Real-time Geo-localization Using Satellite Imagery and Topography for Unmanned Aerial Vehicles

The capabilities of autonomous flight with unmanned aerial vehicles (UAVs) have significantly increased in recent times. However, basic problems such as fast and robust geo-localization in GPS-denied environments still remain unsolved. Existing research has primarily concentrated on improving the accuracy of localization at the cost of long and varying computation time in various situations, which often necessitates the use of powerful ground station machines. In order to make image-based geo-localization online and pragmatic for lightweight embedded systems on UAVs, we propose a framework that is reliable in changing scenes, flexible about computing resource allocation and adaptable to common camera placements. The framework is comprised of two stages: offline database preparation and online inference. At the first stage, color images and depth maps are rendered as seen from potential vehicle poses quantized over the satellite and topography maps of anticipated flying areas. A database is then populated with the global and local descriptors of the rendered images. At the second stage, for each captured real-world query image, top global matches are retrieved from the database and the vehicle pose is further refined via local descriptor matching. We present field experiments of image-based localization on two different UAV platforms to validate our results.

Decentralized Stochastic Proximal Gradient Descent with Variance Reduction over Time-varying Networks

In decentralized learning, a network of nodes cooperate to minimize an overall objective function that is usually the finite-sum of their local objectives, and incorporates a non-smooth regularization term for the better generalization ability. Decentralized stochastic proximal gradient (DSPG) method is commonly used to train this type of learning models, while the convergence rate is retarded by the variance of stochastic gradients. In this paper, we propose a novel algorithm, namely DPSVRG, to accelerate the decentralized training by leveraging the variance reduction technique. The basic idea is to introduce an estimator in each node, which tracks the local full gradient periodically, to correct the stochastic gradient at each iteration. By transforming our decentralized algorithm into a centralized inexact proximal gradient algorithm with variance reduction, and controlling the bounds of error sequences, we prove that DPSVRG converges at the rate of $O(1/T)$ for general convex objectives plus a non-smooth term with $T$ as the number of iterations, while DSPG converges at the rate $O(\frac{1}{\sqrt{T}})$. Our experiments on different applications, network topologies and learning models demonstrate that DPSVRG converges much faster than DSPG, and the loss function of DPSVRG decreases smoothly along with the training epochs.

RiskLoc: Localization of Multi-dimensional Root Causes by Weighted Risk

Failures and anomalies in large-scale software systems are unavoidable incidents. When an issue is detected, operators need to quickly and correctly identify its location to facilitate a swift repair. In this work, we consider the problem of identifying the root cause set that best explains an anomaly in multi-dimensional time series with categorical attributes. The huge search space is the main challenge, even for a small number of attributes and small value sets, the number of theoretical combinations is too large to brute force. Previous approaches have thus focused on reducing the search space, but they all suffer from various issues, requiring extensive manual parameter tuning, being too slow and thus impractical, or being incapable of finding more complex root causes. We propose RiskLoc to solve the problem of multidimensional root cause localization. RiskLoc applies a 2-way partitioning scheme and assigns element weights that linearly increase with the distance from the partitioning point. A risk score is assigned to each element that integrates two factors, 1) its weighted proportion within the abnormal partition, and 2) the relative change in the deviation score adjusted for the ripple effect property. Extensive experiments on multiple datasets verify the effectiveness and efficiency of RiskLoc, and for a comprehensive evaluation, we introduce three synthetically generated datasets that complement existing datasets. We demonstrate that RiskLoc consistently outperforms state-of-the-art baselines, especially in more challenging root cause scenarios, with gains in F1-score up to 57% over the second-best approach with comparable running times.

Automatic Velocity Picking Using a Multi-Information Fusion Deep Semantic Segmentation Network

Velocity picking, a critical step in seismic data processing, has been studied for decades. Although manual picking can produce accurate normal moveout (NMO) velocities from the velocity spectra of prestack gathers, it is time-consuming and becomes infeasible with the emergence of large amount of seismic data. Numerous automatic velocity picking methods have thus been developed. In recent years, deep learning (DL) methods have produced good results on the seismic data with medium and high signal-to-noise ratios (SNR). Unfortunately, it still lacks a picking method to automatically generate accurate velocities in the situations of low SNR. In this paper, we propose a multi-information fusion network (MIFN) to estimate stacking velocity from the fusion information of velocity spectra and stack gather segments (SGS). In particular, we transform the velocity picking problem into a semantic segmentation problem based on the velocity spectrum images. Meanwhile, the information provided by SGS is used as a prior in the network to assist segmentation. The experimental results on two field datasets show that the picking results of MIFN are stable and accurate for the scenarios with medium and high SNR, and it also performs well in low SNR scenarios.

Preliminaries on the Accurate Estimation of the Hurst Exponent Using Time Series

This article explores the required amount of time series points from a high-speed computer network to accurately estimate the Hurst exponent. The methodology consists in designing an experiment using estimators that are applied to time series addresses resulting from the capture of high-speed network traffic, followed by addressing the minimum amount of point required to obtain in accurate estimates of the Hurst exponent. The methodology addresses the exhaustive analysis of the Hurst exponent considering bias behaviour, standard deviation, and Mean Squared Error using fractional Gaussian noise signals with stationary increases. Our results show that the Whittle estimator successfully estimates the Hurst exponent in series with few points. Based on the results obtained, a minimum length for the time series is empirically proposed. Finally, to validate the results, the methodology is applied to real traffic captures in a high-speed computer network.

Encoder-Decoder Architecture for Supervised Dynamic Graph Learning: A Survey

In recent years, the prevalent online services generate a sheer volume of user activity data. Service providers collect these data in order to perform client behavior analysis, and offer better and more customized services. Majority of these data can be modeled and stored as graph, such as the social graph in Facebook, user-video interaction graph in Youtube. These graphs need to evolve over time to capture the dynamics in the real world, leading to the invention of dynamic graphs. However, the temporal information embedded in the dynamic graphs brings new challenges in analyzing and deploying them. Events staleness, temporal information learning and explicit time dimension usage are some example challenges in dynamic graph learning. In order to offer a convenient reference to both the industry and academia, this survey presents the Three Stages Recurrent Temporal Learning Framework based on dynamic graph evolution theories, so as to interpret the learning of temporal information with a generalized framework. Under this framework, this survey categories and reviews different learnable encoder-decoder architectures for supervised dynamic graph learning. We believe that this survey could supply useful guidelines to researchers and engineers in finding suitable graph structures for their dynamic learning tasks.

Channel Estimation based on Gaussian Mixture Models with Structured Covariances

In this work, we propose variations of a Gaussian mixture model (GMM) based channel estimator that was recently proven to be asymptotically optimal in the minimum mean square error (MMSE) sense. We account for the need of low computational complexity in the online estimation and low cost for training and storage in practical applications. To this end, we discuss modifications of the underlying expectation-maximization (EM) algorithm, which is needed to fit the parameters of the GMM, to allow for structurally constrained covariances. Further, we investigate splitting the 2D time and frequency estimation problem in wideband systems into cascaded 1D estimations with the help of the GMM. The proposed cascaded GMM approach drastically reduces the complexity and memory requirements. We observe that due to the training on realistic channel data, the proposed GMM estimators seem to inherently perform a trade-off between saving complexity/parameters and estimation performance. We compare these low-complexity approaches to a practical and low cost method that relies on the power delay profile (PDP) and the Doppler spectrum (DS). We argue that, with the training on scenario-specific data from the environment, these practical baselines are outperformed by far with equal estimation complexity.

DynamicEarthNet: Daily Multi-Spectral Satellite Dataset for Semantic Change Segmentation

Earth observation is a fundamental tool for monitoring the evolution of land use in specific areas of interest. Observing and precisely defining change, in this context, requires both time-series data and pixel-wise segmentations. To that end, we propose the DynamicEarthNet dataset that consists of daily, multi-spectral satellite observations of 75 selected areas of interest distributed over the globe with imagery from Planet Labs. These observations are paired with pixel-wise monthly semantic segmentation labels of 7 land use and land cover (LULC) classes. DynamicEarthNet is the first dataset that provides this unique combination of daily measurements and high-quality labels. In our experiments, we compare several established baselines that either utilize the daily observations as additional training data (semi-supervised learning) or multiple observations at once (spatio-temporal learning) as a point of reference for future research. Finally, we propose a new evaluation metric SCS that addresses the specific challenges associated with time-series semantic change segmentation. The data is available at: https://mediatum.ub.tum.de/1650201.

Deep Switching State Space Model (DS$^3$M) for Nonlinear Time Series Forecasting with Regime Switching

We propose a deep switching state space model (DS$^3$M) for efficient inference and forecasting of nonlinear time series with irregularly switching among various regimes. The switching among regimes is captured by both discrete and continuous latent variables with recurrent neural networks. The model is estimated with variational inference using a reparameterization trick. We test the approach on a variety of simulated and real datasets. In all cases, DS$^3$M achieves competitive performance compared to several state-of-the-art methods (e.g. GRU, SRNN, DSARF, SNLDS), with superior forecasting accuracy, convincing interpretability of the discrete latent variables, and powerful representation of the continuous latent variables for different kinds of time series. Specifically, the MAPE values increase by 0.09\% to 15.71\% against the second-best performing alternative models.

Error Correction Code Transformer

Error correction code is a major part of the communication physical layer, ensuring the reliable transfer of data over noisy channels. Recently, neural decoders were shown to outperform classical decoding techniques. However, the existing neural approaches present strong overfitting due to the exponential training complexity, or a restrictive inductive bias due to reliance on Belief Propagation. Recently, Transformers have become methods of choice in many applications thanks to their ability to represent complex interactions between elements. In this work, we propose to extend for the first time the Transformer architecture to the soft decoding of linear codes at arbitrary block lengths. We encode each channel's output dimension to high dimension for better representation of the bits information to be processed separately. The element-wise processing allows the analysis of the channel output reliability, while the algebraic code and the interaction between the bits are inserted into the model via an adapted masked self-attention module. The proposed approach demonstrates the extreme power and flexibility of Transformers and outperforms existing state-of-the-art neural decoders by large margins at a fraction of their time complexity.