OpenRaiser/Intern-Atlas huggingface dataset:
Joint Intrinsic and Extrinsic LiDAR-Camera Calibration in Targetless Environments Using Plane-Constrained Bundle Adjustment
Venue: arXiv cs.RO 2023
Year: 2023

This paper introduces a novel targetless method for joint intrinsic and extrinsic calibration of LiDAR-camera systems using plane-constrained bundle adjustment (BA). Our method leverages LiDAR point cloud measurements from planes in the scene, alongside visual points derived from those planes. The core novelty of our method lies in the integration of visual BA with the registration between visual points and LiDAR point cloud planes, which is formulated as a unified optimization problem. This formulation achieves concurrent intrinsic and extrinsic calibration, while also imparting depth constraints to the visual points to enhance the accuracy of intrinsic calibration. Experiments are conducted on both public data sequences and self-collected dataset. The results showcase that our approach not only surpasses other state-of-the-art (SOTA) methods but also maintains remarkable calibration accuracy even within challenging environments. For the benefits of the robotics community, we have open sourced our codes.
Shortest Odd Paths in Undirected Graphs with Conservative Weight Functions
Venue: arXiv cs.DS 2023
Year: 2023

We consider the Shortest Odd Path problem, where given an undirected graph $G$, a weight function on its edges, and two vertices $s$ and $t$ in $G$, the aim is to find an $(s,t)$-path with odd length and, among all such paths, of minimum weight. For the case when the weight function is conservative, i.e., when every cycle has non-negative total weight, the complexity of the Shortest Odd Path problem had been open for 20 years, and was recently shown to be NP-hard. We give a polynomial-time algorithm for the special case when the weight function is conservative and the set $E^-$ of negative-weight edges forms a single tree. Our algorithm exploits the strong connection between Shortest Odd Path and the problem of finding two internally vertex-disjoint paths between two terminals in an undirected edge-weighted graph. It also relies on solving an intermediary problem variant called Shortest Parity-Constrained Odd Path where for certain edges we have parity constraints on their position along the path. Also, we exhibit two FPT algorithms for solving Shortest Odd Path in graphs with conservative weight functions. The first FPT algorithm is parameterized by $|E^-|$, the number of negative edges, or more generally, by the maximum size of a matching in the subgraph of $G$ spanned by $E^-$. Our second FPT algorithm is parameterized by the treewidth of $G$.
Don't Look into the Sun: Adversarial Solarization Attacks on Image Classifiers
Venue: arXiv cs.CV 2023
Year: 2023

Assessing the robustness of deep neural networks against out-of-distribution inputs is crucial, especially in safety-critical domains like autonomous driving, but also in safety systems where malicious actors can digitally alter inputs to circumvent safety guards. However, designing effective out-of-distribution tests that encompass all possible scenarios while preserving accurate label information is a challenging task. Existing methodologies often entail a compromise between variety and constraint levels for attacks and sometimes even both. In a first step towards a more holistic robustness evaluation of image classification models, we introduce an attack method based on image solarization that is conceptually straightforward yet avoids jeopardizing the global structure of natural images independent of the intensity. Through comprehensive evaluations of multiple ImageNet models, we demonstrate the attack's capacity to degrade accuracy significantly, provided it is not integrated into the training augmentations. Interestingly, even then, no full immunity to accuracy deterioration is achieved. In other settings, the attack can often be simplified into a black-box attack with model-independent parameters. Defenses against other corruptions do not consistently extend to be effective against our specific attack. Project website: https://github.com/paulgavrikov/adversarial_solarization
Geodesic Mode Connectivity
Venue: arXiv cs.LG 2023
Year: 2023

Mode connectivity is a phenomenon where trained models are connected by a path of low loss. We reframe this in the context of Information Geometry, where neural networks are studied as spaces of parameterized distributions with curved geometry. We hypothesize that shortest paths in these spaces, known as geodesics, correspond to mode-connecting paths in the loss landscape. We propose an algorithm to approximate geodesics and demonstrate that they achieve mode connectivity.
Potato: A Data-Oriented Programming 3D Simulator for Large-Scale Heterogeneous Swarm Robotics
Venue: arXiv cs.RO 2023
Year: 2023

Large-scale simulation with realistic nonlinear dynamic models is crucial for algorithms development for swarm robotics. However, existing platforms are mainly developed based on Object-Oriented Programming (OOP) and either use simple kinematic models to pursue a large number of simulating nodes or implement realistic dynamic models with limited simulating nodes. In this paper, we develop a simulator based on Data-Oriented Programming (DOP) that utilizes GPU parallel computing to achieve large-scale swarm robotic simulations. Specifically, we use a multi-process approach to simulate heterogeneous agents and leverage PyTorch with GPU to simulate homogeneous agents with a large number. We test our approach using a nonlinear quadrotor model and demonstrate that this DOP approach can maintain almost the same computational speed when quadrotors are less than 5,000. We also provide two examples to present the functionality of the platform.
DeepLOC: Deep Learning-based Bone Pathology Localization and Classification in Wrist X-ray Images
Venue: arXiv cs.CV 2023
Year: 2023

In recent years, computer-aided diagnosis systems have shown great potential in assisting radiologists with accurate and efficient medical image analysis. This paper presents a novel approach for bone pathology localization and classification in wrist X-ray images using a combination of YOLO (You Only Look Once) and the Shifted Window Transformer (Swin) with a newly proposed block. The proposed methodology addresses two critical challenges in wrist X-ray analysis: accurate localization of bone pathologies and precise classification of abnormalities. The YOLO framework is employed to detect and localize bone pathologies, leveraging its real-time object detection capabilities. Additionally, the Swin, a transformer-based module, is utilized to extract contextual information from the localized regions of interest (ROIs) for accurate classification.
FastSurfer-HypVINN: Automated sub-segmentation of the hypothalamus and adjacent structures on high-resolutional brain MRI
Venue: arXiv cs.CV 2023
Year: 2023

The hypothalamus plays a crucial role in the regulation of a broad range of physiological, behavioural, and cognitive functions. However, despite its importance, only a few small-scale neuroimaging studies have investigated its substructures, likely due to the lack of fully automated segmentation tools to address scalability and reproducibility issues of manual segmentation. While the only previous attempt to automatically sub-segment the hypothalamus with a neural network showed promise for 1.0 mm isotropic T1-weighted (T1w) MRI, there is a need for an automated tool to sub-segment also high-resolutional (HiRes) MR scans, as they are becoming widely available, and include structural detail also from multi-modal MRI. We, therefore, introduce a novel, fast, and fully automated deep learning method named HypVINN for sub-segmentation of the hypothalamus and adjacent structures on 0.8 mm isotropic T1w and T2w brain MR images that is robust to missing modalities. We extensively validate our model with respect to segmentation accuracy, generalizability, in-session test-retest reliability, and sensitivity to replicate hypothalamic volume effects (e.g. sex-differences). The proposed method exhibits high segmentation performance both for standalone T1w images as well as for T1w/T2w image pairs. Even with the additional capability to accept flexible inputs, our model matches or exceeds the performance of state-of-the-art methods with fixed inputs. We, further, demonstrate the generalizability of our method in experiments with 1.0 mm MR scans from both the Rhineland Study and the UK Biobank. Finally, HypVINN can perform the segmentation in less than a minute (GPU) and will be available in the open source FastSurfer neuroimaging software suite, offering a validated, efficient, and scalable solution for evaluating imaging-derived phenotypes of the hypothalamus.
Pre-training Code Representation with Semantic Flow Graph for Effective Bug Localization
Venue: arXiv cs.SE 2023
Year: 2023

Enlightened by the big success of pre-training in natural language processing, pre-trained models for programming languages have been widely used to promote code intelligence in recent years. In particular, BERT has been used for bug localization tasks and impressive results have been obtained. However, these BERT-based bug localization techniques suffer from two issues. First, the pre-trained BERT model on source code does not adequately capture the deep semantics of program code. Second, the overall bug localization models neglect the necessity of large-scale negative samples in contrastive learning for representations of changesets and ignore the lexical similarity between bug reports and changesets during similarity estimation. We address these two issues by 1) proposing a novel directed, multiple-label code graph representation named Semantic Flow Graph (SFG), which compactly and adequately captures code semantics, 2) designing and training SemanticCodeBERT based on SFG, and 3) designing a novel Hierarchical Momentum Contrastive Bug Localization technique (HMCBL). Evaluation results show that our method achieves state-of-the-art performance in bug localization.
Single-shot Bayesian approximation for neural networks
Venue: arXiv cs.LG 2023
Year: 2023

Deep neural networks (NNs) are known for their high-prediction performances. However, NNs are prone to yield unreliable predictions when encountering completely new situations without indicating their uncertainty. Bayesian variants of NNs (BNNs), such as Monte Carlo (MC) dropout BNNs, do provide uncertainty measures and simultaneously increase the prediction performance. The only disadvantage of BNNs is their higher computation time during test time because they rely on a sampling approach. Here we present a single-shot MC dropout approximation that preserves the advantages of BNNs while being as fast as NNs. Our approach is based on moment propagation (MP) and allows to analytically approximate the expected value and the variance of the MC dropout signal for commonly used layers in NNs, i.e. convolution, max pooling, dense, softmax, and dropout layers. The MP approach can convert an NN into a BNN without re-training given the NN has been trained with standard dropout. We evaluate our approach on different benchmark datasets and a simulated toy example in a classification and regression setting. We demonstrate that our single-shot MC dropout approximation resembles the point estimate and the uncertainty estimate of the predictive distribution that is achieved with an MC approach, while being fast enough for real-time deployments of BNNs. We show that using part of the saved time to combine our MP approach with deep ensemble techniques does further improve the uncertainty measures.
Requirements Quality Assurance in Industry: Why, What and How?
Venue: arXiv cs.SE 2023
Year: 2023

Context and Motivation: Natural language is the most common form to specify requirements in industry. The quality of the specification depends on the capability of the writer to formulate requirements aimed at different stakeholders: they are an expression of the customer's needs that are used by analysts, designers and testers. Given this central role of requirements as a mean to communicate intention, assuring their quality is essential to reduce misunderstandings that lead to potential waste. Problem: Quality assurance of requirement specifications is largely a manual effort that requires expertise and domain knowledge. However, this demanding cognitive process is also congested by trivial quality issues that should not occur in the first place. Principal ideas: We propose a taxonomy of requirements quality assurance complexity that characterizes cognitive load of verifying a quality aspect from the human perspective, and automation complexity and accuracy from the machine perspective. Contribution: Once this taxonomy is realized and validated, it can serve as the basis for a decision framework of automated requirements quality assurance support.
Text Similarity from Image Contents using Statistical and Semantic Analysis Techniques
Venue: arXiv cs.CL 2023
Year: 2023

Plagiarism detection is one of the most researched areas among the Natural Language Processing(NLP) community. A good plagiarism detection covers all the NLP methods including semantics, named entities, paraphrases etc. and produces detailed plagiarism reports. Detection of Cross Lingual Plagiarism requires deep knowledge of various advanced methods and algorithms to perform effective text similarity checking. Nowadays the plagiarists are also advancing themselves from hiding the identity from being catch in such offense. The plagiarists are bypassed from being detected with techniques like paraphrasing, synonym replacement, mismatching citations, translating one language to another. Image Content Plagiarism Detection (ICPD) has gained importance, utilizing advanced image content processing to identify instances of plagiarism to ensure the integrity of image content. The issue of plagiarism extends beyond textual content, as images such as figures, graphs, and tables also have the potential to be plagiarized. However, image content plagiarism detection remains an unaddressed challenge. Therefore, there is a critical need to develop methods and systems for detecting plagiarism in image content. In this paper, the system has been implemented to detect plagiarism form contents of Images such as Figures, Graphs, Tables etc. Along with statistical algorithms such as Jaccard and Cosine, introducing semantic algorithms such as LSA, BERT, WordNet outperformed in detecting efficient and accurate plagiarism.
Object level footprint uncertainty quantification in infrastructure based sensing
Venue: arXiv cs.RO 2023
Year: 2023

We examine the problem of estimating footprint uncertainty of objects imaged using the infrastructure based camera sensing. A closed form relationship is established between the ground coordinates and the sources of the camera errors. Using the error propagation equation, the covariance of a given ground coordinate can be measured as a function of the camera errors. The uncertainty of the footprint of the bounding box can then be given as the function of all the extreme points of the object footprint. In order to calculate the uncertainty of a ground point, the typical error sizes of the error sources are required. We present a method of estimating the typical error sizes from an experiment using a static, high-precision LiDAR as the ground truth. Finally, we present a simulated case study of uncertainty quantification from infrastructure based camera in CARLA to provide a sense of how the uncertainty changes across a left turn maneuver.
Towards Automated Animal Density Estimation with Acoustic Spatial Capture-Recapture
Venue: arXiv cs.SD 2023
Year: 2023

Passive acoustic monitoring can be an effective way of monitoring wildlife populations that are acoustically active but difficult to survey visually. Digital recorders allow surveyors to gather large volumes of data at low cost, but identifying target species vocalisations in these data is non-trivial. Machine learning (ML) methods are often used to do the identification. They can process large volumes of data quickly, but they do not detect all vocalisations and they do generate some false positives (vocalisations that are not from the target species). Existing wildlife abundance survey methods have been designed specifically to deal with the first of these mistakes, but current methods of dealing with false positives are not well-developed. They do not take account of features of individual vocalisations, some of which are more likely to be false positives than others. We propose three methods for acoustic spatial capture-recapture inference that integrate individual-level measures of confidence from ML vocalisation identification into the likelihood and hence integrate ML uncertainty into inference. The methods include a mixture model in which species identity is a latent variable. We test the methods by simulation and find that in a scenario based on acoustic data from Hainan gibbons, in which ignoring false positives results in 17% positive bias, our methods give negligible bias and coverage probabilities that are close to the nominal 95% level.
Multi-stage feature decorrelation constraints for improving CNN classification performance
Venue: arXiv cs.CV 2023
Year: 2023

For the convolutional neural network (CNN) used for pattern classification, the training loss function is usually applied to the final output of the network, except for some regularization constraints on the network parameters. However, with the increasing of the number of network layers, the influence of the loss function on the network front layers gradually decreases, and the network parameters tend to fall into local optimization. At the same time, it is found that the trained network has significant information redundancy at all stages of features, which reduces the effectiveness of feature mapping at all stages and is not conducive to the change of the subsequent parameters of the network in the direction of optimality. Therefore, it is possible to obtain a more optimized solution of the network and further improve the classification accuracy of the network by designing a loss function for restraining the front stage features and eliminating the information redundancy of the front stage features .For CNN, this article proposes a multi-stage feature decorrelation loss (MFD Loss), which refines effective features and eliminates information redundancy by constraining the correlation of features at all stages. Considering that there are many layers in CNN, through experimental comparison and analysis, MFD Loss acts on multiple front layers of CNN, constrains the output features of each layer and each channel, and performs supervision training jointly with classification loss function during network training. Compared with the single Softmax Loss supervised learning, the experiments on several commonly used datasets on several typical CNNs prove that the classification performance of Softmax Loss+MFD Loss is significantly better. Meanwhile, the comparison experiments before and after the combination of MFD Loss and some other typical loss functions verify its good universality.
Can Linguistic Knowledge Improve Multimodal Alignment in Vision-Language Pretraining?
Venue: arXiv cs.MM 2023
Year: 2023

The multimedia community has shown a significant interest in perceiving and representing the physical world with multimodal pretrained neural network models, and among them, the visual-language pertaining (VLP) is, currently, the most captivating topic. However, there have been few endeavors dedicated to the exploration of 1) whether essential linguistic knowledge (e.g., semantics and syntax) can be extracted during VLP, and 2) how such linguistic knowledge impact or enhance the multimodal alignment. In response, here we aim to elucidate the impact of comprehensive linguistic knowledge, including semantic expression and syntactic structure, on multimodal alignment. Specifically, we design and release the SNARE, the first large-scale multimodal alignment probing benchmark, to detect the vital linguistic components, e.g., lexical, semantic, and syntax knowledge, containing four tasks: Semantic structure, Negation logic, Attribute ownership, and Relationship composition. Based on our proposed probing benchmarks, our holistic analyses of five advanced VLP models illustrate that the VLP model: i) shows insensitivity towards complex syntax structures and relies on content words for sentence comprehension; ii) demonstrates limited comprehension of combinations between sentences and negations; iii) faces challenges in determining the presence of actions or spatial relationships within visual information and struggles with verifying the correctness of triple combinations. We make our benchmark and code available at \url{https://github.com/WangFei-2019/SNARE/}.
3D Pose Nowcasting: Forecast the Future to Improve the Present
Venue: arXiv cs.CV 2023
Year: 2023

Technologies to enable safe and effective collaboration and coexistence between humans and robots have gained significant importance in the last few years. A critical component useful for realizing this collaborative paradigm is the understanding of human and robot 3D poses using non-invasive systems. Therefore, in this paper, we propose a novel vision-based system leveraging depth data to accurately establish the 3D locations of skeleton joints. Specifically, we introduce the concept of Pose Nowcasting, denoting the capability of the proposed system to enhance its current pose estimation accuracy by jointly learning to forecast future poses. The experimental evaluation is conducted on two different datasets, providing accurate and real-time performance and confirming the validity of the proposed method on both the robotic and human scenarios.
Diagnosing Infeasible Optimization Problems Using Large Language Models
Venue: arXiv cs.HC 2023
Year: 2023

Decision-making problems can be represented as mathematical optimization models, finding wide applications in fields such as economics, engineering and manufacturing, transportation, and health care. Optimization models are mathematical abstractions of the problem of making the best decision while satisfying a set of requirements or constraints. One of the primary barriers to deploying these models in practice is the challenge of helping practitioners understand and interpret such models, particularly when they are infeasible, meaning no decision satisfies all the constraints. Existing methods for diagnosing infeasible optimization models often rely on expert systems, necessitating significant background knowledge in optimization. In this paper, we introduce OptiChat, a first-of-its-kind natural language-based system equipped with a chatbot GUI for engaging in interactive conversations about infeasible optimization models. OptiChat can provide natural language descriptions of the optimization model itself, identify potential sources of infeasibility, and offer suggestions to make the model feasible. The implementation of OptiChat is built on GPT-4, which interfaces with an optimization solver to identify the minimal subset of constraints that render the entire optimization problem infeasible, also known as the Irreducible Infeasible Subset (IIS). We utilize few-shot learning, expert chain-of-thought, key-retrieve, and sentiment prompts to enhance OptiChat's reliability. Our experiments demonstrate that OptiChat assists both expert and non-expert users in improving their understanding of the optimization models, enabling them to quickly identify the sources of infeasibility.