Wood-leaf classification of tree point cloud based on intensity and geometrical information

Terrestrial laser scanning (TLS) can obtain tree point cloud with high precision and high density. Efficient classification of wood points and leaf points is essential to study tree structural parameters and ecological characteristics. By using both the intensity and spatial information, a three-step classification and verification method was proposed to achieve automated wood-leaf classification. Tree point cloud was classified into wood points and leaf points by using intensity threshold, neighborhood density and voxelization successively. Experiment was carried in Haidian Park, Beijing, and 24 trees were scanned by using the RIEGL VZ-400 scanner. The tree point clouds were processed by using the proposed method, whose classification results were compared with the manual classification results which were used as standard results. To evaluate the classification accuracy, three indicators were used in the experiment, which are Overall Accuracy (OA), Kappa coefficient (Kappa) and Matthews correlation coefficient (MCC). The ranges of OA, Kappa and MCC of the proposed method are from 0.9167 to 0.9872, from 0.7276 to 0.9191, and from 0.7544 to 0.9211 respectively. The average values of OA, Kappa and MCC are 0.9550, 0.8547 and 0.8627 respectively. Time cost of wood-leaf classification was also recorded to evaluate the algorithm efficiency. The average processing time are 1.4 seconds per million points. The results showed that the proposed method performed well automatically and quickly on wood-leaf classification based on the experimental dataset.

Imbalanced Adversarial Training with Reweighting

Adversarial training has been empirically proven to be one of the most effective and reliable defense methods against adversarial attacks. However, almost all existing studies about adversarial training are focused on balanced datasets, where each class has an equal amount of training examples. Research on adversarial training with imbalanced training datasets is rather limited. As the initial effort to investigate this problem, we reveal the facts that adversarially trained models present two distinguished behaviors from naturally trained models in imbalanced datasets: (1) Compared to natural training, adversarially trained models can suffer much worse performance on under-represented classes, when the training dataset is extremely imbalanced. (2) Traditional reweighting strategies may lose efficacy to deal with the imbalance issue for adversarial training. For example, upweighting the under-represented classes will drastically hurt the model's performance on well-represented classes, and as a result, finding an optimal reweighting value can be tremendously challenging. In this paper, to further understand our observations, we theoretically show that the poor data separability is one key reason causing this strong tension between under-represented and well-represented classes. Motivated by this finding, we propose Separable Reweighted Adversarial Training (SRAT) to facilitate adversarial training under imbalanced scenarios, by learning more separable features for different classes. Extensive experiments on various datasets verify the effectiveness of the proposed framework.

Trustworthy AI: A Computational Perspective

In the past few decades, artificial intelligence (AI) technology has experienced swift developments, changing everyone's daily life and profoundly altering the course of human society. The intention of developing AI is to benefit humans, by reducing human labor, bringing everyday convenience to human lives, and promoting social good. However, recent research and AI applications show that AI can cause unintentional harm to humans, such as making unreliable decisions in safety-critical scenarios or undermining fairness by inadvertently discriminating against one group. Thus, trustworthy AI has attracted immense attention recently, which requires careful consideration to avoid the adverse effects that AI may bring to humans, so that humans can fully trust and live in harmony with AI technologies. Recent years have witnessed a tremendous amount of research on trustworthy AI. In this survey, we present a comprehensive survey of trustworthy AI from a computational perspective, to help readers understand the latest technologies for achieving trustworthy AI. Trustworthy AI is a large and complex area, involving various dimensions. In this work, we focus on six of the most crucial dimensions in achieving trustworthy AI: (i) Safety & Robustness, (ii) Non-discrimination & Fairness, (iii) Explainability, (iv) Privacy, (v) Accountability & Auditability, and (vi) Environmental Well-Being. For each dimension, we review the recent related technologies according to a taxonomy and summarize their applications in real-world systems. We also discuss the accordant and conflicting interactions among different dimensions and discuss potential aspects for trustworthy AI to investigate in the future.

Elastic Graph Neural Networks

While many existing graph neural networks (GNNs) have been proven to perform $\ell_2$-based graph smoothing that enforces smoothness globally, in this work we aim to further enhance the local smoothness adaptivity of GNNs via $\ell_1$-based graph smoothing. As a result, we introduce a family of GNNs (Elastic GNNs) based on $\ell_1$ and $\ell_2$-based graph smoothing. In particular, we propose a novel and general message passing scheme into GNNs. This message passing algorithm is not only friendly to back-propagation training but also achieves the desired smoothing properties with a theoretical convergence guarantee. Experiments on semi-supervised learning tasks demonstrate that the proposed Elastic GNNs obtain better adaptivity on benchmark datasets and are significantly robust to graph adversarial attacks. The implementation of Elastic GNNs is available at \url{https://github.com/lxiaorui/ElasticGNN}.

Automatic sampling and training method for wood-leaf classification based on tree terrestrial point cloud

Terrestrial laser scanning technology provides an efficient and accuracy solution for acquiring three-dimensional information of plants. The leaf-wood classification of plant point cloud data is a fundamental step for some forestry and biological research. An automatic sampling and training method for classification was proposed based on tree point cloud data. The plane fitting method was used for selecting leaf sample points and wood sample points automatically, then two local features were calculated for training and classification by using support vector machine (SVM) algorithm. The point cloud data of ten trees were tested by using the proposed method and a manual selection method. The average correct classification rate and kappa coefficient are 0.9305 and 0.7904, respectively. The results show that the proposed method had better efficiency and accuracy comparing to the manual selection method.

To be Robust or to be Fair: Towards Fairness in Adversarial Training

Adversarial training algorithms have been proven to be reliable to improve machine learning models' robustness against adversarial examples. However, we find that adversarial training algorithms tend to introduce severe disparity of accuracy and robustness between different groups of data. For instance, PGD adversarially trained ResNet18 model on CIFAR-10 has 93% clean accuracy and 67% PGD $l_\infty-8$ adversarial accuracy on the class "automobile" but only 59% and 17% on class "cat". This phenomenon happens in balanced datasets and does not exist in naturally trained models when only using clean samples. In this work, we theoretically show that this phenomenon can generally happen under adversarial training algorithms which minimize DNN models' robust errors. Motivated by these findings, we propose a Fair-Robust-Learning (FRL) framework to mitigate this unfairness problem when doing adversarial defenses and experimental results validate the effectiveness of FRL.

Yet Meta Learning Can Adapt Fast, It Can Also Break Easily

Meta learning algorithms have been widely applied in many tasks for efficient learning, such as few-shot image classification and fast reinforcement learning. During meta training, the meta learner develops a common learning strategy, or experience, from a variety of learning tasks. Therefore, during meta test, the meta learner can use the learned strategy to quickly adapt to new tasks even with a few training samples. However, there is still a dark side about meta learning in terms of reliability and robustness. In particular, is meta learning vulnerable to adversarial attacks? In other words, would a well-trained meta learner utilize its learned experience to build wrong or likely useless knowledge, if an adversary unnoticeably manipulates the given training set? Without the understanding of this problem, it is extremely risky to apply meta learning in safety-critical applications. Thus, in this paper, we perform the initial study about adversarial attacks on meta learning under the few-shot classification problem. In particular, we formally define key elements of adversarial attacks unique to meta learning and propose the first attacking algorithm against meta learning under various settings. We evaluate the effectiveness of the proposed attacking strategy as well as the robustness of several representative meta learning algorithms. Experimental results demonstrate that the proposed attacking strategy can easily break the meta learner and meta learning is vulnerable to adversarial attacks. The implementation of the proposed framework will be released upon the acceptance of this paper.

DeepRobust: A PyTorch Library for Adversarial Attacks and Defenses

DeepRobust is a PyTorch adversarial learning library which aims to build a comprehensive and easy-to-use platform to foster this research field. It currently contains more than 10 attack algorithms and 8 defense algorithms in image domain and 9 attack algorithms and 4 defense algorithms in graph domain, under a variety of deep learning architectures. In this manual, we introduce the main contents of DeepRobust with detailed instructions. The library is kept updated and can be found at https://github.com/DSE-MSU/DeepRobust.

Adversarial Attacks and Defenses on Graphs: A Review and Empirical Study

Deep neural networks (DNNs) have achieved significant performance in various tasks. However, recent studies have shown that DNNs can be easily fooled by small perturbation on the input, called adversarial attacks. As the extensions of DNNs to graphs, Graph Neural Networks (GNNs) have been demonstrated to inherit this vulnerability. Adversary can mislead GNNs to give wrong predictions by modifying the graph structure such as manipulating a few edges. This vulnerability has arisen tremendous concerns for adapting GNNs in safety-critical applications and has attracted increasing research attention in recent years. Thus, it is necessary and timely to provide a comprehensive overview of existing graph adversarial attacks and the countermeasures. In this survey, we categorize existing attacks and defenses, and review the corresponding state-of-the-art methods. Furthermore, we have developed a repository with representative algorithms (https://github.com/DSE-MSU/DeepRobust/tree/master/deeprobust/graph). The repository enables us to conduct empirical studies to deepen our understandings on attacks and defenses on graphs.

Automatic marker-free registration of tree point-cloud data based on rotating projection

Point-cloud data acquired using a terrestrial laser scanner (TLS) play an important role in digital forestry research. Multiple scans are generally used to overcome occlusion effects and obtain complete tree structural information. However, it is time-consuming and difficult to place artificial reflectors in a forest with complex terrain for marker-based registration, a process that reduces registration automation and efficiency. In this study, we propose an automatic coarse-to-fine method for the registration of point-cloud data from multiple scans of a single tree. In coarse registration, point clouds produced by each scan are projected onto a spherical surface to generate a series of two-dimensional (2D) images, which are used to estimate the initial positions of multiple scans. Corresponding feature-point pairs are then extracted from these series of 2D images. In fine registration, point-cloud data slicing and fitting methods are used to extract corresponding central stem and branch centers for use as tie points to calculate fine transformation parameters. To evaluate the accuracy of registration results, we propose a model of error evaluation via calculating the distances between center points from corresponding branches in adjacent scans. For accurate evaluation, we conducted experiments on two simulated trees and a real-world tree. Average registration errors of the proposed method were 0.26m around on simulated tree point clouds, and 0.05m around on real-world tree point cloud.