DeepPointMap: Advancing LiDAR SLAM with Unified Neural Descriptors

Point clouds have shown significant potential in various domains, including Simultaneous Localization and Mapping (SLAM). However, existing approaches either rely on dense point clouds to achieve high localization accuracy or use generalized descriptors to reduce map size. Unfortunately, these two aspects seem to conflict with each other. To address this limitation, we propose a unified architecture, DeepPointMap, achieving excellent preference on both aspects. We utilize neural network to extract highly representative and sparse neural descriptors from point clouds, enabling memory-efficient map representation and accurate multi-scale localization tasks (e.g., odometry and loop-closure). Moreover, we showcase the versatility of our framework by extending it to more challenging multi-agent collaborative SLAM. The promising results obtained in these scenarios further emphasize the effectiveness and potential of our approach.

SEdroid: A Robust Android Malware Detector using Selective Ensemble Learning

For the dramatic increase of Android malware and low efficiency of manual check process, deep learning methods started to be an auxiliary means for Android malware detection these years. However, these models are highly dependent on the quality of datasets, and perform unsatisfactory results when the quality of training data is not good enough. In the real world, the quality of datasets without manually check cannot be guaranteed, even Google Play may contain malicious applications, which will cause the trained model failure. To address the challenge, we propose a robust Android malware detection approach based on selective ensemble learning, trying to provide an effective solution not that limited to the quality of datasets. The proposed model utilizes genetic algorithm to help find the best combination of the component learners and improve robustness of the model. Our results show that the proposed approach achieves a more robust performance than other approaches in the same area.