FF-LINS: A Consistent Frame-to-Frame Solid-State-LiDAR-Inertial State Estimator

Most of the existing LiDAR-inertial navigation systems are based on frame-to-map registrations, leading to inconsistency in state estimation. The newest solid-state LiDAR with a non-repetitive scanning pattern makes it possible to achieve a consistent LiDAR-inertial estimator by employing a frame-to-frame data association. In this letter, we propose a robust and consistent frame-to-frame LiDAR-inertial navigation system (FF-LINS) for solid-state LiDARs. With the INS-centric LiDAR frame processing, the keyframe point-cloud map is built using the accumulated point clouds to construct the frame-to-frame data association. The LiDAR frame-to-frame and the inertial measurement unit (IMU) preintegration measurements are tightly integrated using the factor graph optimization, with online calibration of the LiDAR-IMU extrinsic and time-delay parameters. The experiments on the public and private datasets demonstrate that the proposed FF-LINS achieves superior accuracy and robustness than the state-of-the-art systems. Besides, the LiDAR-IMU extrinsic and time-delay parameters are estimated effectively, and the online calibration notably improves the pose accuracy. The proposed FF-LINS and the employed datasets are open-sourced on GitHub (https://github.com/i2Nav-WHU/FF-LINS).

PO-VINS: An Efficient Pose-Only LiDAR-Enhanced Visual-Inertial State Estimator

The pose-only (PO) visual representation has been proven to be equivalent to the classical multiple-view geometry, while significantly improving computational efficiency. However, its applicability for real-world navigation in large-scale complex environments has not yet been demonstrated. In this study, we present an efficient pose-only LiDAR-enhanced visual-inertial navigation system (PO-VINS) to enhance the real-time performance of the state estimator. In the visual-inertial state estimator (VISE), we propose a pose-only visual-reprojection measurement model that only contains the inertial measurement unit (IMU) pose and extrinsic-parameter states. We further integrated the LiDAR-enhanced method to construct a pose-only LiDAR-depth measurement model. Real-world experiments were conducted in large-scale complex environments, demonstrating that the proposed PO-VISE and LiDAR-enhanced PO-VISE reduce computational complexity by more than 50% and over 20%, respectively. Additionally, the PO-VINS yields the same accuracy as conventional methods. These results indicate that the pose-only solution is efficient and applicable for real-time visual-inertial state estimation.

On Calibrating Semantic Segmentation Models: Analysis and An Algorithm

We study the problem of semantic segmentation calibration. For image classification, lots of existing solutions are proposed to alleviate model miscalibration of confidence. However, to date, confidence calibration research on semantic segmentation is still limited. We provide a systematic study on the calibration of semantic segmentation models and propose a simple yet effective approach. First, we find that model capacity, crop size, multi-scale testing, and prediction correctness have impact on calibration. Among them, prediction correctness, especially misprediction, is more important to miscalibration due to over-confidence. Next, we propose a simple, unifying, and effective approach, namely selective scaling, by separating correct/incorrect prediction for scaling and more focusing on misprediction logit smoothing. Then, we study popular existing calibration methods and compare them with selective scaling on semantic segmentation calibration. We conduct extensive experiments with a variety of benchmarks on both in-domain and domain-shift calibration, and show that selective scaling consistently outperforms other methods.

CTIN: Robust Contextual Transformer Network for Inertial Navigation

Recently, data-driven inertial navigation approaches have demonstrated their capability of using well-trained neural networks to obtain accurate position estimates from inertial measurement units (IMU) measurements. In this paper, we propose a novel robust Contextual Transformer-based network for Inertial Navigation~(CTIN) to accurately predict velocity and trajectory. To this end, we first design a ResNet-based encoder enhanced by local and global multi-head self-attention to capture spatial contextual information from IMU measurements. Then we fuse these spatial representations with temporal knowledge by leveraging multi-head attention in the Transformer decoder. Finally, multi-task learning with uncertainty reduction is leveraged to improve learning efficiency and prediction accuracy of velocity and trajectory. Through extensive experiments over a wide range of inertial datasets~(e.g. RIDI, OxIOD, RoNIN, IDOL, and our own), CTIN is very robust and outperforms state-of-the-art models.

Rapid Assessments of Light-Duty Gasoline Vehicle Emissions Using On-Road Remote Sensing and Machine Learning

In-time and accurate assessments of on-road vehicle emissions play a central role in urban air quality and health policymaking. However, official insight is hampered by the Inspection/Maintenance (I/M) procedure conducted in the laboratory annually. It not only has a large gap to real-world situations (e.g., meteorological conditions) but also is incapable of regular supervision. Here we build a unique dataset including 103831 light-duty gasoline vehicles, in which on-road remote sensing (ORRS) measurements are linked to the I/M records based on the vehicle identification numbers and license plates. On this basis, we develop an ensemble model framework that integrates three machining learning algorithms, including neural network (NN), extreme gradient boosting (XGBoost), and random forest (RF). We demonstrate that this ensemble model could rapidly assess the vehicle-specific emissions (i.e., CO, HC, and NO). In particular, the model performs quite well for the passing vehicles under normal conditions (i.e., lower VSP (< 18 kw/t), temperature (6 ~ 32 {\deg}C), relative humidity (< 80%), and wind speed (< 5m/s)). Together with the current emission standard, we identify a large number of the dirty (2.33%) or clean (74.92%) vehicles in the real world. Our results show that the ORRS measurements, assisted by the machine-learning-based ensemble model developed here, can realize day-to-day supervision of on-road vehicle-specific emissions. This approach framework provides a valuable opportunity to reform the I/M procedures globally and mitigate urban air pollution deeply.

Anti-Neuron Watermarking: Protecting Personal Data Against Unauthorized Neural Model Training

In this paper, we raise up an emerging personal data protection problem where user personal data (e.g. images) could be inappropriately exploited to train deep neural network models without authorization. To solve this problem, we revisit traditional watermarking in advanced machine learning settings. By embedding a watermarking signature using specialized linear color transformation to user images, neural models will be imprinted with such a signature if training data include watermarked images. Then, a third-party verifier can verify potential unauthorized usage by inferring the watermark signature from neural models. We further explore the desired properties of watermarking and signature space for convincing verification. Through extensive experiments, we show empirically that linear color transformation is effective in protecting user's personal images for various realistic settings. To the best of our knowledge, this is the first work to protect users' personal data from unauthorized usage in neural network training.

Deep Epidemiological Modeling by Black-box Knowledge Distillation: An Accurate Deep Learning Model for COVID-19

An accurate and efficient forecasting system is imperative to the prevention of emerging infectious diseases such as COVID-19 in public health. This system requires accurate transient modeling, lower computation cost, and fewer observation data. To tackle these three challenges, we propose a novel deep learning approach using black-box knowledge distillation for both accurate and efficient transmission dynamics prediction in a practical manner. First, we leverage mixture models to develop an accurate, comprehensive, yet impractical simulation system. Next, we use simulated observation sequences to query the simulation system to retrieve simulated projection sequences as knowledge. Then, with the obtained query data, sequence mixup is proposed to improve query efficiency, increase knowledge diversity, and boost distillation model accuracy. Finally, we train a student deep neural network with the retrieved and mixed observation-projection sequences for practical use. The case study on COVID-19 justifies that our approach accurately projects infections with much lower computation cost when observation data are limited.

Ranking Neural Checkpoints

This paper is concerned with ranking many pre-trained deep neural networks (DNNs), called checkpoints, for the transfer learning to a downstream task. Thanks to the broad use of DNNs, we may easily collect hundreds of checkpoints from various sources. Which of them transfers the best to our downstream task of interest? Striving to answer this question thoroughly, we establish a neural checkpoint ranking benchmark (NeuCRaB) and study some intuitive ranking measures. These measures are generic, applying to the checkpoints of different output types without knowing how the checkpoints are pre-trained on which dataset. They also incur low computation cost, making them practically meaningful. Our results suggest that the linear separability of the features extracted by the checkpoints is a strong indicator of transferability. We also arrive at a new ranking measure, NLEEP, which gives rise to the best performance in the experiments.

Cross-Domain Learning for Classifying Propaganda in Online Contents

As news and social media exhibit an increasing amount of manipulative polarized content, detecting such propaganda has received attention as a new task for content analysis. Prior work has focused on supervised learning with training data from the same domain. However, as propaganda can be subtle and keeps evolving, manual identification and proper labeling are very demanding. As a consequence, training data is a major bottleneck. In this paper, we tackle this bottleneck and present an approach to leverage cross-domain learning, based on labeled documents and sentences from news and tweets, as well as political speeches with a clear difference in their degrees of being propagandistic. We devise informative features and build various classifiers for propaganda labeling, using cross-domain learning. Our experiments demonstrate the usefulness of this approach, and identify difficulties and limitations in various configurations of sources and targets for the transfer step. We further analyze the influence of various features, and characterize salient indicators of propaganda.

Improving Object Detection with Selective Self-supervised Self-training

We study how to leverage Web images to augment human-curated object detection datasets. Our approach is two-pronged. On the one hand, we retrieve Web images by image-to-image search, which incurs less domain shift from the curated data than other search methods. The Web images are diverse, supplying a wide variety of object poses, appearances, their interactions with the context, etc. On the other hand, we propose a novel learning method motivated by two parallel lines of work that explore unlabeled data for image classification: self-training and self-supervised learning. They fail to improve object detectors in their vanilla forms due to the domain gap between the Web images and curated datasets. To tackle this challenge, we propose a selective net to rectify the supervision signals in Web images. It not only identifies positive bounding boxes but also creates a safe zone for mining hard negative boxes. We report state-of-the-art results on detecting backpacks and chairs from everyday scenes, along with other challenging object classes.