AgriColMap: Aerial-Ground Collaborative 3D Mapping for Precision Farming

The combination of aerial survey capabilities of Unmanned Aerial Vehicles with targeted intervention abilities of agricultural Unmanned Ground Vehicles can significantly improve the effectiveness of robotic systems applied to precision agriculture. In this context, building and updating a common map of the field is an essential but challenging task. The maps built using robots of different types show differences in size, resolution and scale, the associated geolocation data may be inaccurate and biased, while the repetitiveness of both visual appearance and geometric structures found within agricultural contexts render classical map merging techniques ineffective. In this paper we propose AgriColMap, a novel map registration pipeline that leverages a grid-based multimodal environment representation which includes a vegetation index map and a Digital Surface Model. We cast the data association problem between maps built from UAVs and UGVs as a multimodal, large displacement dense optical flow estimation. The dominant, coherent flows, selected using a voting scheme, are used as point-to-point correspondences to infer a preliminary non-rigid alignment between the maps. A final refinement is then performed, by exploiting only meaningful parts of the registered maps. We evaluate our system using real world data for 3 fields with different crop species. The results show that our method outperforms several state of the art map registration and matching techniques by a large margin, and has a higher tolerance to large initial misalignments. We release an implementation of the proposed approach along with the acquired datasets with this paper.Comment: Published in IEEE Robotics and Automation Letters, 201

Towards Knowledge in the Cloud

Knowledge in the form of semantic data is becoming more and more ubiquitous, and the need for scalable, dynamic systems to support collaborative work with such distributed, heterogeneous knowledge arises. We extend the “data in the cloud” approach that is emerging today to “knowledge in the cloud”, with support for handling semantic information, organizing and finding it efficiently and providing reasoning and quality support. Both the life sciences and emergency response fields are identified as strong potential beneficiaries of having ”knowledge in the cloud”

R&D SUBSIDIES AND FIRM-LEVEL PRODUCTIVITY: EVIDENCE FROM FRANCE

This paper attempts to provide a new insight into the relationship between R&D subsidies and firm-level productivity. The empirical analysis evaluates the productivity of firms involved in a European program of public R&D grants called Eureka. The findings suggest that the Eureka firms on average experience productivity gains towards the end of the 3-years grant period. However, the average increase in productivity hides substantial firm heterogeneity. Namely it hides that low productive firms gain more from an R&D subsidy than high productive firms. The empirical analysis is conducted by using propensity score matching and a difference-in-differences estimation method to control for potential endogeneity issues.R&D subsidies, Collaborative Research, Total Factors Productivity and Firm Heterogeneity

Transfer Meets Hybrid: A Synthetic Approach for Cross-Domain Collaborative Filtering with Text

Collaborative filtering (CF) is the key technique for recommender systems (RSs). CF exploits user-item behavior interactions (e.g., clicks) only and hence suffers from the data sparsity issue. One research thread is to integrate auxiliary information such as product reviews and news titles, leading to hybrid filtering methods. Another thread is to transfer knowledge from other source domains such as improving the movie recommendation with the knowledge from the book domain, leading to transfer learning methods. In real-world life, no single service can satisfy a user's all information needs. Thus it motivates us to exploit both auxiliary and source information for RSs in this paper. We propose a novel neural model to smoothly enable Transfer Meeting Hybrid (TMH) methods for cross-domain recommendation with unstructured text in an end-to-end manner. TMH attentively extracts useful content from unstructured text via a memory module and selectively transfers knowledge from a source domain via a transfer network. On two real-world datasets, TMH shows better performance in terms of three ranking metrics by comparing with various baselines. We conduct thorough analyses to understand how the text content and transferred knowledge help the proposed model.Comment: 11 pages, 7 figures, a full version for the WWW 2019 short pape

DeViT: Decomposing Vision Transformers for Collaborative Inference in Edge Devices

Recent years have witnessed the great success of vision transformer (ViT), which has achieved state-of-the-art performance on multiple computer vision benchmarks. However, ViT models suffer from vast amounts of parameters and high computation cost, leading to difficult deployment on resource-constrained edge devices. Existing solutions mostly compress ViT models to a compact model but still cannot achieve real-time inference. To tackle this issue, we propose to explore the divisibility of transformer structure, and decompose the large ViT into multiple small models for collaborative inference at edge devices. Our objective is to achieve fast and energy-efficient collaborative inference while maintaining comparable accuracy compared with large ViTs. To this end, we first propose a collaborative inference framework termed DeViT to facilitate edge deployment by decomposing large ViTs. Subsequently, we design a decomposition-and-ensemble algorithm based on knowledge distillation, termed DEKD, to fuse multiple small decomposed models while dramatically reducing communication overheads, and handle heterogeneous models by developing a feature matching module to promote the imitations of decomposed models from the large ViT. Extensive experiments for three representative ViT backbones on four widely-used datasets demonstrate our method achieves efficient collaborative inference for ViTs and outperforms existing lightweight ViTs, striking a good trade-off between efficiency and accuracy. For example, our DeViTs improves end-to-end latency by 2.89$\times$ with only 1.65% accuracy sacrifice using CIFAR-100 compared to the large ViT, ViT-L/16, on the GPU server. DeDeiTs surpasses the recent efficient ViT, MobileViT-S, by 3.54% in accuracy on ImageNet-1K, while running 1.72$\times$ faster and requiring 55.28% lower energy consumption on the edge device.Comment: Accepted by IEEE Transactions on Mobile Computin