UC-NeRF: Neural Radiance Field for Under-Calibrated multi-view cameras in autonomous driving

Multi-camera setups find widespread use across various applications, such as autonomous driving, as they greatly expand sensing capabilities. Despite the fast development of Neural radiance field (NeRF) techniques and their wide applications in both indoor and outdoor scenes, applying NeRF to multi-camera systems remains very challenging. This is primarily due to the inherent under-calibration issues in multi-camera setup, including inconsistent imaging effects stemming from separately calibrated image signal processing units in diverse cameras, and system errors arising from mechanical vibrations during driving that affect relative camera poses. In this paper, we present UC-NeRF, a novel method tailored for novel view synthesis in under-calibrated multi-view camera systems. Firstly, we propose a layer-based color correction to rectify the color inconsistency in different image regions. Second, we propose virtual warping to generate more viewpoint-diverse but color-consistent virtual views for color correction and 3D recovery. Finally, a spatiotemporally constrained pose refinement is designed for more robust and accurate pose calibration in multi-camera systems. Our method not only achieves state-of-the-art performance of novel view synthesis in multi-camera setups, but also effectively facilitates depth estimation in large-scale outdoor scenes with the synthesized novel views.

Quantum learning and essential cognition under the traction of meta-characteristics in an open world

Artificial intelligence has made significant progress in the Close World problem, being able to accurately recognize old knowledge through training and classification. However, AI faces significant challenges in the Open World problem, as it involves a new and unknown exploration journey. AI is not inherently proactive in exploration, and its challenge lies in not knowing how to approach and adapt to the unknown world. How do humans acquire knowledge of the unknown world. Humans identify new knowledge through intrinsic cognition. In the process of recognizing new colors, the cognitive cues are different from known color features and involve hue, saturation, brightness, and other characteristics. When AI encounters objects with different features in the new world, it faces another challenge: where are the distinguishing features between influential features of new and old objects? AI often mistakes a new world's brown bear for a known dog because it has not learned the differences in feature distributions between knowledge systems. This is because things in the new and old worlds have different units and dimensions for their features. This paper proposes an open-world model and elemental feature system that focuses on fundamentally recognizing the distribution differences in objective features between the new and old worlds. The quantum tunneling effect of learning ability in the new and old worlds is realized through the tractive force of meta-characteristic. The outstanding performance of the model system in learning new knowledge (using pedestrian re-identification datasets as an example) demonstrates that AI has acquired the ability to recognize the new world with an accuracy of $96.71\%$ at most and has gained the capability to explore new knowledge, similar to humans.

EGVD: Event-Guided Video Deraining

With the rapid development of deep learning, video deraining has experienced significant progress. However, existing video deraining pipelines cannot achieve satisfying performance for scenes with rain layers of complex spatio-temporal distribution. In this paper, we approach video deraining by employing an event camera. As a neuromorphic sensor, the event camera suits scenes of non-uniform motion and dynamic light conditions. We propose an end-to-end learning-based network to unlock the potential of the event camera for video deraining. First, we devise an event-aware motion detection module to adaptively aggregate multi-frame motion contexts using event-aware masks. Second, we design a pyramidal adaptive selection module for reliably separating the background and rain layers by incorporating multi-modal contextualized priors. In addition, we build a real-world dataset consisting of rainy videos and temporally synchronized event streams. We compare our method with extensive state-of-the-art methods on synthetic and self-collected real-world datasets, demonstrating the clear superiority of our method. The code and dataset are available at \url{https://github.com/booker-max/EGVD}.

Multi-level feature fusion network combining attention mechanisms for polyp segmentation

Clinically, automated polyp segmentation techniques have the potential to significantly improve the efficiency and accuracy of medical diagnosis, thereby reducing the risk of colorectal cancer in patients. Unfortunately, existing methods suffer from two significant weaknesses that can impact the accuracy of segmentation. Firstly, features extracted by encoders are not adequately filtered and utilized. Secondly, semantic conflicts and information redundancy caused by feature fusion are not attended to. To overcome these limitations, we propose a novel approach for polyp segmentation, named MLFF-Net, which leverages multi-level feature fusion and attention mechanisms. Specifically, MLFF-Net comprises three modules: Multi-scale Attention Module (MAM), High-level Feature Enhancement Module (HFEM), and Global Attention Module (GAM). Among these, MAM is used to extract multi-scale information and polyp details from the shallow output of the encoder. In HFEM, the deep features of the encoders complement each other by aggregation. Meanwhile, the attention mechanism redistributes the weight of the aggregated features, weakening the conflicting redundant parts and highlighting the information useful to the task. GAM combines features from the encoder and decoder features, as well as computes global dependencies to prevent receptive field locality. Experimental results on five public datasets show that the proposed method not only can segment multiple types of polyps but also has advantages over current state-of-the-art methods in both accuracy and generalization ability.

CapsuleBot: A Novel Compact Hybrid Aerial-Ground Robot with Two Actuated-wheel-rotors

This paper presents the design, modeling, and experimental validation of CapsuleBot, a compact hybrid aerial-ground vehicle designed for long-term covert reconnaissance. CapsuleBot combines the manoeuvrability of bicopter in the air with the energy efficiency and noise reduction of ground vehicles on the ground. To accomplish this, a structure named actuated-wheel-rotor has been designed, utilizing a sole motor for both the unilateral rotor tilting in the bicopter configuration and the wheel movement in ground mode. CapsuleBot comes equipped with two of these structures, enabling it to attain hybrid aerial-ground propulsion with just four motors. Importantly, the decoupling of motion modes is achieved without the need for additional drivers, enhancing the versatility and robustness of the system. Furthermore, we have designed the full dynamics and control for aerial and ground locomotion based on the bicopter model and the two-wheeled self-balancing vehicle model. The performance of CapsuleBot has been validated through experiments. The results demonstrate that CapsuleBot produces 40.53% less noise in ground mode and consumes 99.35% less energy, highlighting its potential for long-term covert reconnaissance applications.

Language models as master equation solvers

Master equations are of fundamental importance in modeling stochastic dynamical systems.However, solving master equations is challenging due to the exponential increase in the number of possible states or trajectories with the dimension of the state space. In this study, we propose repurposing language models as a machine learning approach to solve master equations. We design a prompt-based neural network to map rate parameters, initial conditions, and time values directly to the state joint probability distribution that exactly matches the input contexts. In this way, we approximate the solution of the master equation in its most general form. We train the network using the policy gradient algorithm within the reinforcement learning framework, with feedback rewards provided by a set of variational autoregressive models. By applying this approach to representative examples, we observe high accuracy for both multi-module and high-dimensional systems. The trained network also exhibits extrapolating ability, extending its predictability to unseen data. Our findings establish the connection between language models and master equations, highlighting the possibility of using a single pretrained large model to solve any master equation.

Technical note: ShinyAnimalCV: open-source cloud-based web application for object detection, segmentation, and three-dimensional visualization of animals using computer vision

Computer vision (CV), a non-intrusive and cost-effective technology, has furthered the development of precision livestock farming by enabling optimized decision-making through timely and individualized animal care. The availability of affordable two- and three-dimensional camera sensors, combined with various machine learning and deep learning algorithms, has provided a valuable opportunity to improve livestock production systems. However, despite the availability of various CV tools in the public domain, applying these tools to animal data can be challenging, often requiring users to have programming and data analysis skills, as well as access to computing resources. Moreover, the rapid expansion of precision livestock farming is creating a growing need to educate and train animal science students in CV. This presents educators with the challenge of efficiently demonstrating the complex algorithms involved in CV. Thus, the objective of this study was to develop ShinyAnimalCV, an open-source cloud-based web application. This application provides a user-friendly interface for performing CV tasks, including object segmentation, detection, three-dimensional surface visualization, and extraction of two- and three-dimensional morphological features. Nine pre-trained CV models using top-view animal data are included in the application. ShinyAnimalCV has been deployed online using cloud computing platforms. The source code of ShinyAnimalCV is available on GitHub, along with detailed documentation on training CV models using custom data and deploying ShinyAnimalCV locally to allow users to fully leverage the capabilities of the application. ShinyAnimalCV can contribute to CV research and teaching in the animal science community.

Depth video data-enabled predictions of longitudinal dairy cow body weight using thresholding and Mask R-CNN algorithms

Monitoring cow body weight is crucial to support farm management decisions due to its direct relationship with the growth, nutritional status, and health of dairy cows. Cow body weight is a repeated trait, however, the majority of previous body weight prediction research only used data collected at a single point in time. Furthermore, the utility of deep learning-based segmentation for body weight prediction using videos remains unanswered. Therefore, the objectives of this study were to predict cow body weight from repeatedly measured video data, to compare the performance of the thresholding and Mask R-CNN deep learning approaches, to evaluate the predictive ability of body weight regression models, and to promote open science in the animal science community by releasing the source code for video-based body weight prediction. A total of 40,405 depth images and depth map files were obtained from 10 lactating Holstein cows and 2 non-lactating Jersey cows. Three approaches were investigated to segment the cow's body from the background, including single thresholding, adaptive thresholding, and Mask R-CNN. Four image-derived biometric features, such as dorsal length, abdominal width, height, and volume, were estimated from the segmented images. On average, the Mask-RCNN approach combined with a linear mixed model resulted in the best prediction coefficient of determination and mean absolute percentage error of 0.98 and 2.03%, respectively, in the forecasting cross-validation. The Mask-RCNN approach was also the best in the leave-three-cows-out cross-validation. The prediction coefficients of determination and mean absolute percentage error of the Mask-RCNN coupled with the linear mixed model were 0.90 and 4.70%, respectively. Our results suggest that deep learning-based segmentation improves the prediction performance of cow body weight from longitudinal depth video data.

Data-Driven Chance-Constrained Multiple-Choice Knapsack Problem: Model, Algorithms, and Applications

The multiple-choice knapsack problem (MCKP) is a classic NP-hard combinatorial optimization problem. Motivated by several significant practical applications, this work investigates a novel variant of MCKP called data-driven chance-constrained multiple-choice knapsack problem (DDCCMCKP), where the item weight is a random variable with unknown probability distribution. We first present the problem formulation of DDCCMCKP, and then establish two benchmark sets. The first set contains synthetic instances, and the second set is devised to simulate a real-world application scenario of a certain telecommunication company. To solve DDCCMCKP, we propose a data-driven adaptive local search (DDALS) algorithm. The main merit of DDALS lies in evaluating solutions with chance constraints by data-driven methods, under the condition of unknown distributions and only historical sample data being available. The experimental results demonstrate the effectiveness of the proposed algorithm and show that it is superior to other baselines. Additionally, ablation experiments confirm the necessity of each component in the algorithm. Our proposed algorithm can serve as the baseline for future research, and the code and benchmark sets will be open-sourced to further promote research on this challenging problem.

Hedonic Prices and Quality Adjusted Price Indices Powered by AI

Accurate, real-time measurements of price index changes using electronic records are essential for tracking inflation and productivity in today's economic environment. We develop empirical hedonic models that can process large amounts of unstructured product data (text, images, prices, quantities) and output accurate hedonic price estimates and derived indices. To accomplish this, we generate abstract product attributes, or ``features,'' from text descriptions and images using deep neural networks, and then use these attributes to estimate the hedonic price function. Specifically, we convert textual information about the product to numeric features using large language models based on transformers, trained or fine-tuned using product descriptions, and convert the product image to numeric features using a residual network model. To produce the estimated hedonic price function, we again use a multi-task neural network trained to predict a product's price in all time periods simultaneously. To demonstrate the performance of this approach, we apply the models to Amazon's data for first-party apparel sales and estimate hedonic prices. The resulting models have high predictive accuracy, with $R^2$ ranging from $80\%$ to $90\%$. Finally, we construct the AI-based hedonic Fisher price index, chained at the year-over-year frequency. We contrast the index with the CPI and other electronic indices.