A Novel Autonomous Robotics System for Aquaculture Environment Monitoring

Implementing fully automatic unmanned surface vehicles (USVs) monitoring water quality is challenging since effectively collecting environmental data while keeping the platform stable and environmental-friendly is hard to approach. To address this problem, we construct a USV that can automatically navigate an efficient path to sample water quality parameters in order to monitor the aquatic environment. The detection device needs to be stable enough to resist a hostile environment or climates while enormous volumes will disturb the aquaculture environment. Meanwhile, planning an efficient path for information collecting needs to deal with the contradiction between the restriction of energy and the amount of information in the coverage region. To tackle with mentioned challenges, we provide a USV platform that can perfectly balance mobility, stability, and portability attributed to its special round-shape structure and redundancy motion design. For informative planning, we combined the TSP and CPP algorithms to construct an optimistic plan for collecting more data within a certain range and limiting energy restrictions.We designed a fish existence prediction scenario to verify the novel system in both simulation experiments and field experiments. The novel aquaculture environment monitoring system significantly reduces the burden of manual operation in the fishery inspection field. Additionally, the simplicity of the sensor setup and the minimal cost of the platform enables its other possible applications in aquatic exploration and commercial utilization.

A Novel Autonomous Mobile Platform for Monitoring Fish Habitat

Implementing fully automatic unmanned surface vehicles (USVs) monitoring water quality is challenging since effectively collecting environmental data while keeping the platform stable and environmental-friendly is hard to approach. To address this problem, we construct a USV that can automatically navigate an efficient path to sample water quality parameters in order to monitor the aquatic environment. The detection device needs to be stable enough to resist a hostile environment or climates while enormous volumes will disturb the aquaculture environment. Meanwhile, planning an efficient path for information collecting needs to deal with the contradiction between the restriction of energy and the amount of information in the coverage region. To tackle with mentioned challenges, we provide a USV platform that can perfectly balance mobility, stability, and portability attributed to its special round-shape structure and redundancy motion design. For informative planning, we combined the TSP and CPP algorithms to construct an optimistic plan for collecting more data within a certain range and limiting energy restrictions.We designed a fish existence prediction scenario to verify the novel system in both simulation experiments and field experiments. The novel aquaculture environment monitoring system significantly reduces the burden of manual operation in the fishery inspection field. Additionally, the simplicity of the sensor setup and the minimal cost of the platform enables its other possible applications in aquatic exploration and commercial utilization.

ViDA-MAN: Visual Dialog with Digital Humans

We demonstrate ViDA-MAN, a digital-human agent for multi-modal interaction, which offers realtime audio-visual responses to instant speech inquiries. Compared to traditional text or voice-based system, ViDA-MAN offers human-like interactions (e.g, vivid voice, natural facial expression and body gestures). Given a speech request, the demonstration is able to response with high quality videos in sub-second latency. To deliver immersive user experience, ViDA-MAN seamlessly integrates multi-modal techniques including Acoustic Speech Recognition (ASR), multi-turn dialog, Text To Speech (TTS), talking heads video generation. Backed with large knowledge base, ViDA-MAN is able to chat with users on a number of topics including chit-chat, weather, device control, News recommendations, booking hotels, as well as answering questions via structured knowledge.

Deep Person Generation: A Survey from the Perspective of Face, Pose and Cloth Synthesis

Deep person generation has attracted extensive research attention due to its wide applications in virtual agents, video conferencing, online shopping and art/movie production. With the advancement of deep learning, visual appearances (face, pose, cloth) of a person image can be easily generated or manipulated on demand. In this survey, we first summarize the scope of person generation, and then systematically review recent progress and technical trends in deep person generation, covering three major tasks: talking-head generation (face), pose-guided person generation (pose) and garment-oriented person generation (cloth). More than two hundred papers are covered for a thorough overview, and the milestone works are highlighted to witness the major technical breakthrough. Based on these fundamental tasks, a number of applications are investigated, e.g., virtual fitting, digital human, generative data augmentation. We hope this survey could shed some light on the future prospects of deep person generation, and provide a helpful foundation for full applications towards digital human.

On Performance Loss of DOA Measurement Using Massive MIMO Receiver with Mixed-ADCs

High hardware cost and high power consumption of massive multiple-input and multiple output (MIMO) are still two challenges for the future wireless communications including beyond 5G. Adopting the low-resolution analog-to-digital converter (ADC) is viewed as a promising solution. Additionally, the direction of arrival (DOA) estimation is an indispensable technology for beam alignment and tracking in massive MIMO systems. Thus, in this paper, the performance of DOA estimation for massive MIMO receive array with mixed-ADC structure is first investigated, where one part of radio frequency (RF) chains are connected with high-resolution ADCs and the remaining ones are connected with low-resolution ADCs. Moreover, the Cramer-Rao lower bound (CRLB) for this architecture is derived based on the additive quantization noise model approximation for the effect of low-resolution ADCs. Then, the root-MUSIC method is designed for such a receive structure. Eventually, a performance loss factor and the associated energy efficiency factor is defined for analysis in detail. Simulation results find that a mixed-ADC architecture can strike a good balance among RMSE performance, circuit cost and energy efficiency. More importantly, just 1-4 bits of low-resolution ADCs can achieve a satisfactory performance for DOA measurement.

Communication-efficient Coordinated RSS-based Distributed Passive Localization via Drone Cluster

Recently, passive unmanned aerial vehicle (UAV) localization has become popular due to mobility and convenience. In this paper, we consider a scenario of using distributed drone cluster to estimate the position of a passive emitter via received signal strength (RSS). First, a distributed majorizeminimization (DMM) RSS-based localization method is proposed. To accelerate its convergence, a tight upper bound of the objective function from the primary one is derived. Furthermore, to reduce communication overhead, a distributed estimation scheme using the Fisher information matrix (DEF) is presented, with only requiring one-round communication between edge UAVs and center UAV. Additionally, a local search solution is used as the initial value of DEF. Simulation results show that the proposed DMM performs better than the existing distributed Gauss-Newton method (DGN) in terms of root of mean square error (RMSE) under a limited low communication overhead constraint. Moreover, the proposed DEF performs much better than MM in terms of RMSE, but has a higher computational complexity than the latter.

UAV-enabled optimal position selection for secure and precise wireless transmission

In this letter, two unmanned-aerial-vehicle (UAV) optimal position selection schemes are proposed. Based on the proposed schemes, the optimal UAV transmission positions for secure precise wireless transmission (SPWT) are given, where the maximum secrecy rate (SR) can be achieved without artificial noise (AN). In conventional SPWT schemes, the transmission location is not considered which impacts the SR a lot. The proposed schemes find the optimal transmission positions based on putting the eavesdropper at the null point. Thus, the received confidential message energy at the eavesdropper is zero, and the maximum SR achieves. Simulation results show that proposed schemes have improved the SR performance significantly.

Classes Matter: A Fine-grained Adversarial Approach to Cross-domain Semantic Segmentation

Despite great progress in supervised semantic segmentation,a large performance drop is usually observed when deploying the model in the wild. Domain adaptation methods tackle the issue by aligning the source domain and the target domain. However, most existing methods attempt to perform the alignment from a holistic view, ignoring the underlying class-level data structure in the target domain. To fully exploit the supervision in the source domain, we propose a fine-grained adversarial learning strategy for class-level feature alignment while preserving the internal structure of semantics across domains. We adopt a fine-grained domain discriminator that not only plays as a domain distinguisher, but also differentiates domains at class level. The traditional binary domain labels are also generalized to domain encodings as the supervision signal to guide the fine-grained feature alignment. An analysis with Class Center Distance (CCD) validates that our fine-grained adversarial strategy achieves better class-level alignment compared to other state-of-the-art methods. Our method is easy to implement and its effectiveness is evaluated on three classical domain adaptation tasks, i.e., GTA5 to Cityscapes, SYNTHIA to Cityscapes and Cityscapes to Cross-City. Large performance gains show that our method outperforms other global feature alignment based and class-wise alignment based counterparts. The code is publicly available at https://github.com/JDAI-CV/FADA.

Zooming into Face Forensics: A Pixel-level Analysis

The stunning progress in face manipulation methods has made it possible to synthesize realistic fake face images, which poses potential threats to our society. It is urgent to have face forensics techniques to distinguish those tampered images. A large scale dataset "FaceForensics++" has provided enormous training data generated from prominent face manipulation methods to facilitate anti-fake research. However, previous works focus more on casting it as a classification problem by only considering a global prediction. Through investigation to the problem, we find that training a classification network often fails to capture high quality features, which might lead to sub-optimal solutions. In this paper, we zoom in on the problem by conducting a pixel-level analysis, i.e. formulating it as a pixel-level segmentation task. By evaluating multiple architectures on both segmentation and classification tasks, We show the superiority of viewing the problem from a segmentation perspective. Different ablation studies are also performed to investigate what makes an effective and efficient anti-fake model. Strong baselines are also established, which, we hope, could shed some light on the field of face forensics.

Regularizing Proxies with Multi-Adversarial Training for Unsupervised Domain-Adaptive Semantic Segmentation

Training a semantic segmentation model requires a large amount of pixel-level annotation, hampering its application at scale. With computer graphics, we can generate almost unlimited training data with precise annotation. However,a deep model trained with synthetic data usually cannot directly generalize well to realistic images due to domain shift. It has been observed that highly confident labels for the unlabeled real images may be predicted relying on the labeled synthetic data. To tackle the unsupervised domain adaptation problem, we explore the possibilities to generate high-quality labels as proxy labels to supervise the training on target data. Specifically, we propose a novel proxy-based method using multi-adversarial training. We first train the model using synthetic data (source domain). Multiple discriminators are used to align the features be-tween the source and target domain (real images) at different levels. Then we focus on obtaining and selecting high-quality proxy labels by incorporating both the confidence of the class predictor and that from the adversarial discriminators. Our discriminators not only work as a regularizer to encourage feature alignment but also provide an alternative confidence measure for generating proxy labels. Relying on the generated high-quality proxies, our model can be trained in a "supervised manner" on the target do-main. On two major tasks, GTA5->Cityscapes and SYNTHIA->Cityscapes, our method achieves state-of-the-art results, outperforming the previous by a large margin.