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第34届中国控制与决策会议

作者： YANG Xin WANG Li-Na China Jiliang University College of Mechanical and Electrical Engineering Key Laboratory of Intelligent Manufacturing Quality Big Data Tracing and Analysis of Zhejiang Province China Jiliang University

SLAM technology,which is called simultaneous localization and mapping technology,is to make the robot running in the environment self-locate according to the estimation of its position and posture and the existing map,and at the same time build the map incrementally on this basis,and finally achieve the purpose of building the map and positioning for the whole ***,this paper summarizes the history and development of SLAM ***,it introduces monocular vision SLAM and RGB D SLAM through two kinds of vision SLAM ***,it expounds the content of cooperation between vision technology and single robot,and finds related problems,and looks forward to the future.

关键词： SLAM machine vision single robot cooperation problem

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Deep Common Feature Mining for Efficient Video Semantic Segmentation

arXiv

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arXiv 2024年

作者： Zheng, Yaoyan Yang, Hongyu Huang, Di State Key Laboratory of Software Development Environment School of Computer Science and Engineering Beihang University Beijing100191 China Institute of Artificial Intelligence Beihang University Beijing100191 China Shanghai Artificial Intelligence Laboratory Shanghai201112 China Zhejiang Industrial Big Data and Robot Intelligent System Key Laboratory Hangzhou Innovation Institute Beihang University Hangzhou310051 China

Recent advancements in video semantic segmentation have made substantial progress by exploiting temporal correlations. Nevertheless, persistent challenges, including redundant computation and the reliability of the feature propagation process, underscore the need for further innovation. In response, we present Deep Common Feature Mining (DCFM), a novel approach strategically designed to address these challenges by leveraging the concept of feature sharing. DCFM explicitly decomposes features into two complementary components. The common representation extracted from a key-frame furnishes essential high-level information to neighboring non-key frames, allowing for direct re-utilization without feature propagation. Simultaneously, the independent feature, derived from each video frame, captures rapidly changing information, providing frame-specific clues crucial for segmentation. To achieve such decomposition, we employ a symmetric training strategy tailored for sparsely annotated data, empowering the backbone to learn a robust high-level representation enriched with common information. Additionally, we incorporate a self-supervised loss function to reinforce intra-class feature similarity and enhance temporal consistency. Experimental evaluations on the VSPW and Cityscapes datasets demonstrate the effectiveness of our method, showing a superior balance between accuracy and efficiency. The implementation is available at https://***/BUAAHugeGun/DCFM. © 2024, CC BY-NC-SA.

关键词： Semantic Segmentation

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GBO: A Multi-Granularity Optimization Algorithm via Granular-ball for Continuous Problems

arXiv

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arXiv 2023年

作者： Xia, Shuyin Lin, Xinyu Wang, Guan Chen, De-Gang Zhao, Sen Wang, Guoyin Liang, Jing Chongqing Key Laboratory of Computational Intelligence China Key Laboratory of Big Data Intelligent Computing China Chongqing University of Posts and Telecommunications Chongqing China Chongqing Normal University China National Center for Applied Mathematics in Chongging Chongging Normal University Chongging401331 China Zhengzhou University China

Optimization problems aim to find the optimal solution, which is becoming increasingly complex and difficult to solve. Traditional evolutionary optimization methods always overlook the granular characteristics of solution space. In the real scenario of numerous optimizations, the solution space is typically partitioned into sub-regions characterized by varying degree distributions. These sub-regions present different granularity characteristics at search potential and difficulty. Considering the granular characteristics of the solution space, the number of coarse-grained regions is smaller than the number of points, so the calculation is more efficient. On the other hand, coarse-grained characteristics are not easily affected by fine-grained sample points, so the calculation is more robust. To this end, this paper proposes a new multi-granularity evolutionary optimization method, namely the Granular-ball Optimization (GBO) algorithm, which characterizes and searches the solution space from coarse to fine. Specifically, using granular-balls instead of traditional points for optimization increases the diversity and robustness of the random search process. At the same time, the search range in different iteration processes is limited by the radius of granular-balls, covering the solution space from large to small. The mechanism of granular-ball splitting is applied to continuously split and evolve the large granular-balls into smaller ones for refining the solution space. Extensive experiments on commonly used benchmarks have shown that GBO outperforms popular and advanced evolutionary algorithms. The code can be found in the supporting materials. Copyright © 2023, The Authors. All rights reserved.

关键词： Optimization algorithms

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Fil-Cad: A Fault Detection Method for Iiot Based on Federated Incremental Learning with Class Accuracy Distillation

SSRN

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SSRN 2024年

作者： Liu, Yanhua Fang, Wenyu Huang, Wei Wang, Xiaofeng Zhao, Baokang Liu, Ximeng College of Computer and Data Science Fuzhou University Fuzhou350108 China Engineering Research Center of Big Data Intelligence Ministry of Education Fuzhou350108 China Fujian Key Laboratory of Network Computing and Intelligent Information Processing Fuzhou University Fuzhou350108 China College of Computer National University of Defense Technology Changsha410073 China

Fault detection is a research topic attracting much attention in IIoT. However, the continuous accumulation and growth of IIoT data leads to the catastrophic forgetting problem in the fault detection model and data heterogeneity, which creates a bottleneck for the performance and generalization of federated learning in fault detection. To improve the fault detection performance of federated learning models in data incremental scenarios, we propose a federatedincremental-learning-based fault detection method for IIoT, namely FIL-CAD. Firstly, comparing the knowledge distillation, the accuracies of different data classes in the global and local models are chosen as the model lightweight learning features, and the loss function is weighted. Secondly, we introduce the concept of data learning depth. It computes different model weights in the aggregation based on their degrees of data sample learning and model training participation and obtains the global model through weighted aggregation. Additionally, FIL-CAD supports the combination of differential privacy to protect data privacy. The proposed method is compared with four benchmark methods on four datasets, which include CWRU and MFPT bearing datasets. Then, the experimental results show that FIL-CAD performs optimally in accuracy and F1-Score, and the average accuracy is improved by 1.32%-18.52%, demonstrating the superiority of FIL-CAD. © 2024, The Authors. All rights reserved.

关键词： Fault detection

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DAMPER: A Dual-Stage Medical Report Generation Framework with Coarse-Grained MeSH Alignment and Fine-Grained Hypergraph Matching

arXiv

引用

arXiv 2024年

作者： Huang, Xiaofei Chen, Wenting Liu, Jie Lu, Qisheng Luo, Xiaoling Shen, Linlin Computer Vision Institute College of Computer Science and Software Engineering Shenzhen University Shenzhen China Department of Electrical Engineering City University of Hong Kong Kowloon Hong Kong National Engineering Laboratory for Big Data System Computing Technology Shenzhen University China Guangdong Provincial Key Laboratory of Intelligent Information Processing China

Medical report generation is crucial for clinical diagnosis and patient management, summarizing diagnoses and recommendations based on medical imaging. However, existing work often overlook the clinical pipeline involved in report writing, where physicians typically conduct an initial quick review followed by a detailed examination. Moreover, current alignment methods may lead to misaligned relationships. To address these issues, we propose DAMPER, a dual-stage framework for medical report generation that mimics the clinical pipeline of report writing in two stages. In the first stage, a MeSH-Guided Coarse-Grained Alignment (MCG) stage that aligns chest X-ray (CXR) image features with medical subject headings (MeSH) features to generate a rough keyphrase representation of the overall impression. In the second stage, a Hypergraph-Enhanced Fine-Grained Alignment (HFG) stage that constructs hypergraphs for image patches and report annotations, modeling high-order relationships within each modality and performing hypergraph matching to capture semantic correlations between image regions and textual phrases. Finally,the coarse-grained visual features, generated MeSH representations, and visual hypergraph features are fed into a report decoder to produce the final medical report. Extensive experiments on public datasets demonstrate the effectiveness of DAMPER in generating comprehensive and accurate medical reports, outperforming state-of-the-art methods across various evaluation metrics. Copyright © 2024, The Authors. All rights reserved.

关键词： Coarse-grained modeling

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Predicting Transcription Factor Binding Signals Based on a Novel Encoder-Decoder Framework 2nd

Predicting Transcription Factor Binding Signals Based on a N...

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2nd International Conference on Applied Intelligence, ICAI 2024

作者： Wang, Siguo Li, Zhipeng Zhang, Qinhu Ningbo Institute of Digital Twin Eastern Institute of Technology No. 568 Tongxin Road Zhuangshi Street Zhejiang Ningbo315201 China Big Data and Intelligent Computing Research Center Guangxi Academy of Science Nanning530007 China Institute for Regenerative Medicine Medical Innovation Center and State Key Laboratory of Cardiology School of Medicine Shanghai East Hospital Tongji University Shanghai200123 China

ISBN: (纸本)9789819619061

The transcription process is the initial step in gene expression and the core of the regulatory mechanism, in which transcription factors control gene expression through interactions with particular DNA sequences. Therefore, identification of transcription factor binding sites (TFBSs) provides theoretical basis for further dissection of transcriptional regulatory mechanisms and disease diagnosis. To address the limitations of current research on TFBSs, a novel symmetric Encoder-Decoder framework is proposed for predicting transcription factor binding signals values at base sites. Our approach utilizes word vectors to encode DNA sequences, followed by encoders that progressively extract feature representations from these sequences. We then employ Gated Recurrent Unit (GRU) to capture the contextual dependencies within the sequences, ultimately using decoders to reconstruct the binding signal values for the DNA sequence sites. In order to access the effectiveness of the proposed symmetric Encoder-Decoder framework, some experiments were conducted on 20 ChIP-seq datasets, and the results show that the proposed novel method outperformers several existing advanced methods. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： DNA sequences

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A Self-Supervised Transfer Learning Framework for Gland Segmentation in Colorectal Cancer Histopathology with Limited Labeled data 2nd

A Self-Supervised Transfer Learning Framework for Gland Segm...

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2nd International Conference on Applied Intelligence, ICAI 2024

作者： Wen, Huer Wu, Yan Huang, De-Shuang Institute for Regenerative Medicine Medical Innovation Center and State Key Laboratory of Cardiology Shanghai East Hospital School of Medicine Tongji University Shanghai200123 China Big Data and Intelligent Computing Research Center Guangxi Academy of Science Nanning530007 China Ningbo Institute of Digital TwinEastern Institute of Technology No. 568 Tongxin Road Zhuangshi Street Zhejiang Ningbo315201 China

ISBN: (纸本)9789819619061

Accurate gland segmentation in colorectal cancer histopathology images is crucial for diagnosis and grading but is hampered by the limited availability of annotated data. To develop a robust and accurate gland segmentation method that effectively leverages unlabeled data to overcome the limitations of small annotated datasets. We propose a novel framework that combines self-supervised learning and transfer learning. A vision transformer is pre-trained using DINOv2 on a large unlabeled dataset (IMP-CRS-2024) and then fine-tuned on the GlaS dataset using a lightweight decoder and a boundary-aware loss function that combines Dice loss and a distance transform-weighted boundary loss. Our method achieves state-of-the-art performance on the GlaS dataset, surpassing existing methods in terms of F1-score, Object Dice, and Object Hausdorff distance. An ablation study confirms the benefits of both the self-supervised pre-training and the boundary-aware loss. Our approach effectively addresses the challenge of limited annotated data in gland segmentation, offering a promising solution for improving the accuracy and efficiency of colorectal cancer diagnosis. The framework can be generalized to other histopathology image analysis tasks and cancer types. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Self-supervised learning

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Logical Relation Modeling and Mining in Hyperbolic Space for Recommendation

Logical Relation Modeling and Mining in Hyperbolic Space for...

引用

International Conference on data Engineering

作者： Yanchao Tan Hang Lv Zihao Zhou Wenzhong Guo Bo Xiong Weiming Liu Chaochao Chen Shiping Wang Carl Yang College of Computer and Data Science Fuzhou University Fuzhou China Engineering Research Center of Big Data Intelligence Ministry of Education Fuzhou China Fujian Key Laboratory of Network Computing and Intelligent Information Processing Fuzhou University Fuzhou China Institute for Artificial Intelligence University of Stuttgart Stuttgart Germany College of Computer Science Zhejiang University Hangzhou China Department of Computer Science Emory University Atlanta United States

ISBN: (数字)9798350317152

ISBN: (纸本)9798350317169

The sparse interactions between users and items have aggravated the difficulty of their representations in recommender systems. Existing methods leverage tags to alleviate the sparsity problem but ignore prevalent logical relations among items and tags (e.g., membership, hierarchy, and exclusion), which can be leveraged to enhance the accuracy of modeling user preferences and conducting recommendations. To this end, we propose to extract logical relations among item tags from existing tag taxonomies and exploit the individual strengths of the Poincaré and the Lorentz models in hyperbolic space for logical relation modeling towards enhanced recommendations. Moreover, we find that the logical relations directly extracted from existing tag taxonomies can be inaccurate and coarse. Therefore, we further devise innovative consistency-based and granularity- based weighting mechanisms based on user behavior patterns for data-driven logical relation mining that can be jointly optimized along with recommendations in an end-to-end fashion. Extensive experiments on four real-world benchmark datasets show drastic performance gains brought by our proposed framework, which constantly achieves an average of 8.25% improvement over state-of-the-art competitors regarding both Recall and NDCG metrics. Insightful case studies further demonstrate that our automatically refined logical relations are highly accurate and interpretable.

关键词： Measurement Accuracy Taxonomy Semantics Predictive models Performance gain Linguistics

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A data Augmentation Method for Disease Diagnosis Based on Single Cell Omics data 2nd

A Data Augmentation Method for Disease Diagnosis Based on Si...

引用

2nd International Conference on Applied Intelligence, ICAI 2024

作者： Zhuang, Han Zhang, Qinhu Ningbo Institute of Digital Twin Eastern Institute of Technology No. 568 Tongxin Road Zhuangshi Street Zhejiang Ningbo315201 China Big Data and Intelligent Computing Research Center Guangxi Academy of Science Nanning530007 China Institute for Regenerative Medicine Medical Innovation Center and State Key Laboratory of Cardiology Shanghai East Hospital School of Medicine Tongji University Shanghai200123 China

ISBN: (纸本)9789819619061

Single cell omics data has enabled bioinformatics methods to identify cell type, infer gene regulatory network and beyond. Besides these great advances, there is active research about how to predict patients’ diagnosis based on cell predicted disease status. In this study, we propose a computational method consisting of a resampling method and an AI model to perform disease diagnosis with single cell omics data. According to our analysis, our proposed method outperforms baseline methods on three public datasets and is effective for disease diagnosis. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： disease diagnosis resampling single cell omics

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Partial Relaxed Optimal Transport for Denoised Recommendation

Partial Relaxed Optimal Transport for Denoised Recommendatio...

引用

2022 Workshop on Deep Learning for Search and Recommendation, DL4SR 2022

作者： Tan, Yanchao Yang, Carl Wei, Xiangyu Wu, Ziyue Liu, Weiming Zheng, Xiaolin The College of Computer and Data Science Fuzhou University Fuzhou350116 China Fujian Key Laboratory of Network Computing and Intelligent Information Processing Fuzhou University Fuzhou350116 China The Department of Computer Science Emory University Atlanta30322 United States The College of Computer Science Zhejiang University Hangzhou310027 China The School of Management Zhejiang University Hangzhou310058 China

The interaction data used by recommender systems (RSs) inevitably include noises resulting from mistaken or exploratory clicks, especially under implicit feedbacks. Without proper denoising, RS models cannot effectively capture users’ intrinsic preferences and the true interactions between users and items. To address such noises, existing methods mostly rely on auxiliary data which are not always available. In this work, we ground on Optimal Transport (OT) to globally match a user embedding space and an item embedding space, allowing both non-deep and deep RS models to discriminate intrinsic and noisy interactions without supervision. Specifically, we firstly leverage the OT framework via Sinkhorn distance to compute the continuous many-to-many user-item matching scores. Then, we relax the regularization in Sinkhorn distance to achieve a closed-form solution with a reduced time complexity. Finally, to consider individual user behaviors for denoising, we develop a partial OT framework to adaptively relabel user-item interactions through a personalized thresholding mechanism. Extensive experiments show that our framework can significantly boost the performances of existing RS models. © 2022 Copyright for this paper by its authors.

关键词： Embeddings

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