PivotNet: Vectorized Pivot Learning for End-to-end HD Map Construction

Vectorized high-definition map online construction has garnered considerable attention in the field of autonomous driving research. Most existing approaches model changeable map elements using a fixed number of points, or predict local maps in a two-stage autoregressive manner, which may miss essential details and lead to error accumulation. Towards precise map element learning, we propose a simple yet effective architecture named PivotNet, which adopts unified pivot-based map representations and is formulated as a direct set prediction paradigm. Concretely, we first propose a novel point-to-line mask module to encode both the subordinate and geometrical point-line priors in the network. Then, a well-designed pivot dynamic matching module is proposed to model the topology in dynamic point sequences by introducing the concept of sequence matching. Furthermore, to supervise the position and topology of the vectorized point predictions, we propose a dynamic vectorized sequence loss. Extensive experiments and ablations show that PivotNet is remarkably superior to other SOTAs by 5.9 mAP at least. The code will be available soon.Comment: Accepted by ICCV202

R2O, an extensible and semantically based database-to-ontology mapping language

We present R2O, an extensible and declarative language to describe mappings between relational DB schemas and ontologies implemented in RDF(S) or OWL. R2O provides an extensible set of primitives with welldefined semantics. This language has been conceived expressive enough to cope with complex mapping cases arisen from situations of low similarity between the ontology and the DB models

Noetherianity for infinite-dimensional toric varieties

We consider a large class of monomial maps respecting an action of the infinite symmetric group, and prove that the toric ideals arising as their kernels are finitely generated up to symmetry. Our class includes many important examples where Noetherianity was recently proved or conjectured. In particular, our results imply Hillar-Sullivant's Independent Set Theorem and settle several finiteness conjectures due to Aschenbrenner, Martin del Campo, Hillar, and Sullivant. We introduce a matching monoid and show that its monoid ring is Noetherian up to symmetry. Our approach is then to factorize a more general equivariant monomial map into two parts going through this monoid. The kernels of both parts are finitely generated up to symmetry: recent work by Yamaguchi-Ogawa-Takemura on the (generalized) Birkhoff model provides an explicit degree bound for the kernel of the first part, while for the second part the finiteness follows from the Noetherianity of the matching monoid ring.Comment: 20 page

Model Reduction by Moment Matching for Linear Switched Systems

Two moment-matching methods for model reduction of linear switched systems (LSSs) are presented. The methods are similar to the Krylov subspace methods used for moment matching for linear systems. The more general one of the two methods, is based on the so called "nice selection" of some vectors in the reachability or observability space of the LSS. The underlying theory is closely related to the (partial) realization theory of LSSs. In this paper, the connection of the methods to the realization theory of LSSs is provided, and algorithms are developed for the purpose of model reduction. Conditions for applicability of the methods for model reduction are stated and finally the results are illustrated on numerical examples.Comment: Sent for publication in IEEE TAC, on October 201

The C++0x "Concepts" Effort

C++0x is the working title for the revision of the ISO standard of the C++ programming language that was originally planned for release in 2009 but that was delayed to 2011. The largest language extension in C++0x was "concepts", that is, a collection of features for constraining template parameters. In September of 2008, the C++ standards committee voted the concepts extension into C++0x, but then in July of 2009, the committee voted the concepts extension back out of C++0x. This article is my account of the technical challenges and debates within the "concepts" effort in the years 2003 to 2009. To provide some background, the article also describes the design space for constrained parametric polymorphism, or what is colloquially know as constrained generics. While this article is meant to be generally accessible, the writing is aimed toward readers with background in functional programming and programming language theory. This article grew out of a lecture at the Spring School on Generic and Indexed Programming at the University of Oxford, March 2010