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New 3+1D high-resolution radar sensors are gaining importance for 3D object detection in the automotive domain due to their relative affordability and improved detection compared to classic low-resolution radar sensors. One limitation of high-resolution radar sensors, compared to lidar sensors, is the sparsity of the generated point cloud. This sparsity could be partially overcome by accumulating radar point clouds of subsequent time steps. This contribution analyzes limitations of accumulating radar point clouds on the View-of-Delft dataset. By employing different ego-motion estimation approaches, the dataset's inherent constraints, and possible solutions are analyzed. Additionally, a learning-based instance motion estimation approach is deployed to investigate the influence of dynamic motion on the accumulated point cloud for object detection. Experiments document an improved object detection performance by applying an ego-motion estimation and dynamic motion correction approach.

Pose-free neural radiance fields (NeRF) aim to train NeRF with unposed multi-view images and it has achieved very impressive success in recent years. Most existing works share the pipeline of training a coarse pose estimator with rendered images at first, followed by a joint optimization of estimated poses and neural radiance field. However, as the pose estimator is trained with only rendered images, the pose estimation is usually biased or inaccurate for real images due to the domain gap between real images and rendered images, leading to poor robustness for the pose estimation of real images and further local minima in joint optimization. We design IR-NeRF, an innovative pose-free NeRF that introduces implicit pose regularization to refine pose estimator with unposed real images and improve the robustness of the pose estimation for real images. With a collection of 2D images of a specific scene, IR-NeRF constructs a scene codebook that stores scene features and captures the scene-specific pose distribution implicitly as priors. Thus, the robustness of pose estimation can be promoted with the scene priors according to the rationale that a 2D real image can be well reconstructed from the scene codebook only when its estimated pose lies within the pose distribution. Extensive experiments show that IR-NeRF achieves superior novel view synthesis and outperforms the state-of-the-art consistently across multiple synthetic and real datasets.

The goal of spatial-temporal action detection is to determine the time and place where each person's action occurs in a video and classify the corresponding action category. Most of the existing methods adopt fully-supervised learning, which requires a large amount of training data, making it very difficult to achieve zero-shot learning. In this paper, we propose to utilize a pre-trained visual-language model to extract the representative image and text features, and model the relationship between these features through different interaction modules to obtain the interaction feature. In addition, we use this feature to prompt each label to obtain more appropriate text features. Finally, we calculate the similarity between the interaction feature and the text feature for each label to determine the action category. Our experiments on J-HMDB and UCF101-24 datasets demonstrate that the proposed interaction module and prompting make the visual-language features better aligned, thus achieving excellent accuracy for zero-shot spatio-temporal action detection. The code will be available at //github.com/webber2933/iCLIP.

Channel charting is an emerging self-supervised method that maps channel state information (CSI) to a low-dimensional latent space, which represents pseudo-positions of user equipments (UEs). While this latent space preserves local geometry, i.e., nearby UEs are nearby in latent space, the pseudo-positions are in arbitrary coordinates and global geometry is not preserved. In order to enable channel charting in real-world coordinates, we propose a novel bilateration loss for multipoint wireless systems in which only the access point (AP) locations are known--no geometrical models or ground-truth UE position information is required. The idea behind this bilateration loss is to compare the received power at pairs of APs in order to determine whether a UE should be placed closer to one AP or the other in latent space. We demonstrate the efficacy of our method using channel vectors from a commercial ray-tracer.

In autonomous driving, the end-to-end (E2E) driving approach that predicts vehicle control signals directly from sensor data is rapidly gaining attention. To learn a safe E2E driving system, one needs an extensive amount of driving data and human intervention. Vehicle control data is constructed by many hours of human driving, and it is challenging to construct large vehicle control datasets. Often, publicly available driving datasets are collected with limited driving scenes, and collecting vehicle control data is only available by vehicle manufacturers. To address these challenges, this paper proposes the first self-supervised learning framework, self-supervised imitation learning (SSIL), that can learn E2E driving networks without using driving command data. To construct pseudo steering angle data, proposed SSIL predicts a pseudo target from the vehicle's poses at the current and previous time points that are estimated with light detection and ranging sensors. Our numerical experiments demonstrate that the proposed SSIL framework achieves comparable E2E driving accuracy with the supervised learning counterpart. In addition, our qualitative analyses using a conventional visual explanation tool show that trained NNs by proposed SSIL and the supervision counterpart attend similar objects in making predictions.

Validating the safety of Autonomous Vehicles (AVs) operating in open-ended, dynamic environments is challenging as vehicles will eventually encounter safety-critical situations for which there is not representative training data. By increasing the coverage of different road and traffic conditions and by including corner cases in simulation-based scenario testing, the safety of AVs can be improved. However, the creation of corner case scenarios including multiple agents is non-trivial. Our approach allows engineers to generate novel, realistic corner cases based on historic traffic data and to explain why situations were safety-critical. In this paper, we introduce Probabilistic Lane Graphs (PLGs) to describe a finite set of lane positions and directions in which vehicles might travel. The structure of PLGs is learnt directly from spatio-temporal traffic data. The graph model represents the actions of the drivers in response to a given state in the form of a probabilistic policy. We use reinforcement learning techniques to modify this policy and to generate realistic and explainable corner case scenarios which can be used for assessing the safety of AVs.

Reasonably and effectively monitoring arrhythmias through ECG signals has significant implications for human health. With the development of deep learning, numerous ECG classification algorithms based on deep learning have emerged. However, most existing algorithms trade off high accuracy for complex models, resulting in high storage usage and power consumption. This also inevitably increases the difficulty of implementation on wearable Artificial Intelligence-of-Things (AIoT) devices with limited resources. In this study, we proposed a universally applicable ultra-lightweight binary neural network(BNN) that is capable of 5-class and 17-class arrhythmia classification based on ECG signals. Our BNN achieves 96.90% (full precision 97.09%) and 97.50% (full precision 98.00%) accuracy for 5-class and 17-class classification, respectively, with state-of-the-art storage usage (3.76 KB and 4.45 KB). Compared to other binarization works, our approach excels in supporting two multi-classification modes while achieving the smallest known storage space. Moreover, our model achieves optimal accuracy in 17-class classification and boasts an elegantly simple network architecture. The algorithm we use is optimized specifically for hardware implementation. Our research showcases the potential of lightweight deep learning models in the healthcare industry, specifically in wearable medical devices, which hold great promise for improving patient outcomes and quality of life. Code is available on: //github.com/xpww/ECG_BNN_Net

Despite the recent success of Graph Neural Networks (GNNs), it remains challenging to train GNNs on large-scale graphs due to neighbor explosions. As a remedy, distributed computing becomes a promising solution by leveraging abundant computing resources (e.g., GPU). However, the node dependency of graph data increases the difficulty of achieving high concurrency in distributed GNN training, which suffers from the massive communication overhead. To address it, Historical value approximation is deemed a promising class of distributed training techniques. It utilizes an offline memory to cache historical information (e.g., node embedding) as an affordable approximation of the exact value and achieves high concurrency. However, such benefits come at the cost of involving dated training information, leading to staleness, imprecision, and convergence issues. To overcome these challenges, this paper proposes SAT (Staleness-Alleviated Training), a novel and scalable distributed GNN training framework that reduces the embedding staleness adaptively. The key idea of SAT is to model the GNN's embedding evolution as a temporal graph and build a model upon it to predict future embedding, which effectively alleviates the staleness of the cached historical embedding. We propose an online algorithm to train the embedding predictor and the distributed GNN alternatively and further provide a convergence analysis. Empirically, we demonstrate that SAT can effectively reduce embedding staleness and thus achieve better performance and convergence speed on multiple large-scale graph datasets.

With the increasing popularity and accessibility of high dynamic range (HDR) photography, tone mapping operators (TMOs) for dynamic range compression are practically demanding. In this paper, we develop a two-stage neural network-based TMO that is self-calibrated and perceptually optimized. In Stage one, motivated by the physiology of the early stages of the human visual system, we first decompose an HDR image into a normalized Laplacian pyramid. We then use two lightweight deep neural networks (DNNs), taking the normalized representation as input and estimating the Laplacian pyramid of the corresponding LDR image. We optimize the tone mapping network by minimizing the normalized Laplacian pyramid distance (NLPD), a perceptual metric aligning with human judgments of tone-mapped image quality. In Stage two, the input HDR image is self-calibrated to compute the final LDR image. We feed the same HDR image but rescaled with different maximum luminances to the learned tone mapping network, and generate a pseudo-multi-exposure image stack with different detail visibility and color saturation. We then train another lightweight DNN to fuse the LDR image stack into a desired LDR image by maximizing a variant of the structural similarity index for multi-exposure image fusion (MEF-SSIM), which has been proven perceptually relevant to fused image quality. The proposed self-calibration mechanism through MEF enables our TMO to accept uncalibrated HDR images, while being physiology-driven. Extensive experiments show that our method produces images with consistently better visual quality. Additionally, since our method builds upon three lightweight DNNs, it is among the fastest local TMOs.

Graph Convolutional Network (GCN) has been widely applied in transportation demand prediction due to its excellent ability to capture non-Euclidean spatial dependence among station-level or regional transportation demands. However, in most of the existing research, the graph convolution was implemented on a heuristically generated adjacency matrix, which could neither reflect the real spatial relationships of stations accurately, nor capture the multi-level spatial dependence of demands adaptively. To cope with the above problems, this paper provides a novel graph convolutional network for transportation demand prediction. Firstly, a novel graph convolution architecture is proposed, which has different adjacency matrices in different layers and all the adjacency matrices are self-learned during the training process. Secondly, a layer-wise coupling mechanism is provided, which associates the upper-level adjacency matrix with the lower-level one. It also reduces the scale of parameters in our model. Lastly, a unitary network is constructed to give the final prediction result by integrating the hidden spatial states with gated recurrent unit, which could capture the multi-level spatial dependence and temporal dynamics simultaneously. Experiments have been conducted on two real-world datasets, NYC Citi Bike and NYC Taxi, and the results demonstrate the superiority of our model over the state-of-the-art ones.