11,931 research outputs found
Satellite Image Based Cross-view Localization for Autonomous Vehicle
Existing spatial localization techniques for autonomous vehicles mostly use a
pre-built 3D-HD map, often constructed using a survey-grade 3D mapping vehicle,
which is not only expensive but also laborious. This paper shows that by using
an off-the-shelf high-definition satellite image as a ready-to-use map, we are
able to achieve cross-view vehicle localization up to a satisfactory accuracy,
providing a cheaper and more practical way for localization. While the
utilization of satellite imagery for cross-view localization is an established
concept, the conventional methodology focuses primarily on image retrieval.
This paper introduces a novel approach to cross-view localization that departs
from the conventional image retrieval method. Specifically, our method develops
(1) a Geometric-align Feature Extractor (GaFE) that leverages measured 3D
points to bridge the geometric gap between ground and overhead views, (2) a
Pose Aware Branch (PAB) adopting a triplet loss to encourage pose-aware feature
extraction, and (3) a Recursive Pose Refine Branch (RPRB) using the
Levenberg-Marquardt (LM) algorithm to align the initial pose towards the true
vehicle pose iteratively. Our method is validated on KITTI and Ford Multi-AV
Seasonal datasets as ground view and Google Maps as the satellite view. The
results demonstrate the superiority of our method in cross-view localization
with median spatial and angular errors within meter and ,
respectively.Comment: Accepted by ICRA202
Loss minimization yields multicalibration for large neural networks
Multicalibration is a notion of fairness that aims to provide accurate
predictions across a large set of groups. Multicalibration is known to be a
different goal than loss minimization, even for simple predictors such as
linear functions. In this note, we show that for (almost all) large neural
network sizes, optimally minimizing squared error leads to multicalibration.
Our results are about representational aspects of neural networks, and not
about algorithmic or sample complexity considerations. Previous such results
were known only for predictors that were nearly Bayes-optimal and were
therefore representation independent. We emphasize that our results do not
apply to specific algorithms for optimizing neural networks, such as SGD, and
they should not be interpreted as "fairness comes for free from optimizing
neural networks"
Security and Privacy Problems in Voice Assistant Applications: A Survey
Voice assistant applications have become omniscient nowadays. Two models that
provide the two most important functions for real-life applications (i.e.,
Google Home, Amazon Alexa, Siri, etc.) are Automatic Speech Recognition (ASR)
models and Speaker Identification (SI) models. According to recent studies,
security and privacy threats have also emerged with the rapid development of
the Internet of Things (IoT). The security issues researched include attack
techniques toward machine learning models and other hardware components widely
used in voice assistant applications. The privacy issues include technical-wise
information stealing and policy-wise privacy breaches. The voice assistant
application takes a steadily growing market share every year, but their privacy
and security issues never stopped causing huge economic losses and endangering
users' personal sensitive information. Thus, it is important to have a
comprehensive survey to outline the categorization of the current research
regarding the security and privacy problems of voice assistant applications.
This paper concludes and assesses five kinds of security attacks and three
types of privacy threats in the papers published in the top-tier conferences of
cyber security and voice domain.Comment: 5 figure
Recommended from our members
Ensuring Access to Safe and Nutritious Food for All Through the Transformation of Food Systems
Quantifying and Explaining Machine Learning Uncertainty in Predictive Process Monitoring: An Operations Research Perspective
This paper introduces a comprehensive, multi-stage machine learning
methodology that effectively integrates information systems and artificial
intelligence to enhance decision-making processes within the domain of
operations research. The proposed framework adeptly addresses common
limitations of existing solutions, such as the neglect of data-driven
estimation for vital production parameters, exclusive generation of point
forecasts without considering model uncertainty, and lacking explanations
regarding the sources of such uncertainty. Our approach employs Quantile
Regression Forests for generating interval predictions, alongside both local
and global variants of SHapley Additive Explanations for the examined
predictive process monitoring problem. The practical applicability of the
proposed methodology is substantiated through a real-world production planning
case study, emphasizing the potential of prescriptive analytics in refining
decision-making procedures. This paper accentuates the imperative of addressing
these challenges to fully harness the extensive and rich data resources
accessible for well-informed decision-making
UniverSeg: Universal Medical Image Segmentation
While deep learning models have become the predominant method for medical
image segmentation, they are typically not capable of generalizing to unseen
segmentation tasks involving new anatomies, image modalities, or labels. Given
a new segmentation task, researchers generally have to train or fine-tune
models, which is time-consuming and poses a substantial barrier for clinical
researchers, who often lack the resources and expertise to train neural
networks. We present UniverSeg, a method for solving unseen medical
segmentation tasks without additional training. Given a query image and example
set of image-label pairs that define a new segmentation task, UniverSeg employs
a new Cross-Block mechanism to produce accurate segmentation maps without the
need for additional training. To achieve generalization to new tasks, we have
gathered and standardized a collection of 53 open-access medical segmentation
datasets with over 22,000 scans, which we refer to as MegaMedical. We used this
collection to train UniverSeg on a diverse set of anatomies and imaging
modalities. We demonstrate that UniverSeg substantially outperforms several
related methods on unseen tasks, and thoroughly analyze and draw insights about
important aspects of the proposed system. The UniverSeg source code and model
weights are freely available at https://universeg.csail.mit.eduComment: Victor and Jose Javier contributed equally to this work. Project
Website: https://universeg.csail.mit.ed
Comedians without a Cause: The Politics and Aesthetics of Humour in Dutch Cabaret (1966-2020)
Comedians play an important role in society and public debate. While comedians have been considered important cultural critics for quite some time, comedy has acquired a new social and political significance in recent years, with humour taking centre stage in political and social debates around issues of identity, social justice, and freedom of speech. To understand the shifting meanings and political implications of humour within a Dutch context, this PhD thesis examines the political and aesthetic workings of humour in the highly popular Dutch cabaret genre, focusing on cabaret performances from the 1960s to the present. The central questions of the thesis are: how do comedians use humour to deliver social critique, and how does their humour resonate with political ideologies? These questions are answered by adopting a cultural studies approach to humour, which is used to analyse Dutch cabaret performances, and by studying related materials such as reviews and media interviews with comedians. This thesis shows that, from the 1960s onwards, Dutch comedians have been considered ‘progressive rebels’ – politically engaged, subversive, and carrying a left-wing political agenda – but that this image is in need of correction. While we tend to look for progressive political messages in the work of comedians who present themselves as being anti-establishment rebels – such as Youp van ‘t Hek, Hans Teeuwen, and Theo Maassen – this thesis demonstrates that their transgressive and provocative humour tends to protect social hierarchies and relationships of power. Moreover, it shows that, paradoxically, both the deliberately moderate and nuanced humour of Wim Kan and Claudia de Breij, and the seemingly past-oriented nostalgia of Alex Klaasen, are more radical and progressive than the transgressive humour of van ‘t Hek, Teeuwen and Maassen. Finally, comedians who present absurdist or deconstructionist forms of humour, such as the early student cabarets, Freek de Jonge, and Micha Wertheim, tend to disassociate themselves from an explicit political engagement. By challenging the dominant image of the Dutch comedian as a ‘progressive rebel,’ this thesis contributes to a better understanding of humour in the present cultural moment, in which humour is often either not taken seriously, or one-sidedly celebrated as being merely pleasurable, innocent, or progressively liberating. In so doing, this thesis concludes, the ‘dark’ and more conservative sides of humour tend to get obscured
Neural Architecture Search: Insights from 1000 Papers
In the past decade, advances in deep learning have resulted in breakthroughs
in a variety of areas, including computer vision, natural language
understanding, speech recognition, and reinforcement learning. Specialized,
high-performing neural architectures are crucial to the success of deep
learning in these areas. Neural architecture search (NAS), the process of
automating the design of neural architectures for a given task, is an
inevitable next step in automating machine learning and has already outpaced
the best human-designed architectures on many tasks. In the past few years,
research in NAS has been progressing rapidly, with over 1000 papers released
since 2020 (Deng and Lindauer, 2021). In this survey, we provide an organized
and comprehensive guide to neural architecture search. We give a taxonomy of
search spaces, algorithms, and speedup techniques, and we discuss resources
such as benchmarks, best practices, other surveys, and open-source libraries
Die akute Appendizitis im Kindes- und Jugendalter: neue diagnostische Verfahren für die prätherapeutische Differenzierung histopathologischer Entitäten zur Unterstützung konservativer Therapiestrategien
Hintergrund der hier zusammengefassten Studien war die aktuelle Datenlage, die dafür spricht, dass es sich bei der klinisch unkomplizierten, histopathologisch phlegmonösen und der klinisch komplizierten, histopathologisch gangränösen Appendizitis um unabhängige Entitäten handelt. Diese können unterschiedlichen Therapieoptionen (konservativ vs. operativ) zugeführt werden. Vor diesem Hintergrund war es ein Ziel der Arbeiten zu untersuchen, wie die Formen der akuten Appendizitis im Kindes- und Jugendalter bereits prätherapeutisch unterschieden werden können.
Sowohl in der Labordiagnostik (P1 und P2) als auch im Ultraschall (P3) lassen sich Unterschiede zwischen Patient*innen mit unkomplizierter, phlegmonöser und komplizierter (gangränöser und perforierender) Appendizitis aufzeigen. Hierdurch allein kann allerdings aufgrund unzureichender Trennschärfe noch keine ausreichende Entscheidungssicherheit erreicht werden. Mit Verfahren der künstlichen Intelligenz auf Untersucher-unabhängige diagnostische Parameter (P4) konnte die Vorhersagegenauigkeit der akuten Appendizitis weiter gesteigert werden. Interessante Ergebnisse bezüglich der unterschiedlichen Pathomechanismen der beiden inflammatorischen Entitäten ergaben sich durch eine differenzielle Genexpressionsanalyse (P5). In einer Proof-of-Concept-Studie wurden zuvor beschriebene Methoden der künstlichen Intelligenz auf die Genexpressionsdaten angewandt (P6). Hierdurch konnte im Modell eine grundsätzliche Differenzierbarkeit der Entitäten durch die Anwendung der neuen Methode aufgezeigt werden.
Ein mittelfristiges Ziel ist es, eine Biomarkersignatur zu definieren, die ihre Aussagekraft durch einen Computeralgorithmus hat. Hierdurch soll eine schnelle Therapieentscheidung ermöglicht werden. Im Idealfall sollte diese Biomarkersignatur sicher, objektiv und einfach zu bestimmen sein sowie eine höhere diagnostische Sicherheit als die bisherige Diagnostik mittels Anamnese, Untersuchung, Laboranalyse und Ultraschall bieten.
Langfristiges Ziel von Folgestudien ist die Identifizierung einer Biomarkersignatur mit der bestmöglichen Vorhersagekraft. Hinsichtlich der routinemäßigen klinischen Diagnostik ist die Anwendung von Point-of-Care Devices auf PCR-Basis denkbar. Hier könnte eine limitierte Anzahl von Primern für eine Biomarkersignatur mit hoher Vorhersagekraft zum Einsatz kommen. Der dadurch ermittelte Biomarker würde seine Aussagekraft durch einen einfach anzuwendenden Computeralgorithmus erhalten. Die Kombination aus Genexpressionsanalyse mit Methoden der künstlichen Intelligenz kann somit die Grundlage für ein neues diagnostisches Instrument zur sicheren Unterscheidung unterschiedlicher Appendizitisentitäten darstellen
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