metapath Graph Abstraction 25

MetaHG: Enhancing HGNN Systems Leveraging Advanced Metapath ...

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20th European Conference on Computer systems, EuroSys 2025, co-located 30th ACM International Conference on Architectural Support for Programming Languages and Operating systems, ASPLOS 2025

作者： He, Haiheng Liu, Haifeng Zheng, Long Huang, Yu Shen, Xinyang Huang, Wenkan Cao, Chuaihu Liao, Xiaofei Jin, Hai Xue, Jingling National Engineering Research Center for Big Data Technology and System Services Computing Technology and System Lab Cluster and Grid Computing Lab School of Computer Science and Technology Huazhong University of Science and Technology Wuhan China School of Computer Science and Engineering University of New South Wales Australia

ISBN: (纸本)9798400711961

Heterogeneous Graph Neural Networks (HGNNs) are pivotal for extracting semantic and structural information from heterogeneous graphs. Traditional HGNN implementations often grapple with the challenges of excessive metapath instances, requiring substantial storage or incurring high instance-matching overhead. These methods typically suffer from redundant instance encoding and costly semantic graph construction. Addressing these issues, we introduce an advanced Metapath Graph (MG) abstraction that encapsulates the structural information of all metapath instances within a compact representation. This approach significantly reduces storage demands, eliminates redundant instance encodings, and foregoes the need for constructing semantic graphs, thereby facilitating rapid HGNN inference. Our software-based system, MetaHG, leverages layerwise encoding and aggregation to avoid redundancies without the necessity of semantic graphs. It incorporates a fast, lightweight partitioning method to efficiently manage large graphs. Distinctively, MetaHG seamlessly integrates with both dynamic HGNNs and homogeneous GNNs, unlike conventional systems. Comparative evaluations demonstrate that MetaHG surpasses the state-of-the-art BFS- and DFS-based HGNN systems, MAGNN and the software implementation of MetaNMP, by 42.5× and 4.53×, respectively, on average. © 2025 Copyright held by the owner/author(s).

关键词： Encoding (symbols)

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Seer: Accelerating Block chain Transaction Execution by Fine-Grained Branch Prediction 51st

Seer: Accelerating Block chain Transaction Execution by Fine...

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51st International Conference on Very Large data Bases, VLDB 2025

作者： Zhang, Shijie Cheng, Ru Liu, Xinpeng Xiao, Jiang Jin, Hai Li, Bo National Engineering Research Center for Big Data Technology and System Services Computing Technology and System Lab Cluster and Grid Computing Lab School of Computer Science and Technology Huazhong University of Science and Technology Wuhan430074 China Department of Computer Science and Engineering Hong Kong University of Science and Technology Hong Kong

Increasingly popular decentralized applications (dApps) with complex application logic incur significant overhead for executing smart contract transactions, which greatly limits public block chain performance. Pre-executing transactions off the critical path can mitigate substantial I/O and computation costs during execution. However, pre-execution does not yield any state transitions, rendering the system state inconsistent with actual execution. This inconsistency can lead to deviations in pre-execution paths when processing smart contracts with multiple state-related branches, thus diminishing pre-execution effectiveness. In this paper, we develop Seer, a novel public block chain execution engine that incorporates fine-grained branch prediction to fully exploit pre-execution effectiveness. Seerpredicts state-related branches using a two-level prediction approach, reducing inconsistent execution paths more efficiently than executing all possible branches. To enable effective reuse of pre execution results, Seer employs checkpoint-based fast-path execution, enhancing transaction execution for both successful and unsuccessful predictions. Evaluations with realistic block chain workloads demonstrate that Seer delivers an average of 27.7× transaction-level speedup and an overall 20.6× speedup in the execution phase over vanilla Ethereum, outperforming existing block chain execution acceleration solutions. © 2025, VLDB Endowment, All rights reserved.

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MLPFormer: MLP-integrated transformer for colorectal histopathology whole slide image segmentation

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Neural computing and Applications 2025年第6期37卷 4651-4661页

作者： Wang, Yuxuan Li, Dan Li, Xuechen Guo, Yan Zuo, Yanfei Shen, Linlin Department of Computer Science Wenzhou-Kean University Wenzhou China School of Electronics and Information Engineering Wuyi University Jiangmen China Department of Histo Pathology Shanghai Histo Pathology Diagnostic Center Shanghai China College of Computer Sicence and Software Engineering Shenzhen University Shenzhen China National Engineering Laboratory for Big Data System Computing Technology Shenzhen University Shenzhen China

Colorectal intraepithelial neoplasia is a precancerous lesion of colorectal cancer, which is mainly diagnosed using pathological images. According to the characteristics of lesions, precancerous lesions can be classified into four different grades, i.e., background, normal, low and high level. However, due to the continuity of lesion development, tissue in different stages has high similarity. Recently, visual transformers have achieved impressive results in different visual tasks, due to their capacity of capturing long-range dependencies. However, due to computational cost, transformer cannot well extract detailed feature, which is important for lesion grading. To accurately segment pathological tissues with high similarity, in this work, we embed the multi-head MLP mixer module in the transformer network to extract cell and edge information. Furthermore, we propose a hierarchical MLP decoder to facilitate multi-scale feature fusion. The proposed transformer, namely MLPFormer, achieves remarkable results against competitive baselines on the Histo-CRC Biopsy dataset. The experimental results demonstrate that MLPFormer significantly outperforms the competitive baselines, i.e., a 3% dice improvement is achieved over the SegFormer series. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2024.

关键词： Image segmentation

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OHMiner: An Overlap-centric system for Efficient Hypergraph Pattern Mining 25

OHMiner: An Overlap-centric System for Efficient Hypergraph ...

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20th European Conference on Computer systems, EuroSys 2025, co-located 30th ACM International Conference on Architectural Support for Programming Languages and Operating systems, ASPLOS 2025

作者： Qi, Hao Luo, Kang He, Ligang Zhang, Yu Cai, Minzhi Dai, Jingxin He, Bingsheng Jin, Hai Zhang, Zhan Zhao, Jin Yue, Hengshan Yu, Hui Liao, Xiaofei National Engineering Research Center for Big Data Technology and System Services Computing Technology and System Lab Cluster and Grid Computing Lab School of Computer Science and Technology Huazhong University of Science and Technology China Department of Computer Science University of Warwick United Kingdom National University of Singapore Singapore Zhejiang Lab China Jilin University China

ISBN: (纸本)9798400711961

Hypergraph Pattern Mining (HPM) aims to identify all the instances of user-interested subhypergraphs (patterns) in hypergraphs, which has been widely used in various applications. However, existing solutions either need significant enumeration overhead because they extend subhypergraphs at the granularity of vertices, or suffer from massive redundant computations because they often need to repeatedly fetch and process the same incident hyperedges for different vertices. This paper presents an overlap-centric system named OHMiner to efficiently support HPM. OHMiner proposes an overlap-centric execution model to determine the subhypergraphs isomorphism through computing and comparing overlaps among hyperedges using set operations. This model aims to efficiently handle the vertices that collectively share the same incident hyperedges. To automatically and precisely retrieve an arbitrary pattern’s overlapping semantics without performing redundant set computations, OHMiner further proposes a redundancy-free compiler, which constructs an Overlap Intersection Graph (OIG) for the pattern, optimizes the OIG, and generates an overlap-centric execution plan to guide the procedure of HPM. Moreover, OHMiner designs an overlap-centric parallel execution engine, which adopts an incremental overlap-pruned approach to fast validate candidates for HPM. Additionally, it proposes a degree-aware data store to support efficient generation of candidates. Through evaluating OHMiner on a broad range of real-world hypergraphs with various patterns, our experimental results show that OHMiner outperforms the state-of-the-art HPM system by 5.4×-22.2×. © 2025 Copyright held by the owner/author(s).

关键词： Compiler

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Impulsive Control of Nonlinear Multi-Agent systems: A Hybrid Fuzzy Adaptive and Event-Triggered Strategy

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IEEE Transactions on Fuzzy systems 2025年

作者： Han, Fang Jin, Hai Huazhong University of Science and Technology National Engineering Research Center for Big Data Technology and System Services Computing Technology and System Laboratory Cluster and Grid Computing Laboratory School of Computer Science and Technology Wuhan430074 China

This paper presents a hybrid control approach that integrates an adaptive fuzzy mechanism with an event-triggered impulse strategy to address consensus control challenges in nonlinear Multi-Agent systems (MASs) with uncertain information, both in leader and leaderless scenarios. Firstly, a fuzzy logic-based adaptive control mechanism is proposed to handle system nonlinearity and uncertainty. This mechanism dynamically adjusts fuzzy control rules in real time, enabling the system to adapt to changing conditions and enhancing its robustness against nonlinear disturbances. Secondly, to alleviate communication overhead and reduce control frequency, an event-triggered impulse strategy is implemented. This strategy activates impulse control only under specific conditions, effectively minimizing control actions while maintaining system consensus. Using Lyapunov stability theory, sufficient conditions for achieving system consensus are established, demonstrating the global consensus and robustness of the MASs under certain criteria. Finally, numerical simulations and experimental evaluations validate the proposed method's effectiveness and its practical advantages. © 2025 IEEE.

关键词： Multi agent systems

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Efficient Modeling Attack on Multiplexer PUFs via Kronecker Matrix Multiplication

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IEEE Transactions on Computer-Aided Design of Integrated Circuits and systems 2025年

作者： Wang, Hongfei Wan, Caixue Jin, Hai 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 Cyber Science and Engineering Wuhan430074 China 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 Lab School of Computer Science and Technology Wuhan430074 China

The Physical Unclonable Function (PUF) is valued for its lightweight nature and unique functionality, making it a common choice for securing hardware products requiring authentication and key generation mechanisms. In response to the susceptibility of individual PUFs to modeling attacks, advanced PUF variants have been developed to improve security measures. One notable type in this regard is the multiplexer-based composition of arbiter PUFs, known as MPUF, which aims to meet high reliability and security standards simultaneously. Current research on attacking MPUF encounters challenges such as substantial demands for training CRPs and low success rates. In this work, we propose a novel numerical modeling attack strategy for MPUFs. Using Kronecker products from mathematical perspective, this method precisely describe the MPUF model without using complex network architectures, boosting attack accuracy and overall efficiency. Experiment comparison with state-of-the-art works demonstrates that our method achieves better performance in terms of attack accuracy, robustness, and efficiency. Our method is able to successfully attack a (512, 8)-MPUF in 32.71 minutes with 97.14% accuracy, outperforming all existing attack methods on MPUFs. More, we validate our method through experiments with hardware implementations on FPGAs. The advantages of our method also include the adaptability to be employed to attack other MPUF variations like cMPUF and rMPUF, and the capability to be integrated with an existing attack method for launching efficient attack on MPUFs leveraging reliability information. © 2025 IEEE.

关键词： modeling attack multiplexer-based PUF Physical unclonable function

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Spatiotemporal deformation analysis of glaciers and surrounding landscapes in the Shishapangma region using InSAR techniques

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Journal of Mountain Science 2025年第1期22卷 210-229页

作者： LIANG Wenli LIU Rui JI Qin KOU Pinglang Chongqing Key Laboratory of GIS Application School of Geography and TourismChongqing Normal UniversityChongqing 401331China National Earth System Science Data Center Beijing 100000China Chongqing Engineering Research Center of Spatial Big Data Intelligent Technology Chongqing University of Posts and TelecommunicationsChongqing 400065China Key Laboratory of Tourism Multisource Data Perception and Decision Ministry of Culture and Tourism(TMDPDMCT)Chongqing University of Posts and TelecommunicationsChongqing 400065China

Glacier dynamics in the Himalayan midlatitudes,particularly in regions like the Shishapangma,are not yet fully understood,especially the localized topographic and climatic impacts on glacier *** study analyzes the spatiotemporal characteristics of glacier surface deformation in the Shishapangma region using the Small Baseline Subset(SBAS)Interferometric Synthetic Aperture Radar(In SAR)*** analysis reveals an average deformation rate of-4.02±17.65 mm/yr across the entire study area,with glacier regions exhibiting significantly higher rates of uplift(16.87±13.20 mm/yr)and subsidence(20.11±14.55 mm/yr)compared to non-glacier *** identifies significant surface lowering on the mountain flanks and localized uplift in certain catchments,emphasizing the higher deformation rates in glacial areas compared to non-glacial *** found a strong positive correlation between temperature and cumulative deformation(correlation coefficient of 0.63),particularly in glacier areas(0.82).The research highlights the role of temperature as the primary driver of glacier wastage,particularly at lower elevations,with strong correlations found between temperature and cumulative *** also indicates the complex interactions between topographic features,notably,slope gradient,which shows a positive correlation with subsidence rates,especially for slopes below 35°.South-,southwest-,and west-facing slopes exhibit significant uplift,while north-,northeast-,and east-facing slopes predominantly ***,we identified transition zones between debris-covered glaciers and clean ice as areas of most intense deformation,with average rates exceeding 30 mm/yr,highlighting these as potential high-risk zones for *** study comprehensively analyzes the deformation characteristics in both glacier and non-glacier areas in the Shishapangma region,revealing the complex interplay of topographic,climatic,and hydrological factors influencing glacier dynamic

关键词： Glacier melting SBAS-InSAR Topographic factors Temperature change Middle Himalayas

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MeG2: In-Memory Acceleration for Genome Graphs Analysis 23

MeG2: In-Memory Acceleration for Genome Graphs Analysis

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Proceedings of the 60th Annual ACM/IEEE Design Automation Conference

作者： Yu Huang Long Zheng Haifeng Liu Zhuoran Zhou Dan Chen Pengcheng Yao Qinggang Wang Xiaofei Liao Hai Jin National Engineering Research Center for Big Data Technology and System/Services Computing Technology and System Lab/Cluster and Grid Computing Laboratory Huazhong University of Science and Technology Wuhan China and Zhejiang Lab Hangzhou China National Engineering Research Center for Big Data Technology and System/Services Computing Technology and System Lab/Cluster and Grid Computing Laboratory Huazhong University of Science and Technology Wuhan China

ISBN: (纸本)9798350323481

Genome graphs analysis has emerged as an effective means to enable mapping DNA fragments (known as reads) to the reference genome. It replaces the traditional linear reference with a graph-based representation to augment the genetic variations and diversity information, significantly improving the quality of genotyping. The in-depth characterization of genome graphs analysis uncovers that it is bottlenecked by the irregular seed index access and the intensive alignment operation, stressing both the memory system and computing *** on these observations, we propose MeG2, a lightweight, commodity DRAM-compliant, processing-in-memory architecture to accelerate genome graphs analysis. MeG2 is specifically integrated with the capabilities of both near-memory processing and bitwise in-situ computation. Specifically, MeG2 leverages the low access latency of near-memory processing with the index-centric offload mechanism to alleviate the irregular memory access in the seeding procedure, and harnesses the row-parallel capacity of in-situ computation with the distance-aware technique to exploit the intensive computational parallelism in the alignment process. Results show that MeG2 outperforms the CPU-, GPU-, and ASIC-based genome graphs analysis solutions by 502× (30.2×), 272× (15.1×), and 5.5× (8.3×) for short (long) reads, while reducing energy consumption by 1628× (85.6×), 1443× (77.1×), and 7.8× (11.7×), respectively. We also demonstrate that MeG2 offers significant improvements over existing PIM-based genome sequence analysis accelerators.

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