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Visual SLAM with thermal imagery, and other low contrast visually degraded environments such as underwater, or in areas dominated by snow and ice, remain a difficult problem for many state of the art (SOTA) algorithms. In addition to challenging front-end data association, thermal imagery presents an additional difficulty for long term relocalization and map reuse. The relative temperatures of objects in thermal imagery change dramatically from day to night. Feature descriptors typically used for relocalization in SLAM are unable to maintain consistency over these diurnal changes. We show that learned feature descriptors can be used within existing Bag of Word based localization schemes to dramatically improve place recognition across large temporal gaps in thermal imagery. In order to demonstrate the effectiveness of our trained vocabulary, we have developed a baseline SLAM system, integrating learned features and matching into a classical SLAM algorithm. Our system demonstrates good local tracking on challenging thermal imagery, and relocalization that overcomes dramatic day to night thermal appearance changes. Our code and datasets are available here: //github.com/neufieldrobotics/IRSLAM_Baseline

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即時(shi)定位與地(di)圖構建(SLAM或Simultaneouslocalizationandmapping)是這(zhe)樣一種(zhong)技術:使得(de)機器人和(he)自(zi)動駕(jia)駛(shi)汽車等(deng)設備(bei)能(neng)(neng)在(zai)(zai)未知環境(jing)(沒有(you)先驗知識的(de)前提(ti)下)建立地(di)圖,或者在(zai)(zai)已(yi)知環境(jing)(已(yi)給(gei)出該地(di)圖的(de)先驗知識)中能(neng)(neng)更新地(di)圖,并保(bao)證這(zhe)些設備(bei)能(neng)(neng)在(zai)(zai)同時(shi)追(zhui)蹤它們的(de)當前位置。

Achieving aesthetically pleasing photography necessitates attention to multiple factors, including composition and capture conditions, which pose challenges to novices. Prior research has explored the enhancement of photo aesthetics post-capture through 2D manipulation techniques; however, these approaches offer limited search space for aesthetics. We introduce a pioneering method that employs 3D operations to simulate the conditions at the moment of capture retrospectively. Our approach extrapolates the input image and then reconstructs the 3D scene from the extrapolated image, followed by an optimization to identify camera parameters and image aspect ratios that yield the best 3D view with enhanced aesthetics. Comparative qualitative and quantitative assessments reveal that our method surpasses traditional 2D editing techniques with superior aesthetics.

The generative modeling of data on manifold is an important task, for which diffusion models in flat spaces typically need nontrivial adaptations. This article demonstrates how a technique called `trivialization' can transfer the effectiveness of diffusion models in Euclidean spaces to Lie groups. In particular, an auxiliary momentum variable was algorithmically introduced to help transport the position variable between data distribution and a fixed, easy-to-sample distribution. Normally, this would incur further difficulty for manifold data because momentum lives in a space that changes with the position. However, our trivialization technique creates to a new momentum variable that stays in a simple $\textbf{fixed vector space}$. This design, together with a manifold preserving integrator, simplifies implementation and avoids inaccuracies created by approximations such as projections to tangent space and manifold, which were typically used in prior work, hence facilitating generation with high-fidelity and efficiency. The resulting method achieves state-of-the-art performance on protein and RNA torsion angle generation and sophisticated torus datasets. We also, arguably for the first time, tackle the generation of data on high-dimensional Special Orthogonal and Unitary groups, the latter essential for quantum problems.

This work introduces composed image retrieval to remote sensing. It allows to query a large image archive by image examples alternated by a textual description, enriching the descriptive power over unimodal queries, either visual or textual. Various attributes can be modified by the textual part, such as shape, color, or context. A novel method fusing image-to-image and text-to-image similarity is introduced. We demonstrate that a vision-language model possesses sufficient descriptive power and no further learning step or training data are necessary. We present a new evaluation benchmark focused on color, context, density, existence, quantity, and shape modifications. Our work not only sets the state-of-the-art for this task, but also serves as a foundational step in addressing a gap in the field of remote sensing image retrieval. Code at: //github.com/billpsomas/rscir

In spiking neural networks, neuron dynamics are described by the biologically realistic integrate-and-fire model that captures membrane potential accumulation and above-threshold firing behaviors. Among the hardware implementations of integrate-and-fire neuron devices, one important feature, reset, has been largely ignored. Here, we present the design and fabrication of a magnetic domain wall and magnetic tunnel junction based artificial integrate-and-fire neuron device that achieves reliable reset at the end of the integrate-fire cycle. We demonstrate the domain propagation in the domain wall racetrack (integration), reading using a magnetic tunnel junction (fire), and reset as the domain is ejected from the racetrack, showing the artificial neuron can be operated continuously over 100 integrate-fire-reset cycles. Both pulse amplitude and pulse number encoding is demonstrated. The device data is applied on an image classification task using a spiking neural network and shown to have comparable performance to an ideal leaky, integrate-and-fire neural network. These results achieve the first demonstration of reliable integrate-fire-reset in domain wall-magnetic tunnel junction-based neuron devices and shows the promise of spintronics for neuromorphic computing.

We identify morphisms of strong profunctors as a categorification of quantum supermaps. These black-box generalisations of diagrams-with-holes are hence placed within the broader field of profunctor optics, as morphisms in the category of copresheaves on concrete networks. This enables the first construction of abstract logical connectives such as tensor products and negations for supermaps in a totally theory-independent setting. These logical connectives are found to be all that is needed to abstractly model the key structural features of the quantum theory of supermaps: black-box indefinite causal order, black-box definite causal order, and the factorisation of definitely causally ordered supermaps into concrete circuit diagrams. We demonstrate that at the heart of these factorisation theorems lies the Yoneda lemma and the notion of representability.

The success of artificial intelligence (AI), and deep learning models in particular, has led to their widespread adoption across various industries due to their ability to process huge amounts of data and learn complex patterns. However, due to their lack of explainability, there are significant concerns regarding their use in critical sectors, such as finance and healthcare, where decision-making transparency is of paramount importance. In this paper, we provide a comparative survey of methods that aim to improve the explainability of deep learning models within the context of finance. We categorize the collection of explainable AI methods according to their corresponding characteristics, and we review the concerns and challenges of adopting explainable AI methods, together with future directions we deemed appropriate and important.

Humans perceive the world by concurrently processing and fusing high-dimensional inputs from multiple modalities such as vision and audio. Machine perception models, in stark contrast, are typically modality-specific and optimised for unimodal benchmarks, and hence late-stage fusion of final representations or predictions from each modality (`late-fusion') is still a dominant paradigm for multimodal video classification. Instead, we introduce a novel transformer based architecture that uses `fusion bottlenecks' for modality fusion at multiple layers. Compared to traditional pairwise self-attention, our model forces information between different modalities to pass through a small number of bottleneck latents, requiring the model to collate and condense the most relevant information in each modality and only share what is necessary. We find that such a strategy improves fusion performance, at the same time reducing computational cost. We conduct thorough ablation studies, and achieve state-of-the-art results on multiple audio-visual classification benchmarks including Audioset, Epic-Kitchens and VGGSound. All code and models will be released.

Recent advances in maximizing mutual information (MI) between the source and target have demonstrated its effectiveness in text generation. However, previous works paid little attention to modeling the backward network of MI (i.e., dependency from the target to the source), which is crucial to the tightness of the variational information maximization lower bound. In this paper, we propose Adversarial Mutual Information (AMI): a text generation framework which is formed as a novel saddle point (min-max) optimization aiming to identify joint interactions between the source and target. Within this framework, the forward and backward networks are able to iteratively promote or demote each other's generated instances by comparing the real and synthetic data distributions. We also develop a latent noise sampling strategy that leverages random variations at the high-level semantic space to enhance the long term dependency in the generation process. Extensive experiments based on different text generation tasks demonstrate that the proposed AMI framework can significantly outperform several strong baselines, and we also show that AMI has potential to lead to a tighter lower bound of maximum mutual information for the variational information maximization problem.

Knowledge graph (KG) embedding encodes the entities and relations from a KG into low-dimensional vector spaces to support various applications such as KG completion, question answering, and recommender systems. In real world, knowledge graphs (KGs) are dynamic and evolve over time with addition or deletion of triples. However, most existing models focus on embedding static KGs while neglecting dynamics. To adapt to the changes in a KG, these models need to be re-trained on the whole KG with a high time cost. In this paper, to tackle the aforementioned problem, we propose a new context-aware Dynamic Knowledge Graph Embedding (DKGE) method which supports the embedding learning in an online fashion. DKGE introduces two different representations (i.e., knowledge embedding and contextual element embedding) for each entity and each relation, in the joint modeling of entities and relations as well as their contexts, by employing two attentive graph convolutional networks, a gate strategy, and translation operations. This effectively helps limit the impacts of a KG update in certain regions, not in the entire graph, so that DKGE can rapidly acquire the updated KG embedding by a proposed online learning algorithm. Furthermore, DKGE can also learn KG embedding from scratch. Experiments on the tasks of link prediction and question answering in a dynamic environment demonstrate the effectiveness and efficiency of DKGE.

Image-to-image translation aims to learn the mapping between two visual domains. There are two main challenges for many applications: 1) the lack of aligned training pairs and 2) multiple possible outputs from a single input image. In this work, we present an approach based on disentangled representation for producing diverse outputs without paired training images. To achieve diversity, we propose to embed images onto two spaces: a domain-invariant content space capturing shared information across domains and a domain-specific attribute space. Our model takes the encoded content features extracted from a given input and the attribute vectors sampled from the attribute space to produce diverse outputs at test time. To handle unpaired training data, we introduce a novel cross-cycle consistency loss based on disentangled representations. Qualitative results show that our model can generate diverse and realistic images on a wide range of tasks without paired training data. For quantitative comparisons, we measure realism with user study and diversity with a perceptual distance metric. We apply the proposed model to domain adaptation and show competitive performance when compared to the state-of-the-art on the MNIST-M and the LineMod datasets.

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