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The bird's-eye-view (BEV) representation allows robust learning of multiple tasks for autonomous driving including road layout estimation and 3D object detection. However, contemporary methods for unified road layout estimation and 3D object detection rarely handle the class imbalance of the training dataset and multi-class learning to reduce the total number of networks required. To overcome these limitations, we propose a unified model for road layout estimation and 3D object detection inspired by the transformer architecture and the CycleGAN learning framework. The proposed model deals with the performance degradation due to the class imbalance of the dataset utilizing the focal loss and the proposed dual cycle loss. Moreover, we set up extensive learning scenarios to study the effect of multi-class learning for road layout estimation in various situations. To verify the effectiveness of the proposed model and the learning scheme, we conduct a thorough ablation study and a comparative study. The experiment results attest the effectiveness of our model; we achieve state-of-the-art performance in both the road layout estimation and 3D object detection tasks.

Simultaneous localization and mapping (SLAM) frameworks for autonomous navigation rely on robust data association to identify loop closures for back-end trajectory optimization. In the case of autonomous underwater vehicles (AUVs) equipped with multibeam echosounders (MBES), data association is particularly challenging due to the scarcity of identifiable landmarks in the seabed, the large drift in dead-reckoning navigation estimates to which AUVs are prone and the low resolution characteristic of MBES data. Deep learning solutions to loop closure detection have shown excellent performance on data from more structured environments. However, their transfer to the seabed domain is not immediate and efforts to port them are hindered by the lack of bathymetric datasets. Thus, in this paper we propose a neural network architecture aimed to showcase the potential of adapting such techniques to correspondence matching in bathymetric data. We train our framework on real bathymetry from an AUV mission and evaluate its performance on the tasks of loop closure detection and coarse point cloud alignment. Finally, we show its potential against a more traditional method and release both its implementation and the dataset used.

Sorting and searching are large parts of database query processing, e.g., in the forms of index creation, index maintenance, and index lookup; and comparing pairs of keys is a substantial part of the effort in sorting and searching. We have worked on simple, efficient implementations of decades-old, neglected, effective techniques for fast comparisons and fast sorting, in particular offset-value coding. In the process, we happened upon its mutually beneficial relationship with prefix truncation in run files as well as the duality of compression techniques in row- and column-format storage structures, namely prefix truncation and run-length encoding of leading key columns. We also found a beneficial relationship with consumers of sorted streams, e.g., merging parallel streams, in-stream aggregation, and merge join. We report on our implementation in the context of Google's Napa and F1 Query systems as well as an experimental evaluation of performance and scalability.

Various cryptographic techniques are used in outsourced database systems to ensure data privacy while allowing for efficient querying. This work proposes a definition and components of a new secure and efficient outsourced database system, which answers various types of queries, with different privacy guarantees in different security models. This work starts with the survey of five order-revealing encryption schemes that can be used directly in many database indices and five range query protocols with various security / efficiency tradeoffs. The survey systematizes the state-of-the-art range query solutions in a snapshot adversary setting and offers some non-obvious observations regarding the efficiency of the constructions. In $\mathcal{E}\text{psolute}$, a secure range query engine, security is achieved in a setting with a much stronger adversary where she can continuously observe everything on the server, and leaking even the result size can enable a reconstruction attack. $\mathcal{E}\text{psolute}$ proposes a definition, construction, analysis, and experimental evaluation of a system that provably hides both access pattern and communication volume while remaining efficient. The work concludes with $k\text{-a}n\text{o}n$ -- a secure similarity search engine in a snapshot adversary model. The work presents a construction in which the security of $k\text{NN}$ queries is achieved similarly to OPE / ORE solutions -- encrypting the input with an approximate Distance Comparison Preserving Encryption scheme so that the inputs, the points in a hyperspace, are perturbed, but the query algorithm still produces accurate results. We use TREC datasets and queries for the search, and track the rank quality metrics such as MRR and nDCG. For the attacks, we build an LSTM model that trains on the correlation between a sentence and its embedding and then predicts words from the embedding.

Language evolves over time, and word meaning changes accordingly. This is especially true in social media, since its dynamic nature leads to faster semantic shifts, making it challenging for NLP models to deal with new content and trends. However, the number of datasets and models that specifically address the dynamic nature of these social platforms is scarce. To bridge this gap, we present TempoWiC, a new benchmark especially aimed at accelerating research in social media-based meaning shift. Our results show that TempoWiC is a challenging benchmark, even for recently-released language models specialized in social media.

In peer-to-peer (P2P) energy trading, a secured infrastructure is required to manage trade and record monetary transactions. A central server/authority can be used for this. But there is a risk of central authority influencing the energy price. So blockchain technology is being preferred as a secured infrastructure in P2P trading. Blockchain provides a distributed repository along with smart contracts for trade management. This reduces the influence of central authority in trading. However, these blockchain-based systems still rely on a central authority to pair/match sellers with consumers for trading energy. The central authority can interfere with the matching process to profit a selected set of users. Further, a centralized authority also charges for its services, thereby increasing the cost of energy. We propose two distributed mechanisms to match sellers with consumers. The first mechanism doesn't allow for price negotiations between sellers and consumers, whereas the second does. We also calculate the time complexity and the stability of the matching process for both mechanisms. Using simulation, we compare the influence of centralized control and energy prices between the proposed and the existing mechanisms. The overall work strives to promote the free market and reduce energy prices.

3D lane detection is an integral part of autonomous driving systems. Previous CNN and Transformer-based methods usually first generate a bird's-eye-view (BEV) feature map from the front view image, and then use a sub-network with BEV feature map as input to predict 3D lanes. Such approaches require an explicit view transformation between BEV and front view, which itself is still a challenging problem. In this paper, we propose CurveFormer, a single-stage Transformer-based method that directly calculates 3D lane parameters and can circumvent the difficult view transformation step. Specifically, we formulate 3D lane detection as a curve propagation problem by using curve queries. A 3D lane query is represented by a dynamic and ordered anchor point set. In this way, queries with curve representation in Transformer decoder iteratively refine the 3D lane detection results. Moreover, a curve cross-attention module is introduced to compute the similarities between curve queries and image features. Additionally, a context sampling module that can capture more relative image features of a curve query is provided to further boost the 3D lane detection performance. We evaluate our method for 3D lane detection on both synthetic and real-world datasets, and the experimental results show that our method achieves promising performance compared with the state-of-the-art approaches. The effectiveness of each component is validated via ablation studies as well.

As intensities of MRI volumes are inconsistent across institutes, it is essential to extract universal features of multi-modal MRIs to precisely segment brain tumors. In this concept, we propose a volumetric vision transformer that follows two windowing strategies in attention for extracting fine features and local distributional smoothness (LDS) during model training inspired by virtual adversarial training (VAT) to make the model robust. We trained and evaluated network architecture on the FeTS Challenge 2022 dataset. Our performance on the online validation dataset is as follows: Dice Similarity Score of 81.71%, 91.38% and 85.40%; Hausdorff Distance (95%) of 14.81 mm, 3.93 mm, 11.18 mm for the enhancing tumor, whole tumor, and tumor core, respectively. Overall, the experimental results verify our method's effectiveness by yielding better performance in segmentation accuracy for each tumor sub-region. Our code implementation is publicly available : //github.com/himashi92/vizviva_fets_2022

Forest fires may cause considerable damages both in ecosystems and lives. This proposal describes the application of Internet of Things and wireless sensor networks jointly with multi-hop routing through a real time and dynamic monitoring system for forest fire prevention. It is based on gathering and analyzing information related to meteorological conditions, concentrations of polluting gases and oxygen level around particular interesting forest areas. Unusual measurements of these environmental variables may help to prevent wildfire incidents and make their detection more efficient. A forest fire risk controller based on fuzzy logic has been implemented in order to activate environmental risk alerts through a Web service and a mobile application. For this purpose, security mechanisms have been proposed for ensuring integrity and confidentiality in the transmission of measured environmental information. Lamport's signature and a block cipher algorithm are used to achieve this objective.

Benefit from the quick development of deep learning techniques, salient object detection has achieved remarkable progresses recently. However, there still exists following two major challenges that hinder its application in embedded devices, low resolution output and heavy model weight. To this end, this paper presents an accurate yet compact deep network for efficient salient object detection. More specifically, given a coarse saliency prediction in the deepest layer, we first employ residual learning to learn side-output residual features for saliency refinement, which can be achieved with very limited convolutional parameters while keep accuracy. Secondly, we further propose reverse attention to guide such side-output residual learning in a top-down manner. By erasing the current predicted salient regions from side-output features, the network can eventually explore the missing object parts and details which results in high resolution and accuracy. Experiments on six benchmark datasets demonstrate that the proposed approach compares favorably against state-of-the-art methods, and with advantages in terms of simplicity, efficiency (45 FPS) and model size (81 MB).