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Occupancy mapping is a fundamental component of robotic systems to reason about the unknown and known regions of the environment. This article presents an efficient occupancy mapping framework for high-resolution LiDAR sensors, termed D-Map. The framework introduces three main novelties to address the computational efficiency challenges of occupancy mapping. Firstly, we use a depth image to determine the occupancy state of regions instead of the traditional ray-casting method. Secondly, we introduce an efficient on-tree update strategy on a tree-based map structure. These two techniques avoid redundant visits to small cells, significantly reducing the number of cells to be updated. Thirdly, we remove known cells from the map at each update by leveraging the low false alarm rate of LiDAR sensors. This approach not only enhances our framework's update efficiency by reducing map size but also endows it with an interesting decremental property, which we have named D-Map. To support our design, we provide theoretical analyses of the accuracy of the depth image projection and time complexity of occupancy updates. Furthermore, we conduct extensive benchmark experiments on various LiDAR sensors in both public and private datasets. Our framework demonstrates superior efficiency in comparison with other state-of-the-art methods while maintaining comparable mapping accuracy and high memory efficiency. We demonstrate two real-world applications of D-Map for real-time occupancy mapping on a handle device and an aerial platform carrying a high-resolution LiDAR. In addition, we open-source the implementation of D-Map on GitHub to benefit society: github.com/hku-mars/D-Map.

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In real-world scenarios, although data entities may possess inherent relationships, the specific graph illustrating their connections might not be directly accessible. Latent graph inference addresses this issue by enabling Graph Neural Networks (GNNs) to operate on point cloud data, dynamically learning the necessary graph structure. These graphs are often derived from a latent embedding space, which can be modeled using Euclidean, hyperbolic, spherical, or product spaces. However, currently, there is no principled differentiable method for determining the optimal embedding space. In this work, we introduce the Attentional Multi-Embedding Selection (AMES) framework, a differentiable method for selecting the best embedding space for latent graph inference through backpropagation, considering a downstream task. Our framework consistently achieves comparable or superior results compared to previous methods for latent graph inference across five benchmark datasets. Importantly, our approach eliminates the need for conducting multiple experiments to identify the optimal embedding space. Furthermore, we explore interpretability techniques that track the gradient contributions of different latent graphs, shedding light on how our attention-based, fully differentiable approach learns to choose the appropriate latent space. In line with previous works, our experiments emphasize the advantages of hyperbolic spaces in enhancing performance. More importantly, our interpretability framework provides a general approach for quantitatively comparing embedding spaces across different tasks based on their contributions, a dimension that has been overlooked in previous literature on latent graph inference.

This article re-examines integrated sensing and communication (ISAC) systems operating in the near-field region of a large antenna array while exploiting a large bandwidth. We first reveal the fundamental characteristics of wideband sensing and communication (S&C) channels and highlight the key changes that occur during the transition from the far-field to the near-field region. Specifically, there are two fundamental changes in the near-field region: strong angular-delay correlation and element-specific Doppler frequencies. It is highlighted that the near-field effect can enable the wideband-like S&C functionalities in terms of signal multiplexing and range sensing due to the strong angular-delay correlation, thus allowing the trading of large antenna arrays for large bandwidths. Furthermore, it also introduces the wideband-unattainable functionalities in high mobility S&C scenarios by leveraging the element-specific Doppler frequencies. We then delineate certain paradigm shifts in thinking required to advance toward near-field wideband ISAC systems, with a particular emphasis on resource allocation, antenna array arrangement, and transceiver architecture. Lastly, some other promising directions are discussed.

The conservation of tropical forests is a current subject of social and ecological relevance due to their crucial role in the global ecosystem. Unfortunately, millions of hectares are deforested and degraded each year. Therefore, government or private initiatives are needed for monitoring tropical forests. In this sense, this work proposes a novel framework, which uses of distribution estimation algorithm (UMDA) to select spectral bands from Landsat-8 that yield a better representation of deforestation areas to guide a semantic segmentation architecture called DeepLabv3+. In performed experiments, it was possible to find several compositions that reach balanced accuracy superior to 90% in segment classification tasks. Furthermore, the best composition (651) found by UMDA algorithm fed the DeepLabv3+ architecture and surpassed in efficiency and effectiveness all compositions compared in this work.

Given a graph G and a query vertex q, the topic of community search (CS), aiming to retrieve a dense subgraph of G containing q, has gained much attention. Most existing works focus on undirected graphs which overlooks the rich information carried by the edge directions. Recently, the problem of community search over directed graphs (or CSD problem) has been studied; it finds a connected subgraph containing q, where the in-degree and out-degree of each vertex within the subgraph are at least k and l, respectively. However, existing solutions are inefficient, especially on large graphs. To tackle this issue, in this paper, we propose a novel index called D-Forest, which allows a CSD query to be completed within the optimal time cost. We further propose efficient index construction methods. Extensive experiments on six real large graphs show that our index-based query algorithm is up to two orders of magnitude faster than existing solutions.

Disaster Management is one of the most promising research areas because of its significant economic, environmental and social repercussions. This research focuses on analyzing different types of data (pre and post satellite images and twitter data) related to disaster management for in-depth analysis of location-wise emergency requirements. This research has been divided into two stages, namely, satellite image analysis and twitter data analysis followed by integration using location. The first stage involves pre and post disaster satellite image analysis of the location using multi-class land cover segmentation technique based on U-Net architecture. The second stage focuses on mapping the region with essential information about the disaster situation and immediate requirements for relief operations. The severely affected regions are demarcated and twitter data is extracted using keywords respective to that location. The extraction of situational information from a large corpus of raw tweets adopts Content Word based Tweet Summarization (COWTS) technique. An integration of these modules using real-time location-based mapping and frequency analysis technique gathers multi-dimensional information in the advent of disaster occurrence such as the Kerala and Mississippi floods that were analyzed and validated as test cases. The novelty of this research lies in the application of segmented satellite images for disaster relief using highlighted land cover changes and integration of twitter data by mapping these region-specific filters for obtaining a complete overview of the disaster.

Estimating a covariance matrix is central to high-dimensional data analysis. Empirical analyses of high-dimensional biomedical data, including genomics, proteomics, microbiome, and neuroimaging, among others, consistently reveal strong modularity in the dependence patterns. In these analyses, intercorrelated high-dimensional biomedical features often form communities or modules that can be interconnected with others. While the interconnected community structure has been extensively studied in biomedical research (e.g., gene co-expression networks), its potential to assist in the estimation of covariance matrices remains largely unexplored. To address this gap, we propose a procedure that leverages the commonly observed interconnected community structure in high-dimensional biomedical data to estimate large covariance and precision matrices. We derive the uniformly minimum variance unbiased estimators for covariance and precision matrices in closed forms and provide theoretical results on their asymptotic properties. Our proposed method enhances the accuracy of covariance- and precision-matrix estimation and demonstrates superior performance compared to the competing methods in both simulations and real data analyses.

A large number of real-world graphs or networks are inherently heterogeneous, involving a diversity of node types and relation types. Heterogeneous graph embedding is to embed rich structural and semantic information of a heterogeneous graph into low-dimensional node representations. Existing models usually define multiple metapaths in a heterogeneous graph to capture the composite relations and guide neighbor selection. However, these models either omit node content features, discard intermediate nodes along the metapath, or only consider one metapath. To address these three limitations, we propose a new model named Metapath Aggregated Graph Neural Network (MAGNN) to boost the final performance. Specifically, MAGNN employs three major components, i.e., the node content transformation to encapsulate input node attributes, the intra-metapath aggregation to incorporate intermediate semantic nodes, and the inter-metapath aggregation to combine messages from multiple metapaths. Extensive experiments on three real-world heterogeneous graph datasets for node classification, node clustering, and link prediction show that MAGNN achieves more accurate prediction results than state-of-the-art baselines.

Embedding entities and relations into a continuous multi-dimensional vector space have become the dominant method for knowledge graph embedding in representation learning. However, most existing models ignore to represent hierarchical knowledge, such as the similarities and dissimilarities of entities in one domain. We proposed to learn a Domain Representations over existing knowledge graph embedding models, such that entities that have similar attributes are organized into the same domain. Such hierarchical knowledge of domains can give further evidence in link prediction. Experimental results show that domain embeddings give a significant improvement over the most recent state-of-art baseline knowledge graph embedding models.

Knowledge graphs capture interlinked information between entities and they represent an attractive source of structured information that can be harnessed for recommender systems. However, existing recommender engines use knowledge graphs by manually designing features, do not allow for end-to-end training, or provide poor scalability. Here we propose Knowledge Graph Convolutional Networks (KGCN), an end-to-end trainable framework that harnesses item relationships captured by the knowledge graph to provide better recommendations. Conceptually, KGCN computes user-specific item embeddings by first applying a trainable function that identifies important knowledge graph relations for a given user and then transforming the knowledge graph into a user-specific weighted graph. Then, KGCN applies a graph convolutional neural network that computes an embedding of an item node by propagating and aggregating knowledge graph neighborhood information. Moreover, to provide better inductive bias KGCN uses label smoothness (LS), which provides regularization over edge weights and we prove that it is equivalent to label propagation scheme on a graph. Finally, We unify KGCN and LS regularization, and present a scalable minibatch implementation for KGCN-LS model. Experiments show that KGCN-LS outperforms strong baselines in four datasets. KGCN-LS also achieves great performance in sparse scenarios and is highly scalable with respect to the knowledge graph size.

Detecting carried objects is one of the requirements for developing systems to reason about activities involving people and objects. We present an approach to detect carried objects from a single video frame with a novel method that incorporates features from multiple scales. Initially, a foreground mask in a video frame is segmented into multi-scale superpixels. Then the human-like regions in the segmented area are identified by matching a set of extracted features from superpixels against learned features in a codebook. A carried object probability map is generated using the complement of the matching probabilities of superpixels to human-like regions and background information. A group of superpixels with high carried object probability and strong edge support is then merged to obtain the shape of the carried object. We applied our method to two challenging datasets, and results show that our method is competitive with or better than the state-of-the-art.

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