Contour Context: Abstract Structural Distribution for 3D LiDAR Loop Detection and Metric Pose Estimation

This paper proposes \textit{Contour Context}, a simple, effective, and efficient topological loop closure detection pipeline with accurate 3-DoF metric pose estimation, targeting the urban utonomous driving scenario. We interpret the Cartesian birds' eye view (BEV) image projected from 3D LiDAR points as layered distribution of structures. To recover elevation information from BEVs, we slice them at different heights, and connected pixels at each level will form contours. Each contour is parameterized by abstract information, e.g., pixel count, center position, covariance, and mean height. The similarity of two BEVs is calculated in sequential discrete and continuous steps. The first step considers the geometric consensus of graph-like constellations formed by contours in particular localities. The second step models the majority of contours as a 2.5D Gaussian mixture model, which is used to calculate correlation and optimize relative transform in continuous space. A retrieval key is designed to accelerate the search of a database indexed by layered KD-trees. We validate the efficacy of our method by comparing it with recent works on public datasets.Comment: 7 pages, 7 figures, accepted by ICRA 202

Why are Sequence-to-Sequence Models So Dull? Understanding the Low-Diversity Problem of Chatbots

Diversity is a long-studied topic in information retrieval that usually refers to the requirement that retrieved results should be non-repetitive and cover different aspects. In a conversational setting, an additional dimension of diversity matters: an engaging response generation system should be able to output responses that are diverse and interesting. Sequence-to-sequence (Seq2Seq) models have been shown to be very effective for response generation. However, dialogue responses generated by Seq2Seq models tend to have low diversity. In this paper, we review known sources and existing approaches to this low-diversity problem. We also identify a source of low diversity that has been little studied so far, namely model over-confidence. We sketch several directions for tackling model over-confidence and, hence, the low-diversity problem, including confidence penalties and label smoothing

Improving Neural Response Diversity with Frequency-Aware Cross-Entropy Loss

Sequence-to-Sequence (Seq2Seq) models have achieved encouraging performance on the dialogue response generation task. However, existing Seq2Seq-based response generation methods suffer from a low-diversity problem: they frequently generate generic responses, which make the conversation less interesting. In this paper, we address the low-diversity problem by investigating its connection with model over-confidence reflected in predicted distributions. Specifically, we first analyze the influence of the commonly used Cross-Entropy (CE) loss function, and find that the CE loss function prefers high-frequency tokens, which results in low-diversity responses. We then propose a Frequency-Aware Cross-Entropy (FACE) loss function that improves over the CE loss function by incorporating a weighting mechanism conditioned on token frequency. Extensive experiments on benchmark datasets show that the FACE loss function is able to substantially improve the diversity of existing state-of-the-art Seq2Seq response generation methods, in terms of both automatic and human evaluations.Comment: Will appear at The Web Conference 201

G3Reg: Pyramid Graph-based Global Registration using Gaussian Ellipsoid Model

This study introduces a novel framework, G3Reg, for fast and robust global registration of LiDAR point clouds. In contrast to conventional complex keypoints and descriptors, we extract fundamental geometric primitives including planes, clusters, and lines (PCL) from the raw point cloud to obtain low-level semantic segments. Each segment is formulated as a unified Gaussian Ellipsoid Model (GEM) by employing a probability ellipsoid to ensure the ground truth centers are encompassed with a certain degree of probability. Utilizing these GEMs, we then present a distrust-and-verify scheme based on a Pyramid Compatibility Graph for Global Registration (PAGOR). Specifically, we establish an upper bound, which can be traversed based on the confidence level for compatibility testing to construct the pyramid graph. Gradually, we solve multiple maximum cliques (MAC) for each level of the graph, generating numerous transformation candidates. In the verification phase, we adopt a precise and efficient metric for point cloud alignment quality, founded on geometric primitives, to identify the optimal candidate. The performance of the algorithm is extensively validated on three publicly available datasets and a self-collected multi-session dataset, without changing any parameter settings in the experimental evaluation. The results exhibit superior robustness and real-time performance of the G3Reg framework compared to state-of-the-art methods. Furthermore, we demonstrate the potential for integrating individual GEM and PAGOR components into other algorithmic frameworks to enhance their efficacy. To advance further research and promote community understanding, we have publicly shared the source code.Comment: Under revie

FC-Planner: A Skeleton-guided Planning Framework for Fast Aerial Coverage of Complex 3D Scenes

3D coverage path planning for UAVs is a crucial problem in diverse practical applications. However, existing methods have shown unsatisfactory system simplicity, computation efficiency, and path quality in large and complex scenes. To address these challenges, we propose FC-Planner, a skeleton-guided planning framework that can achieve fast aerial coverage of complex 3D scenes without pre-processing. We decompose the scene into several simple subspaces by a skeleton-based space decomposition (SSD). Additionally, the skeleton guides us to effortlessly determine free space. We utilize the skeleton to efficiently generate a minimal set of specialized and informative viewpoints for complete coverage. Based on SSD, a hierarchical planner effectively divides the large planning problem into independent sub-problems, enabling parallel planning for each subspace. The carefully designed global and local planning strategies are then incorporated to guarantee both high quality and efficiency in path generation. We conduct extensive benchmark and real-world tests, where FC-Planner computes over 10 times faster compared to state-of-the-art methods with shorter path and more complete coverage. The source code will be open at https://github.com/HKUST-Aerial-Robotics/FC-Planner.Comment: Submitted to ICRA2024. 6 Pages, 6 Figures, 3 Tables. Code: https://github.com/HKUST-Aerial-Robotics/FC-Planner. Video: https://www.bilibili.com/video/BV1h84y1D7u5/?spm_id_from=333.999.0.0&vd_source=0af61c122e5e37c944053b57e313025

Interactions between aerosol organic components and liquid water content during haze episodes in Beijing

Aerosol liquid water (ALW) is ubiquitous in ambient aerosol and plays an important role in the formation of both aerosol organics and inorganics. To investigate the interactions between ALW and aerosol organics during haze formation and evolution, ALW was modelled based on long-term measurement of submicron aerosol composition in different seasons in Beijing. ALW contributed by aerosol inorganics (ALW(inorg)) was modelled by ISORROPIA II, and ALW contributed by organics (ALW(org)) was estimated with kappa-Kohler theory, where the real-time hygroscopicity parameter of the organics (kappa(org)) was calculated from the real-time organic oxygen-to-carbon ratio (O/C). Overall particle hygroscopicity (kappa(total)) was computed by weighting component hygroscopicity parameters based on their volume fractions in the mixture. We found that ALW(org), which is often neglected in traditional ALW modelling, contributes a significant fraction (18 %-32 %) to the total ALW in Beijing. The ALW(org) fraction is largest on the cleanest days when both the organic fraction and kappa(org) are relatively high. The large variation in O/C, from 0.2 to 1.3, indicates the wide variety of organic components. This emphasizes the necessity of using real-time kappa(org), instead of fixed kappa(org), to calculate ALW(org) in Beijing. The significant variation in K org (calculated from O/C), together with highly variable organic or inorganic volume fractions, leads to a wide range of kappa(total) (between 0.20 and 0.45), which has a great impact on water uptake. The variation in organic O/C, or derived K org , was found to be influenced by temperature (T), ALW, and aerosol mass concentrations, among which T and ALW both have promoting effects on O/C. During high-ALW haze episodes, although the organic fraction decreases rapidly, O/C and derived K org increase with the increase in ALW, suggesting the formation of more soluble organics via heterogeneous uptake or aqueous processes. A positive feedback loop is thus formed: during high-ALW episodes, increasing kappa(org), together with decreasing particle organic fraction (or increasing particle inorganic fraction), increases kappa(total), and thus further promotes the ability of particles to uptake water.Peer reviewe