Large-scale applications of Visual Place Recognition (VPR) require computationally efficient approaches. Further, a well-balanced combination of data-based and training-free approaches can decrease the required amount of training data and effort and can reduce the influence of distribution shifts between the training and application phases. This paper proposes a runtime and data-efficient hierarchical VPR pipeline that extends existing approaches and presents novel ideas. There are three main contributions: First, we propose Local Positional Graphs (LPG), a training-free and runtime-efficient approach to encode spatial context information of local image features. LPG can be combined with existing local feature detectors and descriptors and considerably improves the image-matching quality compared to existing techniques in our experiments. Second, we present Attentive Local SPED (ATLAS), an extension of our previous local features approach with an attention module that improves the feature quality while maintaining high data efficiency. The influence of the proposed modifications is evaluated in an extensive ablation study. Third, we present a hierarchical pipeline that exploits hyperdimensional computing to use the same local features as holistic HDC-descriptors for fast candidate selection and for candidate reranking. We combine all contributions in a runtime and data-efficient VPR pipeline that shows benefits over the state-of-the-art method Patch-NetVLAD on a large collection of standard place recognition datasets with 15$\%$ better performance in VPR accuracy, 54$\times$ faster feature comparison speed, and 55$\times$ less descriptor storage occupancy, making our method promising for real-world high-performance large-scale VPR in changing environments. Code will be made available with publication of this paper.
相關內容
Logistic regression is widely used in many areas of knowledge. Several works compare the performance of lasso and maximum likelihood estimation in logistic regression. However, part of these works do not perform simulation studies and the remaining ones do not consider scenarios in which the ratio of the number of covariates to sample size is high. In this work, we compare the discrimination performance of lasso and maximum likelihood estimation in logistic regression using simulation studies and applications. Variable selection is done both by lasso and by stepwise when maximum likelihood estimation is used. We consider a wide range of values for the ratio of the number of covariates to sample size. The main conclusion of the work is that lasso has a better discrimination performance than maximum likelihood estimation when the ratio of the number of covariates to sample size is high.
Asymptotic analysis for covariance parameter estimation of Gaussian processes with functional inputs
We consider covariance parameter estimation for Gaussian processes with functional inputs. From an increasing-domain asymptotics perspective, we prove the asymptotic consistency and normality of the maximum likelihood estimator. We extend these theoretical guarantees to encompass scenarios accounting for approximation errors in the inputs, which allows robustness of practical implementations relying on conventional sampling methods or projections onto a functional basis. Loosely speaking, both consistency and normality hold when the approximation error becomes negligible, a condition that is often achieved as the number of samples or basis functions becomes large. These later asymptotic properties are illustrated through analytical examples, including one that covers the case of non-randomly perturbed grids, as well as several numerical illustrations.
The covXtreme software provides functionality for estimation of marginal and conditional extreme value models, non-stationary with respect to covariates, and environmental design contours. Generalised Pareto (GP) marginal models of peaks over threshold are estimated, using a piecewise-constant representation for the variation of GP threshold and scale parameters on the (potentially multidimensional) covariate domain of interest. The conditional variation of one or more associated variates, given a large value of a single conditioning variate, is described using the conditional extremes model of Heffernan and Tawn (2004), the slope term of which is also assumed to vary in a piecewise constant manner with covariates. Optimal smoothness of marginal and conditional extreme value model parameters with respect to covariates is estimated using cross-validated roughness-penalised maximum likelihood estimation. Uncertainties in model parameter estimates due to marginal and conditional extreme value threshold choice, and sample size, are quantified using a bootstrap resampling scheme. Estimates of environmental contours using various schemes, including the direct sampling approach of Huseby et al. 2013, are calculated by simulation or numerical integration under fitted models. The software was developed in MATLAB for metocean applications, but is applicable generally to multivariate samples of peaks over threshold. The software and case study data can be downloaded from GitHub, with an accompanying user guide.
To efficiently tackle parametrized multi and/or large scale problems, we propose an adaptive localized model order reduction framework combining both local offline training and local online enrichment with localized error control. For the latter, we adapt the residual localization strategy introduced in [Buhr, Engwer, Ohlberger, Rave, SIAM J. Sci. Comput., 2017] which allows to derive a localized a posteriori error estimator that can be employed to adaptively enrich the reduced solution space locally where needed. Numerical experiments demonstrate the potential of the proposed approach.
Calls to make scientific research more open have gained traction with a range of societal stakeholders. Open Science practices include but are not limited to the early sharing of results via preprints and openly sharing outputs such as data and code to make research more reproducible and extensible. Existing evidence shows that adopting Open Science practices has effects in several domains. In this study, we investigate whether adopting one or more Open Science practices leads to significantly higher citations for an associated publication, which is one form of academic impact. We use a novel dataset known as Open Science Indicators, produced by PLOS and DataSeer, which includes all PLOS publications from 2018 to 2023 as well as a comparison group sampled from the PMC Open Access Subset. In total, we analyze circa 122'000 publications. We calculate publication and author-level citation indicators and use a broad set of control variables to isolate the effect of Open Science Indicators on received citations. We show that Open Science practices are adopted to different degrees across scientific disciplines. We find that the early release of a publication as a preprint correlates with a significant positive citation advantage of about 20.2% on average. We also find that sharing data in an online repository correlates with a smaller yet still positive citation advantage of 4.3% on average. However, we do not find a significant citation advantage for sharing code. Further research is needed on additional or alternative measures of impact beyond citations. Our results are likely to be of interest to researchers, as well as publishers, research funders, and policymakers.
Deep learning methods are increasingly becoming instrumental as modeling tools in computational neuroscience, employing optimality principles to build bridges between neural responses and perception or behavior. Developing models that adequately represent uncertainty is however challenging for deep learning methods, which often suffer from calibration problems. This constitutes a difficulty in particular when modeling cortical circuits in terms of Bayesian inference, beyond single point estimates such as the posterior mean or the maximum a posteriori. In this work we systematically studied uncertainty representations in latent representations of variational auto-encoders (VAEs), both in a perceptual task from natural images and in two other canonical tasks of computer vision, finding a poor alignment between uncertainty and informativeness or ambiguities in the images. We next showed how a novel approach which we call explaining-away variational auto-encoders (EA-VAEs), fixes these issues, producing meaningful reports of uncertainty in a variety of scenarios, including interpolation, image corruption, and even out-of-distribution detection. We show EA-VAEs may prove useful both as models of perception in computational neuroscience and as inference tools in computer vision.
Local-nonlocal coupling approaches combine the computational efficiency of local models and the accuracy of nonlocal models. However, the coupling process is challenging, requiring expertise to identify the interface between local and nonlocal regions. This study introduces a machine learning-based approach to automatically detect the regions in which the local and nonlocal models should be used in a coupling approach. This identification process uses the loading functions and provides as output the selected model at the grid points. Training is based on datasets of loading functions for which reference coupling configurations are computed using accurate coupled solutions, where accuracy is measured in terms of the relative error between the solution to the coupling approach and the solution to the nonlocal model. We study two approaches that differ from one another in terms of the data structure. The first approach, referred to as the full-domain input data approach, inputs the full load vector and outputs a full label vector. In this case, the classification process is carried out globally. The second approach consists of a window-based approach, where loads are preprocessed and partitioned into windows and the problem is formulated as a node-wise classification approach in which the central point of each window is treated individually. The classification problems are solved via deep learning algorithms based on convolutional neural networks. The performance of these approaches is studied on one-dimensional numerical examples using F1-scores and accuracy metrics. In particular, it is shown that the windowing approach provides promising results, achieving an accuracy of 0.96 and an F1-score of 0.97. These results underscore the potential of the approach to automate coupling processes, leading to more accurate and computationally efficient solutions for material science applications.
Most state-of-the-art machine learning techniques revolve around the optimisation of loss functions. Defining appropriate loss functions is therefore critical to successfully solving problems in this field. We present a survey of the most commonly used loss functions for a wide range of different applications, divided into classification, regression, ranking, sample generation and energy based modelling. Overall, we introduce 33 different loss functions and we organise them into an intuitive taxonomy. Each loss function is given a theoretical backing and we describe where it is best used. This survey aims to provide a reference of the most essential loss functions for both beginner and advanced machine learning practitioners.
In large-scale systems there are fundamental challenges when centralised techniques are used for task allocation. The number of interactions is limited by resource constraints such as on computation, storage, and network communication. We can increase scalability by implementing the system as a distributed task-allocation system, sharing tasks across many agents. However, this also increases the resource cost of communications and synchronisation, and is difficult to scale. In this paper we present four algorithms to solve these problems. The combination of these algorithms enable each agent to improve their task allocation strategy through reinforcement learning, while changing how much they explore the system in response to how optimal they believe their current strategy is, given their past experience. We focus on distributed agent systems where the agents' behaviours are constrained by resource usage limits, limiting agents to local rather than system-wide knowledge. We evaluate these algorithms in a simulated environment where agents are given a task composed of multiple subtasks that must be allocated to other agents with differing capabilities, to then carry out those tasks. We also simulate real-life system effects such as networking instability. Our solution is shown to solve the task allocation problem to 6.7% of the theoretical optimal within the system configurations considered. It provides 5x better performance recovery over no-knowledge retention approaches when system connectivity is impacted, and is tested against systems up to 100 agents with less than a 9% impact on the algorithms' performance.
We present ResMLP, an architecture built entirely upon multi-layer perceptrons for image classification. It is a simple residual network that alternates (i) a linear layer in which image patches interact, independently and identically across channels, and (ii) a two-layer feed-forward network in which channels interact independently per patch. When trained with a modern training strategy using heavy data-augmentation and optionally distillation, it attains surprisingly good accuracy/complexity trade-offs on ImageNet. We will share our code based on the Timm library and pre-trained models.
小貼士
登錄享
相關主題
注冊地址： 北京市海淀區羊坊店路18號2幢3層301-191