Event cameras are bio-inspired sensors that perform well in challenging illumination conditions and have high temporal resolution. However, their concept is fundamentally different from traditional frame-based cameras. The pixels of an event camera operate independently and asynchronously. They measure changes of the logarithmic brightness and return them in the highly discretised form of time-stamped events indicating a relative change of a certain quantity since the last event. New models and algorithms are needed to process this kind of measurements. The present work looks at several motion estimation problems with event cameras. The flow of the events is modelled by a general homographic warping in a space-time volume, and the objective is formulated as a maximisation of contrast within the image of warped events. Our core contribution consists of deriving globally optimal solutions to these generally non-convex problems, which removes the dependency on a good initial guess plaguing existing methods. Our methods rely on branch-and-bound optimisation and employ novel and efficient, recursive upper and lower bounds derived for six different contrast estimation functions. The practical validity of our approach is demonstrated by a successful application to three different event camera motion estimation problems.
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We propose a framework for speeding up maximum flow computation by using predictions. A prediction is a flow, i.e., an assignment of non-negative flow values to edges, which satisfies the flow conservation property, but does not necessarily respect the edge capacities of the actual instance (since these were unknown at the time of learning). We present an algorithm that, given an $m$-edge flow network and a predicted flow, computes a maximum flow in $O(m\eta)$ time, where $\eta$ is the $\ell_1$ error of the prediction, i.e., the sum over the edges of the absolute difference between the predicted and optimal flow values. Moreover, we prove that, given an oracle access to a distribution over flow networks, it is possible to efficiently PAC-learn a prediction minimizing the expected $\ell_1$ error over that distribution. Our results fit into the recent line of research on learning-augmented algorithms, which aims to improve over worst-case bounds of classical algorithms by using predictions, e.g., machine-learned from previous similar instances. So far, the main focus in this area was on improving competitive ratios for online problems. Following Dinitz et al. (NeurIPS 2021), our results are one of the firsts to improve the running time of an offline problem.
Unit testing is one of the most established quality-assurance techniques for software development. One major advantage of unit testing is the adjustable trade-off between efficiency (i.e., testing effort) and effectiveness (i.e., fault-detection probability). To this end, various strategies have been proposed to exploit this trade-off. In particular, test-suite reduction (TSR) reduces the number of (presumably redundant) test cases while testing a single program version. Regression-test selection (RTS) selects test cases for testing consecutive program revisions. However, both TSR and RTS may influence -- or even obstruct -- each others' performance when used in combination. For instance, test cases discarded during TSR for a particular program version may become relevant again for RTS. However, finding a combination of both strategies leading to a reasonable trade-off throughout the version history of a program is an open question. The goal of this paper is to gain a better understanding of the interactions between TSR and RTS with respect to efficiency and effectiveness. To this end, we present a configurable framework called RegreTS for automated unit-testing of C programs. The framework comprises different strategies for TSR and RTS and possible combinations thereof. We apply this framework to a collection of subject systems, delivering several crucial insights. First, TSR has almost always a negative impact on the effectiveness of RTS, yet a positive impact on efficiency. Second, test cases revealing to testers the effect of program modifications between consecutive program versions are far more effective than test cases simply covering modified code parts, yet causing much more testing effort.
This paper investigates the collaboration of multiple connected and automated vehicles (CAVs) in different scenarios. In general, the collaboration of CAVs can be formulated as a nonlinear and nonconvex model predictive control (MPC) problem. Most of the existing approaches available for utilization to solve such an optimization problem suffer from the drawback of considerable computational burden, which hinders the practical implementation in real time. This paper proposes the use of sequential convex programming (SCP), which is a powerful approach to solving the nonlinear and nonconvex MPC problem in real time. To appropriately deploy the methodology, as a first stage, SCP requires linearization and discretization when addressing the nonlinear dynamics of the system model adequately. Based on the linearization and discretization, the original MPC problem can be transformed into a quadratically constrained quadratic programming (QCQP) problem. Besides, SCP also involves convexification to handle the associated nonconvex constraints. Thus, the nonconvex QCQP can be reduced to a quadratic programming (QP) problem that can be solved rather quickly. Therefore, the computational efficiency is suitably improved despite the existence of nonlinear and nonconvex characteristics, whereby the implementation is realized in real time. Furthermore, simulation results in three different scenarios of autonomous driving are presented to validate the effectiveness and efficiency of our proposed approach.
We study \textit{rescaled gradient dynamical systems} in a Hilbert space $\mathcal{H}$, where implicit discretization in a finite-dimensional Euclidean space leads to high-order methods for solving monotone equations (MEs). Our framework can be interpreted as a natural generalization of celebrated dual extrapolation method~\citep{Nesterov-2007-Dual} from first order to high order via appeal to the regularization toolbox of optimization theory~\citep{Nesterov-2021-Implementable, Nesterov-2021-Inexact}. More specifically, we establish the existence and uniqueness of a global solution and analyze the convergence properties of solution trajectories. We also present discrete-time counterparts of our high-order continuous-time methods, and we show that the $p^{th}$-order method achieves an ergodic rate of $O(k^{-(p+1)/2})$ in terms of a restricted merit function and a pointwise rate of $O(k^{-p/2})$ in terms of a residue function. Under regularity conditions, the restarted version of $p^{th}$-order methods achieves local convergence with the order $p \geq 2$. Notably, our methods are \textit{optimal} since they have matched the lower bound established for solving the monotone equation problems under a standard linear span assumption~\citep{Lin-2022-Perseus}.
Clustering has received much attention in Statistics and Machine learning with the aim of developing statistical models and autonomous algorithms which are capable of acquiring information from raw data in order to perform exploratory analysis.Several techniques have been developed to cluster sampled univariate vectors only considering the average value over the whole period and as such they have not been able to explore fully the underlying distribution as well as other features of the data, especially in presence of structured time series. We propose a model-based clustering technique that is based on quantile regression permitting us to cluster bivariate time series at different quantile levels. We model the within cluster density using asymmetric Laplace distribution allowing us to take into account asymmetry in the distribution of the data. We evaluate the performance of the proposed technique through a simulation study. The method is then applied to cluster time series observed from Glob-colour satellite data related to trophic status indices with aim of evaluating their temporal dynamics in order to identify homogeneous areas, in terms of trophic status, in the Gulf of Gabes.
By moving to millimeter wave (mmWave) frequencies, base stations (BSs) will be densely deployed to provide seamless coverage in sixth generation (6G) mobile communication systems, which, unfortunately, leads to severe cell-edge problem. In addition, with massive multiple-input-multiple-output (MIMO) antenna arrays employed at BSs, the beamspace channel is sparse for each user, and thus there is no need to serve all the users in a cell by all the beams therein jointly. Therefore, it is of paramount importance to develop a flexible clustered cell-free networking scheme that can decompose the whole network into a number of weakly interfered small subnetworks operating independently and in parallel. Given a per-user rate constraint for service quality guarantee, this paper aims to maximize the number of decomposed subnetworks so as to reduce the signaling overhead and system complexity as much as possible. By formulating it as a bipartite graph partitioning problem, a rate-constrained network decomposition (RC-NetDecomp) algorithm is proposed, which can smoothly tune the network structure from the current cellular network with simple beam allocation to a fully cooperative network by increasing the required per-user rate. Simulation results demonstrate that the proposed RC-NetDecomp algorithm outperforms existing baselines in terms of average per-user rate, fairness among users and energy efficiency.
Event cameras are novel bio-inspired sensors that measure per-pixel brightness differences asynchronously. Recovering brightness from events is appealing since the reconstructed images inherit the high dynamic range (HDR) and high-speed properties of events; hence they can be used in many robotic vision applications and to generate slow-motion HDR videos. However, state-of-the-art methods tackle this problem by training an event-to-image recurrent neural network (RNN), which lacks explainability and is difficult to tune. In this work we show, for the first time, how tackling the joint problem of motion and brightness estimation leads us to formulate event-based image reconstruction as a linear inverse problem that can be solved without training an image reconstruction RNN. Instead, classical and learning-based image priors can be used to solve the problem and remove artifacts from the reconstructed images. The experiments show that the proposed approach generates images with visual quality on par with state-of-the-art methods despite only using data from a short time interval. The proposed linear formulation and solvers have a unifying character because they can be applied also to reconstruct brightness from the second derivative. Additionally, the linear formulation is attractive because it can be naturally combined with super-resolution, motion-segmentation and color demosaicing.
A data-driven model augmentation framework, referred to as Weakly-coupled Integrated Inference and Machine Learning (IIML), is presented to improve the predictive accuracy of physical models. In contrast to parameter calibration, this work seeks corrections to the structure of the model by a) inferring augmentation fields that are consistent with the underlying model, and b) transforming these fields into corrective model forms. The proposed approach couples the inference and learning steps in a weak sense via an alternating optimization approach. This coupling ensures that the augmentation fields remain learnable and maintain consistent functional relationships with local modeled quantities across the training dataset. An iterative solution procedure is presented in this paper, removing the need to embed the augmentation function during the inference process. This framework is used to infer an augmentation introduced within a Polymer electrolyte membrane fuel cell (PEMFC) model using a small amount of training data (from only 14 training cases.) These training cases belong to a dataset consisting of high-fidelity simulation data obtained from a high-fidelity model of a first generation Toyota Mirai. All cases in this dataset are characterized by different inflow and outflow conditions on the same geometry. When tested on 1224 different configurations, the inferred augmentation significantly improves the predictive accuracy for a wide range of physical conditions. Predictions and available data for the current density distribution are also compared to demonstrate the predictive capability of the model for quantities of interest which were not involved in the inference process. The results demonstrate that the weakly-coupled IIML framework offers sophisticated and robust model augmentation capabilities without requiring extensive changes to the numerical solver.
With the rapid increase of large-scale, real-world datasets, it becomes critical to address the problem of long-tailed data distribution (i.e., a few classes account for most of the data, while most classes are under-represented). Existing solutions typically adopt class re-balancing strategies such as re-sampling and re-weighting based on the number of observations for each class. In this work, we argue that as the number of samples increases, the additional benefit of a newly added data point will diminish. We introduce a novel theoretical framework to measure data overlap by associating with each sample a small neighboring region rather than a single point. The effective number of samples is defined as the volume of samples and can be calculated by a simple formula $(1-\beta^{n})/(1-\beta)$, where $n$ is the number of samples and $\beta \in [0,1)$ is a hyperparameter. We design a re-weighting scheme that uses the effective number of samples for each class to re-balance the loss, thereby yielding a class-balanced loss. Comprehensive experiments are conducted on artificially induced long-tailed CIFAR datasets and large-scale datasets including ImageNet and iNaturalist. Our results show that when trained with the proposed class-balanced loss, the network is able to achieve significant performance gains on long-tailed datasets.
Image segmentation is still an open problem especially when intensities of the interested objects are overlapped due to the presence of intensity inhomogeneity (also known as bias field). To segment images with intensity inhomogeneities, a bias correction embedded level set model is proposed where Inhomogeneities are Estimated by Orthogonal Primary Functions (IEOPF). In the proposed model, the smoothly varying bias is estimated by a linear combination of a given set of orthogonal primary functions. An inhomogeneous intensity clustering energy is then defined and membership functions of the clusters described by the level set function are introduced to rewrite the energy as a data term of the proposed model. Similar to popular level set methods, a regularization term and an arc length term are also included to regularize and smooth the level set function, respectively. The proposed model is then extended to multichannel and multiphase patterns to segment colourful images and images with multiple objects, respectively. It has been extensively tested on both synthetic and real images that are widely used in the literature and public BrainWeb and IBSR datasets. Experimental results and comparison with state-of-the-art methods demonstrate that advantages of the proposed model in terms of bias correction and segmentation accuracy.
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