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Over the past decade, there has been a significant increase in the use of Unmanned Aerial Vehicles (UAVs) to support a wide variety of missions, such as remote surveillance, vehicle tracking, and object detection. For problems involving processing of areas larger than a single image, the mosaicking of UAV imagery is a necessary step. Real-time image mosaicking is used for missions that requires fast response like search and rescue missions. It typically requires information from additional sensors, such as Global Position System (GPS) and Inertial Measurement Unit (IMU), to facilitate direct orientation, or 3D reconstruction approaches to recover the camera poses. This paper proposes a UAV-based system for real-time creation of incremental mosaics which does not require either direct or indirect camera parameters such as orientation information. Inspired by previous approaches, in the mosaicking process, feature extraction from images, matching of similar key points between images, finding homography matrix to warp and align images, and blending images to obtain mosaics better looking, plays important roles in the achievement of the high quality result. Edge detection is used in the blending step as a novel approach. Experimental results show that real-time incremental image mosaicking process can be completed satisfactorily and without need for any additional camera parameters.

Bayesian networks have been used as a mechanism to represent the joint distribution of multiple random variables in a flexible yet interpretable manner. One major challenge in learning the structure of a Bayesian network is how to model networks which include a mixture of continuous and discrete random variables, known as hybrid Bayesian networks. This paper overviews the literature on approaches to handle hybrid Bayesian networks. Typically one of two approaches is taken: either the data are considered to have a joint distribution which is designed for a mixture of discrete and continuous variables, or continuous random variables are discretized, resulting in discrete Bayesian networks. In this paper, we propose a strategy to model all random variables as Gaussian, referred to it as {\it Run it As Gaussian (RAG)}. We demonstrate that RAG results in more reliable estimates of graph structures theoretically and by simulation studies, than converting continuous random variables to discrete. Both strategies are also implemented on a childhood obesity data set. The two different strategies give rise to significant differences in the optimal graph structures, with the results of the simulation study suggesting that our strategy is more reliable.

We consider the problem of reconstructing the signal and the hidden variables from observations coming from a multi-layer network with rotationally invariant weight matrices. The multi-layer structure models inference from deep generative priors, and the rotational invariance imposed on the weights generalizes the i.i.d.\ Gaussian assumption by allowing for a complex correlation structure, which is typical in applications. In this work, we present a new class of approximate message passing (AMP) algorithms and give a state evolution recursion which precisely characterizes their performance in the large system limit. In contrast with the existing multi-layer VAMP (ML-VAMP) approach, our proposed AMP -- dubbed multi-layer rotationally invariant generalized AMP (ML-RI-GAMP) -- provides a natural generalization beyond Gaussian designs, in the sense that it recovers the existing Gaussian AMP as a special case. Furthermore, ML-RI-GAMP exhibits a significantly lower complexity than ML-VAMP, as the computationally intensive singular value decomposition is replaced by an estimation of the moments of the design matrices. Finally, our numerical results show that this complexity gain comes at little to no cost in the performance of the algorithm.

Robots have been steadily increasing their presence in our daily lives, where they can work along with humans to provide assistance in various tasks on industry floors, in offices, and in homes. Automated assembly is one of the key applications of robots, and the next generation assembly systems could become much more efficient by creating collaborative human-robot systems. However, although collaborative robots have been around for decades, their application in truly collaborative systems has been limited. This is because a truly collaborative human-robot system needs to adjust its operation with respect to the uncertainty and imprecision in human actions, ensure safety during interaction, etc. In this paper, we present a system for human-robot collaborative assembly using learning from demonstration and pose estimation, so that the robot can adapt to the uncertainty caused by the operation of humans. Learning from demonstration is used to generate motion trajectories for the robot based on the pose estimate of different goal locations from a deep learning-based vision system. The proposed system is demonstrated using a physical 6 DoF manipulator in a collaborative human-robot assembly scenario. We show successful generalization of the system's operation to changes in the initial and final goal locations through various experiments.

Segmenting humans in 3D indoor scenes has become increasingly important with the rise of human-centered robotics and AR/VR applications. In this direction, we explore the tasks of 3D human semantic-, instance- and multi-human body-part segmentation. Few works have attempted to directly segment humans in point clouds (or depth maps), which is largely due to the lack of training data on humans interacting with 3D scenes. We address this challenge and propose a framework for synthesizing virtual humans in realistic 3D scenes. Synthetic point cloud data is attractive since the domain gap between real and synthetic depth is small compared to images. Our analysis of different training schemes using a combination of synthetic and realistic data shows that synthetic data for pre-training improves performance in a wide variety of segmentation tasks and models. We further propose the first end-to-end model for 3D multi-human body-part segmentation, called Human3D, that performs all the above segmentation tasks in a unified manner. Remarkably, Human3D even outperforms previous task-specific state-of-the-art methods. Finally, we manually annotate humans in test scenes from EgoBody to compare the proposed training schemes and segmentation models.

In this paper, we present the Diver Interest via Pointing (DIP) algorithm, a highly modular method for conveying a diver's area of interest to an autonomous underwater vehicle (AUV) using pointing gestures for underwater human-robot collaborative tasks. DIP uses a single monocular camera and exploits human body pose, even with complete dive gear, to extract underwater human pointing gesture poses and their directions. By extracting 2D scene geometry based on the human body pose and density of salient feature points along the direction of pointing, using a low-level feature detector, the DIP algorithm is able to locate objects of interest as indicated by the diver.

Graph neural networks generalize conventional neural networks to graph-structured data and have received widespread attention due to their impressive representation ability. In spite of the remarkable achievements, the performance of Euclidean models in graph-related learning is still bounded and limited by the representation ability of Euclidean geometry, especially for datasets with highly non-Euclidean latent anatomy. Recently, hyperbolic space has gained increasing popularity in processing graph data with tree-like structure and power-law distribution, owing to its exponential growth property. In this survey, we comprehensively revisit the technical details of the current hyperbolic graph neural networks, unifying them into a general framework and summarizing the variants of each component. More importantly, we present various HGNN-related applications. Last, we also identify several challenges, which potentially serve as guidelines for further flourishing the achievements of graph learning in hyperbolic spaces.

Image-to-image translation (I2I) aims to transfer images from a source domain to a target domain while preserving the content representations. I2I has drawn increasing attention and made tremendous progress in recent years because of its wide range of applications in many computer vision and image processing problems, such as image synthesis, segmentation, style transfer, restoration, and pose estimation. In this paper, we provide an overview of the I2I works developed in recent years. We will analyze the key techniques of the existing I2I works and clarify the main progress the community has made. Additionally, we will elaborate on the effect of I2I on the research and industry community and point out remaining challenges in related fields.

Lots of learning tasks require dealing with graph data which contains rich relation information among elements. Modeling physics system, learning molecular fingerprints, predicting protein interface, and classifying diseases require that a model to learn from graph inputs. In other domains such as learning from non-structural data like texts and images, reasoning on extracted structures, like the dependency tree of sentences and the scene graph of images, is an important research topic which also needs graph reasoning models. Graph neural networks (GNNs) are connectionist models that capture the dependence of graphs via message passing between the nodes of graphs. Unlike standard neural networks, graph neural networks retain a state that can represent information from its neighborhood with an arbitrary depth. Although the primitive graph neural networks have been found difficult to train for a fixed point, recent advances in network architectures, optimization techniques, and parallel computation have enabled successful learning with them. In recent years, systems based on graph convolutional network (GCN) and gated graph neural network (GGNN) have demonstrated ground-breaking performance on many tasks mentioned above. In this survey, we provide a detailed review over existing graph neural network models, systematically categorize the applications, and propose four open problems for future research.