Dynamo-Depth: Fixing Unsupervised Depth Estimation for Dynamical Scenes

Unsupervised monocular depth estimation techniques have demonstrated encouraging results but typically assume that the scene is static. These techniques suffer when trained on dynamical scenes, where apparent object motion can equally be explained by hypothesizing the object's independent motion, or by altering its depth. This ambiguity causes depth estimators to predict erroneous depth for moving objects. To resolve this issue, we introduce Dynamo-Depth, an unifying approach that disambiguates dynamical motion by jointly learning monocular depth, 3D independent flow field, and motion segmentation from unlabeled monocular videos. Specifically, we offer our key insight that a good initial estimation of motion segmentation is sufficient for jointly learning depth and independent motion despite the fundamental underlying ambiguity. Our proposed method achieves state-of-the-art performance on monocular depth estimation on Waymo Open and nuScenes Dataset with significant improvement in the depth of moving objects. Code and additional results are available at https://dynamo-depth.github.io.Comment: NeurIPS 202

Wireless Communications in the Era of Big Data

The rapidly growing wave of wireless data service is pushing against the boundary of our communication network's processing power. The pervasive and exponentially increasing data traffic present imminent challenges to all the aspects of the wireless system design, such as spectrum efficiency, computing capabilities and fronthaul/backhaul link capacity. In this article, we discuss the challenges and opportunities in the design of scalable wireless systems to embrace such a "bigdata" era. On one hand, we review the state-of-the-art networking architectures and signal processing techniques adaptable for managing the bigdata traffic in wireless networks. On the other hand, instead of viewing mobile bigdata as a unwanted burden, we introduce methods to capitalize from the vast data traffic, for building a bigdata-aware wireless network with better wireless service quality and new mobile applications. We highlight several promising future research directions for wireless communications in the mobile bigdata era.Comment: This article is accepted and to appear in IEEE Communications Magazin

TITAN: A Spatiotemporal Feature Learning Framework for Traffic Incident Duration Prediction

Critical incident stages identification and reasonable prediction of traffic incident duration are essential in traffic incident management. In this paper, we propose a traffic incident duration prediction model that simultaneously predicts the impact of the traffic incidents and identifies the critical groups of temporal features via a multi-task learning framework. First, we formulate a sparsity optimization problem that extracts low-level temporal features based on traffic speed readings and then generalizes higher level features as phases of traffic incidents. Second, we propose novel constraints on feature similarity exploiting prior knowledge about the spatial connectivity of the road network to predict the incident duration. The proposed problem is challenging to solve due to the orthogonality constraints, non-convexity objective, and non-smoothness penalties. We develop an algorithm based on the alternating direction method of multipliers (ADMM) framework to solve the proposed formulation. Extensive experiments and comparisons to other models on real-world traffic data and traffic incident records justify the efficacy of our model

Semantically-enhanced recommendations in cultural heritage

In the Web 2.0 environment, institutes and organizations are starting to open up their previously isolated and heterogeneous collections in order to provide visitors with maximal access. Semantic Web technologies act as instrumental in integrating these rich collections of metadata by defining ontologies which accommodate different representation schemata and inconsistent naming conventions over the various vocabularies. Facing the large amount of metadata with complex semantic structures, it is becoming more and more important to support visitors with a proper selection and presentation of information. In this context, the Dutch Science Foundation (NWO) funded the Cultural Heritage Information Personalization (CHIP) project in early 2005, as part of the Continuous Access to Cultural Heritage (CATCH) program in the Netherlands. It is a collaborative project between the Rijksmuseum Amsterdam, the Eindhoven University of Technology and the Telematica Instituut. The problem statement that guides the research of this thesis is as follows: Can we support visitors with personalized access to semantically-enriched collections? To study this question, we chose cultural heritage (museums) as an application domain, and the semantically rich background knowledge about the museum collection provides a basis to our research. On top of it, we deployed user modeling and recommendation technologies in order to provide personalized services for museum visitors. Our main contributions are: (i) we developed an interactive rating dialog of artworks and art concepts for a quick instantiation of the CHIP user model, which is built as a specialization of FOAF and mapped to an existing event model ontology SEM; (ii) we proposed a hybrid recommendation algorithm, combining both explicit and implicit relations from the semantic structure of the collection. On the presentation level, we developed three tools for end-users: Art Recommender, Tour Wizard and Mobile Tour Guide. Following a user-centered design cycle, we performed a series of evaluations with museum visitors to test the effectiveness of recommendations using the rating dialog, different ways to build an optimal user model and the prediction accuracy of the hybrid algorithm. Chapter 1 introduces the research questions, our approaches and the outline of this thesis. Chapter 2 gives an overview of our work at the first stage. It includes (i) the semantic enrichment of the Rijksmuseum collection, which is mapped to three Getty vocabularies (ULAN, AAT, TGN) and the Iconclass thesaurus; (ii) the minimal user model ontology defined as a specialization of FOAF, which only stores user ratings at that time, (iii) the first implementation of the content-based recommendation algorithm in our first tool, the CHIP Art Recommender. Chapter 3 presents two other tools: Tour Wizard and Mobile Tour Guide. Based on the user's ratings, the Web-based Tour Wizard recommends museum tours consisting of recommended artworks that are currently available for museum exhibitions. The Mobile Tour Guide converts recommended tours to mobile devices (e.g. PDA) that can be used in the physical museum space. To connect users' various interactions with these tools, we made a conversion of the online user model stored in RDF into XML format which the mobile guide can parse, and in this way we keep the online and on-site user models dynamically synchronized. Chapter 4 presents the second generation of the Mobile Tour Guide with a real time routing system on different mobile devices (e.g. iPod). Compared with the first generation, it can adapt museum tours based on the user's ratings artworks and concepts, her/his current location in the physical museum and the coordinates of the artworks and rooms in the museum. In addition, we mapped the CHIP user model to an existing event model ontology SEM. Besides ratings, it can store additional user activities, such as following a tour and viewing artworks. Chapter 5 identifies a number of semantic relations within one vocabulary (e.g. a concept has a broader/narrower concept) and across multiple vocabularies (e.g. an artist is associated to an art style). We applied all these relations as well as the basic artwork features in content-based recommendations and compared all of them in terms of usefulness. This investigation also enables us to look at the combined use of artwork features and semantic relations in sequence and derive user navigation patterns. Chapter 6 defines the task of personalized recommendations and decomposes the task into a number of inference steps for ontology-based recommender systems, from a perspective of knowledge engineering. We proposed a hybrid approach combining both explicit and implicit recommendations. The explicit relations include artworks features and semantic relations with preliminary weights which are derived from the evaluation in Chapter 5. The implicit relations are built between art concepts based on instance-based ontology matching. Chapter 7 gives an example of reusing user interaction data generated by one application into another one for providing cross-application recommendations. In this example, user tagging about cultural events, gathered by iCITY, is used to enrich the user model for generating content-based recommendations in the CHIP Art Recommender. To realize full tagging interoperability, we investigated the problems that arise in mapping user tags to domain ontologies, and proposed additional mechanisms, such as the use of SKOS matching operators to deal with the possible mis-alignment of tags and domain-specific ontologies. We summarized to what extent the problem statement and each of the research questions are answered in Chapter 8. We also discussed a number of limitations in our research and looked ahead at what may follow as future work

TripleTree:A Versatile Interpretable Representation of Black Box Agents and their Environments

In explainable artificial intelligence, there is increasing interest in understanding the behaviour of autonomous agents to build trust and validate performance. Modern agent architectures, such as those trained by deep reinforcement learning, are currently so lacking in interpretable structure as to effectively be black boxes, but insights may still be gained from an external, behaviourist perspective. Inspired by conceptual spaces theory, we suggest that a versatile first step towards general understanding is to discretise the state space into convex regions, jointly capturing similarities over the agent's action, value function and temporal dynamics within a dataset of observations. We create such a representation using a novel variant of the CART decision tree algorithm, and demonstrate how it facilitates practical understanding of black box agents through prediction, visualisation and rule-based explanation.Comment: 12 pages (incl. references and appendices), 15 figures. Pre-print, under revie

Robotic Wireless Sensor Networks

In this chapter, we present a literature survey of an emerging, cutting-edge, and multi-disciplinary field of research at the intersection of Robotics and Wireless Sensor Networks (WSN) which we refer to as Robotic Wireless Sensor Networks (RWSN). We define a RWSN as an autonomous networked multi-robot system that aims to achieve certain sensing goals while meeting and maintaining certain communication performance requirements, through cooperative control, learning and adaptation. While both of the component areas, i.e., Robotics and WSN, are very well-known and well-explored, there exist a whole set of new opportunities and research directions at the intersection of these two fields which are relatively or even completely unexplored. One such example would be the use of a set of robotic routers to set up a temporary communication path between a sender and a receiver that uses the controlled mobility to the advantage of packet routing. We find that there exist only a limited number of articles to be directly categorized as RWSN related works whereas there exist a range of articles in the robotics and the WSN literature that are also relevant to this new field of research. To connect the dots, we first identify the core problems and research trends related to RWSN such as connectivity, localization, routing, and robust flow of information. Next, we classify the existing research on RWSN as well as the relevant state-of-the-arts from robotics and WSN community according to the problems and trends identified in the first step. Lastly, we analyze what is missing in the existing literature, and identify topics that require more research attention in the future