Lite-FPN for Keypoint-based Monocular 3D Object Detection

3D object detection with a single image is an essential and challenging task for autonomous driving. Recently, keypoint-based monocular 3D object detection has made tremendous progress and achieved great speed-accuracy trade-off. However, there still exists a huge gap with LIDAR-based methods in terms of accuracy. To improve their performance without sacrificing efficiency, we propose a sort of lightweight feature pyramid network called Lite-FPN to achieve multi-scale feature fusion in an effective and efficient way, which can boost the multi-scale detection capability of keypoint-based detectors. Besides, the misalignment between the classification score and the localization precision is further relieved by introducing a novel regression loss named attention loss. With the proposed loss, predictions with high confidence but poor localization are treated with more attention during the training phase. Comparative experiments based on several state-of-the-art keypoint-based detectors on the KITTI dataset show that our proposed method achieves significantly higher accuracy and frame rate at the same time. The code and pretrained models will be available at https://github.com/yanglei18/Lite-FPN.

Privacy-Preserving Federated Learning on Partitioned Attributes

Real-world data is usually segmented by attributes and distributed across different parties. Federated learning empowers collaborative training without exposing local data or models. As we demonstrate through designed attacks, even with a small proportion of corrupted data, an adversary can accurately infer the input attributes. We introduce an adversarial learning based procedure which tunes a local model to release privacy-preserving intermediate representations. To alleviate the accuracy decline, we propose a defense method based on the forward-backward splitting algorithm, which respectively deals with the accuracy loss and privacy loss in the forward and backward gradient descent steps, achieving the two objectives simultaneously. Extensive experiments on a variety of datasets have shown that our defense significantly mitigates privacy leakage with negligible impact on the federated learning task.

Depth-conditioned Dynamic Message Propagation for Monocular 3D Object Detection

The objective of this paper is to learn context- and depth-aware feature representation to solve the problem of monocular 3D object detection. We make following contributions: (i) rather than appealing to the complicated pseudo-LiDAR based approach, we propose a depth-conditioned dynamic message propagation (DDMP) network to effectively integrate the multi-scale depth information with the image context;(ii) this is achieved by first adaptively sampling context-aware nodes in the image context and then dynamically predicting hybrid depth-dependent filter weights and affinity matrices for propagating information; (iii) by augmenting a center-aware depth encoding (CDE) task, our method successfully alleviates the inaccurate depth prior; (iv) we thoroughly demonstrate the effectiveness of our proposed approach and show state-of-the-art results among the monocular-based approaches on the KITTI benchmark dataset. Particularly, we rank $1^{st}$ in the highly competitive KITTI monocular 3D object detection track on the submission day (November 16th, 2020). Code and models are released at \url{https://github.com/fudan-zvg/DDMP}

Cross-Dataset Collaborative Learning for Semantic Segmentation

Recent work attempts to improve semantic segmentation performance by exploring well-designed architectures on a target dataset. However, it remains challenging to build a unified system that simultaneously learns from various datasets due to the inherent distribution shift across different datasets. In this paper, we present a simple, flexible, and general method for semantic segmentation, termed Cross-Dataset Collaborative Learning (CDCL). Given multiple labeled datasets, we aim to improve the generalization and discrimination of feature representations on each dataset. Specifically, we first introduce a family of Dataset-Aware Blocks (DAB) as the fundamental computing units of the network, which help capture homogeneous representations and heterogeneous statistics across different datasets. Second, we propose a Dataset Alternation Training (DAT) mechanism to efficiently facilitate the optimization procedure. We conduct extensive evaluations on four diverse datasets, i.e., Cityscapes, BDD100K, CamVid, and COCO Stuff, with single-dataset and cross-dataset settings. Experimental results demonstrate our method consistently achieves notable improvements over prior single-dataset and cross-dataset training methods without introducing extra FLOPs. Particularly, with the same architecture of PSPNet (ResNet-18), our method outperforms the single-dataset baseline by 5.65\%, 6.57\%, and 5.79\% of mIoU on the validation sets of Cityscapes, BDD100K, CamVid, respectively. Code and models will be released.

An Efficient Calibration Method for Triaxial Gyroscope

This paper presents an efficient servomotor-aided calibration method for the triaxial gyroscope. The entire calibration process only takes about one minute, and high-precision equipment is not used. The main idea of this method is that the measurement of the gyroscope should equal to the rotation speed of the servomotor. A six-observation experimental design is proposed to minimize the maximum variance of the estimated scale factors and biases. Besides, a fast converged recursive linear least square estimation method is presented to reduce computational complexity. The simulation results specify the robustness under normal and extreme condition. We experimentally demonstrate the achievability of the proposed method on a robot arm and implements the method on a microcontroller. The calibration results of the proposed method are verified by comparing with a traditional turntable method, and the experiment indicates that the error between these two methods is less than $10^{-3}$. By comparing the calibrated low-cost gyroscope reading with the reading from a high-precision gyroscope, we can infer that our method significantly increases the accuracy of the low-cost gyroscopes.

S-AT GCN: Spatial-Attention Graph Convolution Network based Feature Enhancement for 3D Object Detection

3D object detection plays a crucial role in environmental perception for autonomous vehicles, which is the prerequisite of decision and control. This paper analyses partition-based methods' inherent drawbacks. In the partition operation, a single instance such as a pedestrian is sliced into several pieces, which we call it the partition effect. We propose the Spatial-Attention Graph Convolution (S-AT GCN), forming the Feature Enhancement (FE) layers to overcome this drawback. The S-AT GCN utilizes the graph convolution and the spatial attention mechanism to extract local geometrical structure features. This allows the network to have more meaningful features for the foreground. Our experiments on the KITTI 3D object and bird's eye view detection show that S-AT Conv and FE layers are effective, especially for small objects. FE layers boost the pedestrian class performance by 3.62\% and cyclist class by 4.21\% 3D mAP. The time cost of these extra FE layers are limited. PointPillars with FE layers can achieve 48 PFS, satisfying the real-time requirement.

DM algorithms in healthindustry

This survey reviews several approaches of data mining (DM) in healthindustry from many research groups world wide. The focus is on modern multi-core processors built into today's commodity computers, which are typically found at university institutes both as small server and workstation computers. So they are deliberately not high-performance computers. Modern multi-core processors consist of several (2 to over 100) computer cores, which work independently of each other according to the principle of "multiple instruction multiple data" (MIMD). They have a common main memory (shared memory). Each of these computer cores has several (2-16) arithmetic-logic units, which can simultaneously carry out the same arithmetic operation on several data in a vector-like manner (single instruction multiple data, SIMD). DM algorithms must use both types of parallelism (SIMD and MIMD), with access to the main memory (centralized component) being the main barrier to increased efficiency. This is important for DM in healthindustry applications like ECG, EEG, CT, SPECT, fMRI, DTI, ultrasound, microscopy, dermascopy, etc.

Representing Alzheimer's Disease Progression via Deep Prototype Tree

For decades, a variety of predictive approaches have been proposed and evaluated in terms of their predicting capability for Alzheimer's Disease (AD) and its precursor - mild cognitive impairment (MCI). Most of them focused on prediction or identification of statistical differences among different clinical groups or phases (e.g., longitudinal studies). The continuous nature of AD development and transition states between successive AD related stages have been overlooked, especially in binary or multi-class classification. Though a few progression models of AD have been studied recently, they mainly designed to determine and compare the order of specific biomarkers. How to effectively predict the individual patient's status within a wide spectrum of AD progression has been understudied. In this work, we developed a novel structure learning method to computationally model the continuum of AD progression as a tree structure. By conducting a novel prototype learning with a deep manner, we are able to capture intrinsic relations among different clinical groups as prototypes and represent them in a continuous process for AD development. We named this method as Deep Prototype Learning and the learned tree structure as Deep Prototype Tree - DPTree. DPTree represents different clinical stages as a trajectory reflecting AD progression and predict clinical status by projecting individuals onto this continuous trajectory. Through this way, DPTree can not only perform efficient prediction for patients at any stages of AD development (77.8% accuracy for five groups), but also provide more information by examining the projecting locations within the entire AD progression process.

Spectrum Sharing for 6G Integrated Satellite-Terrestrial Communication Networks Based on NOMA and Cognitive Radio

The explosive growth of bandwidth hungry Internet applications has led to the rapid development of new generation mobile network technologies that are expected to provide broadband access to the Internet in a pervasive manner. For example, 6G networks are capable of providing high-speed network access by exploiting higher frequency spectrum; high-throughout satellite communication services are also adopted to achieve pervasive coverage in remote and isolated areas. In order to enable seamless access, Integrated Satellite-Terrestrial Communication Networks (ISTCN) has emerged as an important research area. ISTCN aims to provide high speed and pervasive network services by integrating broadband terrestrial mobile networks with satellite communication networks. As terrestrial mobile networks began to use higher frequency spectrum (between 3GHz to 40GHz) which overlaps with that of satellite communication (4GHz to 8GHz for C band and 26GHz to 40GHz for Ka band), there are opportunities and challenges. On one hand, satellite terminals can potentially access terrestrial networks in an integrated manner; on the other hand, there will be more congestion and interference in this spectrum, hence more efficient spectrum management techniques are required. In this paper, we propose a new technique to improve spectrum sharing performance by introducing Non-orthogonal Frequency Division Multiplexing (NOMA) and Cognitive Radio (CR) in the spectrum sharing of ISTCN. In essence, NOMA technology improves spectrum efficiency by allowing different users to transmit on the same carrier and distinguishing users by user power levels while CR technology improves spectrum efficiency through dynamic spectrum sharing. Furthermore, some open researches and challenges in ISTCN will be discussed.

Data-driven peakon and periodic peakon travelling wave solutions of some nonlinear dispersive equations via deep learning

In the field of mathematical physics, there exist many physically interesting nonlinear dispersive equations with peakon solutions, which are solitary waves with discontinuous first-order derivative at the wave peak. In this paper, we apply the multi-layer physics-informed neural networks (PINNs) deep learning to successfully study the data-driven peakon and periodic peakon solutions of some well-known nonlinear dispersion equations with initial-boundary value conditions such as the Camassa-Holm (CH) equation, Degasperis-Procesi equation, modified CH equation with cubic nonlinearity, Novikov equation with cubic nonlinearity, mCH-Novikov equation, b-family equation with quartic nonlinearity, generalized modified CH equation with quintic nonlinearity, and etc. These results will be useful to further study the peakon solutions and corresponding experimental design of nonlinear dispersive equations.