3D point cloud registration ranks among the most fundamental problems in remote sensing, photogrammetry, robotics and geometric computer vision. Due to the limited accuracy of 3D feature matching techniques, outliers may exist, sometimes even in very large numbers, among the correspondences. Since existing robust solvers may encounter high computational cost or restricted robustness, we propose a novel, fast and highly robust solution, named VOCRA (VOting with Cost function and Rotating Averaging), for the point cloud registration problem with extreme outlier rates. Our first contribution is to employ the Tukey's Biweight robust cost to introduce a new voting and correspondence sorting technique, which proves to be rather effective in distinguishing true inliers from outliers even with extreme (99%) outlier rates. Our second contribution consists in designing a time-efficient consensus maximization paradigm based on robust rotation averaging, serving to seek inlier candidates among the correspondences. Finally, we apply Graduated Non-Convexity with Tukey's Biweight (GNC-TB) to estimate the correct transformation with the inlier candidates obtained, which is then used to find the complete inlier set. Both standard benchmarking and realistic experiments with application to two real-data problems are conducted, and we show that our solver VOCRA is robust against over 99% outliers and more time-efficient than the state-of-the-art competitors.
Hydroelectricity is one of the renewable energy source, has been used for many years in Turkey. The production of hydraulic power plants based on water reservoirs varies based on different parameters. For this reason, the estimation of hydraulic production gains importance in terms of the planning of electricity generation. In this article, the estimation of Turkey's monthly hydroelectricity production has been made with the long-short-term memory (LSTM) network-based deep learning model. The designed deep learning model is based on hydraulic production time series and future production planning for many years. By using real production data and different LSTM deep learning models, their performance on the monthly forecast of hydraulic electricity generation of the next year has been examined. The obtained results showed that the use of time series based on real production data for many years and deep learning model together is successful in long-term prediction. In the study, it is seen that the 100-layer LSTM model, in which 120 months (10 years) hydroelectric generation time data are used according to the RMSE and MAPE values, are the highest model in terms of estimation accuracy, with a MAPE value of 0.1311 (13.1%) in the annual total and 1.09% as the monthly average distribution. In this model, the best results were obtained for the 100-layer LSTM model, in which the time data of 144 months (12 years) hydroelectric generation data are used, with a RMSE value of 29,689 annually and 2474.08 in monthly distribution. According to the results of the study, time data covering at least 120 months of production is recommended to create an acceptable hydropower forecasting model with LSTM.
Sensor calibration is the fundamental block for a multi-sensor fusion system. This paper presents an accurate and repeatable LiDAR-IMU calibration method (termed LI-Calib), to calibrate the 6-DOF extrinsic transformation between the 3D LiDAR and the Inertial Measurement Unit (IMU). % Regarding the high data capture rate for LiDAR and IMU sensors, LI-Calib adopts a continuous-time trajectory formulation based on B-Spline, which is more suitable for fusing high-rate or asynchronous measurements than discrete-time based approaches. % Additionally, LI-Calib decomposes the space into cells and identifies the planar segments for data association, which renders the calibration problem well-constrained in usual scenarios without any artificial targets. We validate the proposed calibration approach on both simulated and real-world experiments. The results demonstrate the high accuracy and good repeatability of the proposed method in common human-made scenarios. To benefit the research community, we open-source our code at \url{https://github.com/APRIL-ZJU/lidar_IMU_calib}
A new symbolic representation of time series, called ABBA, is introduced. It is based on an adaptive polygonal chain approximation of the time series into a sequence of tuples, followed by a mean-based clustering to obtain the symbolic representation. We show that the reconstruction error of this representation can be modelled as a random walk with pinned start and end points, a so-called Brownian bridge. This insight allows us to make ABBA essentially parameter-free, except for the approximation tolerance which must be chosen. Extensive comparisons with the SAX and 1d-SAX representations are included in the form of performance profiles, showing that ABBA is able to better preserve the essential shape information of time series compared to other approaches. Advantages and applications of ABBA are discussed, including its in-built differencing property and use for anomaly detection, and Python implementations provided.
Adversarial Examples (AEs) can deceive Deep Neural Networks (DNNs) and have received a lot of attention recently. However, majority of the research on AEs is in the digital domain and the adversarial patches are static, which is very different from many real-world DNN applications such as Traffic Sign Recognition (TSR) systems in autonomous vehicles. In TSR systems, object detectors use DNNs to process streaming video in real time. From the view of object detectors, the traffic sign`s position and quality of the video are continuously changing, rendering the digital AEs ineffective in the physical world. In this paper, we propose a systematic pipeline to generate robust physical AEs against real-world object detectors. Robustness is achieved in three ways. First, we simulate the in-vehicle cameras by extending the distribution of image transformations with the blur transformation and the resolution transformation. Second, we design the single and multiple bounding boxes filters to improve the efficiency of the perturbation training. Third, we consider four representative attack vectors, namely Hiding Attack, Appearance Attack, Non-Target Attack and Target Attack. We perform a comprehensive set of experiments under a variety of environmental conditions, and considering illuminations in sunny and cloudy weather as well as at night. The experimental results show that the physical AEs generated from our pipeline are effective and robust when attacking the YOLO v5 based TSR system. The attacks have good transferability and can deceive other state-of-the-art object detectors. We launched HA and NTA on a brand-new 2021 model vehicle. Both attacks are successful in fooling the TSR system, which could be a life-threatening case for autonomous vehicles. Finally, we discuss three defense mechanisms based on image preprocessing, AEs detection, and model enhancing.
This paper proposes a simple yet efficient high-altitude wind nowcasting pipeline. It processes efficiently a vast amount of live data recorded by airplanes over the whole airspace and reconstructs the wind field with good accuracy. It creates a unique context for each point in the dataset and then extrapolates from it. As creating such context is computationally intensive, this paper proposes a novel algorithm that reduces the time and memory cost by efficiently fetching nearest neighbors in a data set whose elements are organized along smooth trajectories that can be approximated with piece-wise linear structures. We introduce an efficient and exact strategy implemented through algebraic tensorial operations, which is well-suited to modern GPU-based computing infrastructure. This method employs a scalable Euclidean metric and allows masking data points along one dimension. When applied, this method is more efficient than plain Euclidean k-NN and other well-known data selection methods such as KDTrees and provides a several-fold speedup. We provide an implementation in PyTorch and a novel data set to allow the replication of empirical results.
AMR parsing has experienced an unprecendented increase in performance in the last three years, due to a mixture of effects including architecture improvements and transfer learning. Self-learning techniques have also played a role in pushing performance forward. However, for most recent high performant parsers, the effect of self-learning and silver data generation seems to be fading. In this paper we show that it is possible to overcome this diminishing returns of silver data by combining Smatch-based ensembling techniques with ensemble distillation. In an extensive experimental setup, we push single model English parser performance above 85 Smatch for the first time and return to substantial gains. We also attain a new state-of-the-art for cross-lingual AMR parsing for Chinese, German, Italian and Spanish. Finally we explore the impact of the proposed distillation technique on domain adaptation, and show that it can produce gains rivaling those of human annotated data for QALD-9 and achieve a new state-of-the-art for BioAMR.
FPGAs have found their way into data centers as accelerator cards, making reconfigurable computing more accessible for high-performance applications. At the same time, new high-level synthesis compilers like Xilinx Vitis and runtime libraries such as XRT attract software programmers into the reconfigurable domain. While software programmers are familiar with task-level and data-parallel programming, FPGAs often require different types of parallelism. For example, data-driven parallelism is mandatory to obtain satisfactory hardware designs for pipelined dataflow architectures. However, software programmers are often not acquainted with dataflow architectures - resulting in poor hardware designs. In this work we present FLOWER, a comprehensive compiler infrastructure that provides automatic canonical transformations for high-level synthesis from a domain-specific library. This allows programmers to focus on algorithm implementations rather than low-level optimizations for dataflow architectures. We show that FLOWER allows to synthesize efficient implementations for high-performance streaming applications targeting System-on-Chip and FPGA accelerator cards, in the context of image processing and computer vision.
In this paper, we first present a method to autonomously detect helipads in real time. Our method does not rely on any machine-learning methods and as such is applicable in real-time on the computational capabilities of an average quad-rotor. After initial detection, we use image tracking methods to reduce the computational resource requirement further. Once the tracking starts our modified IBVS(Image-Based Visual Servoing) method starts publishing velocity to guide the quad-rotor onto the helipad. The modified IBVS scheme is designed for the four degrees-of-freedom of a quad-rotor and can land the quad-rotor in a specific orientation.
Depth perception is paramount to tackle real-world problems, ranging from autonomous driving to consumer applications. For the latter, depth estimation from a single image represents the most versatile solution, since a standard camera is available on almost any handheld device. Nonetheless, two main issues limit its practical deployment: i) the low reliability when deployed in-the-wild and ii) the demanding resource requirements to achieve real-time performance, often not compatible with such devices. Therefore, in this paper, we deeply investigate these issues showing how they are both addressable adopting appropriate network design and training strategies -- also outlining how to map the resulting networks on handheld devices to achieve real-time performance. Our thorough evaluation highlights the ability of such fast networks to generalize well to new environments, a crucial feature required to tackle the extremely varied contexts faced in real applications. Indeed, to further support this evidence, we report experimental results concerning real-time depth-aware augmented reality and image blurring with smartphones in-the-wild.