OccupancyDETR: Making Semantic Scene Completion as Straightforward as Object Detection

Visual-based 3D semantic occupancy perception (also known as 3D semantic scene completion) is a new perception paradigm for robotic applications like autonomous driving. Compared with Bird's Eye View (BEV) perception, it extends the vertical dimension, significantly enhancing the ability of robots to understand their surroundings. However, due to this very reason, the computational demand for current 3D semantic occupancy perception methods generally surpasses that of BEV perception methods and 2D perception methods. We propose a novel 3D semantic occupancy perception method, OccupancyDETR, which consists of a DETR-like object detection module and a 3D occupancy decoder module. The integration of object detection simplifies our method structurally - instead of predicting the semantics of each voxels, it identifies objects in the scene and their respective 3D occupancy grids. This speeds up our method, reduces required resources, and leverages object detection algorithm, giving our approach notable performance on small objects. We demonstrate the effectiveness of our proposed method on the SemanticKITTI dataset, showcasing an mIoU of 23 and a processing speed of 6 frames per second, thereby presenting a promising solution for real-time 3D semantic scene completion

A Pervasive Sensor Node Architecture

Abstract. A set of sensor nodes is the basic component of a sensor network. Many researchers are currently engaged in developing pervasive sensor nodes due to the great promise and potential with applications shown by various wireless remote sensor networks. This short paper describes the concept of sensor node architecture and current research activities on sensor node development at ICTCAS

Location Fingerprint Extraction for Magnetic Field Magnitude Based Indoor Positioning

Smartphone based indoor positioning has greatly helped people in finding their positions in complex and unfamiliar buildings. One popular positioning method is by utilizing indoor magnetic field, because this feature is stable and infrastructure-free. In this method, the magnetometer embedded on the smartphone measures indoor magnetic field and queries its position. However, the environments of the magnetometer are rather harsh. This harshness mainly consists of coarse-grained hard/soft-iron calibrations and sensor electronic noise. The two kinds of interferences decrease the position distinguishability of the magnetic field. Therefore, it is important to extract location features from magnetic fields to reduce these interferences. This paper analyzes the main interference sources of the magnetometer embedded on the smartphone. In addition, we present a feature distinguishability measurement technique to evaluate the performance of different feature extraction methods. Experiments revealed that selected fingerprints will improve position distinguishability

Off-line evaluation of indoor positioning systems in different scenarios: the experiences from IPIN 2020 competition

Every year, for ten years now, the IPIN competition has aimed at evaluating real-world indoor localisation systems by testing them in a realistic environment, with realistic movement, using the EvAAL framework. The competition provided a unique overview of the state-of-the-art of systems, technologies, and methods for indoor positioning and navigation purposes. Through fair comparison of the performance achieved by each system, the competition was able to identify the most promising approaches and to pinpoint the most critical working conditions. In 2020, the competition included 5 diverse off-site off-site Tracks, each resembling real use cases and challenges for indoor positioning. The results in terms of participation and accuracy of the proposed systems have been encouraging. The best performing competitors obtained a third quartile of error of 1 m for the Smartphone Track and 0.5 m for the Foot-mounted IMU Track. While not running on physical systems, but only as algorithms, these results represent impressive achievements.Track 3 organizers were supported by the European Union’s Horizon 2020 Research and Innovation programme under the Marie Skłodowska Curie Grant 813278 (A-WEAR: A network for dynamic WEarable Applications with pRivacy constraints), MICROCEBUS (MICINN, ref. RTI2018-095168-B-C55, MCIU/AEI/FEDER UE), INSIGNIA (MICINN ref. PTQ2018-009981), and REPNIN+ (MICINN, ref. TEC2017-90808-REDT). We would like to thanks the UJI’s Library managers and employees for their support while collecting the required datasets for Track 3. Track 5 organizers were supported by JST-OPERA Program, Japan, under Grant JPMJOP1612. Track 7 organizers were supported by the Bavarian Ministry for Economic Affairs, Infrastructure, Transport and Technology through the Center for Analytics-Data-Applications (ADA-Center) within the framework of “BAYERN DIGITAL II. ” Team UMinho (Track 3) was supported by FCT—Fundação para a Ciência e Tecnologia within the R&D Units Project Scope under Grant UIDB/00319/2020, and the Ph.D. Fellowship under Grant PD/BD/137401/2018. Team YAI (Track 3) was supported by the Ministry of Science and Technology (MOST) of Taiwan under Grant MOST 109-2221-E-197-026. Team Indora (Track 3) was supported in part by the Slovak Grant Agency, Ministry of Education and Academy of Science, Slovakia, under Grant 1/0177/21, and in part by the Slovak Research and Development Agency under Contract APVV-15-0091. Team TJU (Track 3) was supported in part by the National Natural Science Foundation of China under Grant 61771338 and in part by the Tianjin Research Funding under Grant 18ZXRHSY00190. Team Next-Newbie Reckoners (Track 3) were supported by the Singapore Government through the Industry Alignment Fund—Industry Collaboration Projects Grant. This research was conducted at Singtel Cognitive and Artificial Intelligence Lab for Enterprises (SCALE@NTU), which is a collaboration between Singapore Telecommunications Limited (Singtel) and Nanyang Technological University (NTU). Team KawaguchiLab (Track 5) was supported by JSPS KAKENHI under Grant JP17H01762. Team WHU&AutoNavi (Track 6) was supported by the National Key Research and Development Program of China under Grant 2016YFB0502202. Team YAI (Tracks 6 and 7) was supported by the Ministry of Science and Technology (MOST) of Taiwan under Grant MOST 110-2634-F-155-001

Off-Line Evaluation of Indoor Positioning Systems in Different Scenarios: The Experiences From IPIN 2020 Competition

Every year, for ten years now, the IPIN competition has aimed at evaluating real-world indoor localisation systems by testing them in a realistic environment, with realistic movement, using the EvAAL framework. The competition provided a unique overview of the state-of-the-art of systems, technologies, and methods for indoor positioning and navigation purposes. Through fair comparison of the performance achieved by each system, the competition was able to identify the most promising approaches and to pinpoint the most critical working conditions. In 2020, the competition included 5 diverse off-site off-site Tracks, each resembling real use cases and challenges for indoor positioning. The results in terms of participation and accuracy of the proposed systems have been encouraging. The best performing competitors obtained a third quartile of error of 1 m for the Smartphone Track and 0.5 m for the Foot-mounted IMU Track. While not running on physical systems, but only as algorithms, these results represent impressive achievements.Track 3 organizers were supported by the European Union’s Horizon 2020 Research and Innovation programme under the Marie Skłodowska Curie Grant 813278 (A-WEAR: A network for dynamic WEarable Applications with pRivacy constraints), MICROCEBUS (MICINN, ref. RTI2018-095168-B-C55, MCIU/AEI/FEDER UE), INSIGNIA (MICINN ref. PTQ2018-009981), and REPNIN+ (MICINN, ref. TEC2017-90808-REDT). We would like to thanks the UJI’s Library managers and employees for their support while collecting the required datasets for Track 3. Track 5 organizers were supported by JST-OPERA Program, Japan, under Grant JPMJOP1612. Track 7 organizers were supported by the Bavarian Ministry for Economic Affairs, Infrastructure, Transport and Technology through the Center for Analytics-Data-Applications (ADA-Center) within the framework of “BAYERN DIGITAL II. ” Team UMinho (Track 3) was supported by FCT—Fundação para a Ciência e Tecnologia within the R&D Units Project Scope under Grant UIDB/00319/2020, and the Ph.D. Fellowship under Grant PD/BD/137401/2018. Team YAI (Track 3) was supported by the Ministry of Science and Technology (MOST) of Taiwan under Grant MOST 109-2221-E-197-026. Team Indora (Track 3) was supported in part by the Slovak Grant Agency, Ministry of Education and Academy of Science, Slovakia, under Grant 1/0177/21, and in part by the Slovak Research and Development Agency under Contract APVV-15-0091. Team TJU (Track 3) was supported in part by the National Natural Science Foundation of China under Grant 61771338 and in part by the Tianjin Research Funding under Grant 18ZXRHSY00190. Team Next-Newbie Reckoners (Track 3) were supported by the Singapore Government through the Industry Alignment Fund—Industry Collaboration Projects Grant. This research was conducted at Singtel Cognitive and Artificial Intelligence Lab for Enterprises (SCALE@NTU), which is a collaboration between Singapore Telecommunications Limited (Singtel) and Nanyang Technological University (NTU). Team KawaguchiLab (Track 5) was supported by JSPS KAKENHI under Grant JP17H01762. Team WHU&AutoNavi (Track 6) was supported by the National Key Research and Development Program of China under Grant 2016YFB0502202. Team YAI (Tracks 6 and 7) was supported by the Ministry of Science and Technology (MOST) of Taiwan under Grant MOST 110-2634-F-155-001.Peer reviewe

a fall detection algorithm based on pattern recognition and human posture analysis

Detecting fall is a particular important task in security monitoring and healthcare applications of sensor networks. However traditional approaches suffer from either a high false positive rate or high false negative rate, especially when the collected sensor data are unbalanced. Therefore, there is a lack of tradeoff between false alarms and misses for many traditional data mining methods to be applied. To solve this problem a novel fall detection algorithm based on pattern recognition and human posture analysis is presented in this paper. It firstly extracts thirty temporal features from the original data traces for different length adaptation of samples, and then exploits Hidden Markov Model (HMM) to filter the noisy character data and reduce the dimension of feature vectors. After that, it performs a closer classification with one-class Support Vector Machine (OCSVM) to filter the high false positive samples, and finally applies posture analysis to counteract the effects of high false negative samples until a satisfying accuracy is achieved. Simulation with real data demonstrates that the proposed algorithm outperforms other existing approaches.Detecting fall is a particular important task in security monitoring and healthcare applications of sensor networks. However traditional approaches suffer from either a high false positive rate or high false negative rate, especially when the collected sensor data are unbalanced. Therefore, there is a lack of tradeoff between false alarms and misses for many traditional data mining methods to be applied. To solve this problem a novel fall detection algorithm based on pattern recognition and human posture analysis is presented in this paper. It firstly extracts thirty temporal features from the original data traces for different length adaptation of samples, and then exploits Hidden Markov Model (HMM) to filter the noisy character data and reduce the dimension of feature vectors. After that, it performs a closer classification with one-class Support Vector Machine (OCSVM) to filter the high false positive samples, and finally applies posture analysis to counteract the effects of high false negative samples until a satisfying accuracy is achieved. Simulation with real data demonstrates that the proposed algorithm outperforms other existing approaches

design and implementation of an lbs application server software based on the pub/sub paradigm

This paper gives out a PUB/SUB-based application server software, which aims at improving the coarse granularity of the pushed information in current LBS systems. Taking the advantage of PUB/SUB system's asynchronous, loosely-coupled and multiplex communication mechanism, the server software pushes LBS information with its granularity refined. By combining position information and the PUB/SUB paradigm, users can easily focus on his points of interest. In this paper, three message formats, which are used in the communication between client app and server, are introduced and overall architecture is presented. Furthermore, in order to support indoor and outdoor service, a positioning middleware is also applied. The process of subscription matching utilizes a hash table to speed up the rate. Experimental result shows that the software could offer an efficient service to users. © 2012 IEEE.Shanghai University; Shanghai University of Engineering Sciences; University of KentuckyThis paper gives out a PUB/SUB-based application server software, which aims at improving the coarse granularity of the pushed information in current LBS systems. Taking the advantage of PUB/SUB system's asynchronous, loosely-coupled and multiplex communication mechanism, the server software pushes LBS information with its granularity refined. By combining position information and the PUB/SUB paradigm, users can easily focus on his points of interest. In this paper, three message formats, which are used in the communication between client app and server, are introduced and overall architecture is presented. Furthermore, in order to support indoor and outdoor service, a positioning middleware is also applied. The process of subscription matching utilizes a hash table to speed up the rate. Experimental result shows that the software could offer an efficient service to users. © 2012 IEEE

clustering algorithms research for device-clustering localization

Crowdsourcing-based localization has attracted wide research concern to the metropolitan-scale positioning. However, crowdsourcing-based fingerprints collection with assorted mobile smart devices brings fingerprint confusion, which significantly degrades the localization accuracy. To solve the device diversity problem, many solutions have been raised like the Device-Clustering algorithm. Based on macro Device-Cluster (DC) rather than natural device, DC algorithm maintains less device types and slight calibration overhead. Despite high positioning accuracy, the selection of suitable clustering algorithms in DC system becomes another puzzle. In this paper, we reshape the novel Device-Clustering algorithm to enhance the indoor positioning by comparing the application of different clustering algorithms. The experimental result indicates the reliability of DC strategy in broad clustering scheme as well as the suitable locating process corresponding to distinct environment. © 2012 IEEE.Crowdsourcing-based localization has attracted wide research concern to the metropolitan-scale positioning. However, crowdsourcing-based fingerprints collection with assorted mobile smart devices brings fingerprint confusion, which significantly degrades the localization accuracy. To solve the device diversity problem, many solutions have been raised like the Device-Clustering algorithm. Based on macro Device-Cluster (DC) rather than natural device, DC algorithm maintains less device types and slight calibration overhead. Despite high positioning accuracy, the selection of suitable clustering algorithms in DC system becomes another puzzle. In this paper, we reshape the novel Device-Clustering algorithm to enhance the indoor positioning by comparing the application of different clustering algorithms. The experimental result indicates the reliability of DC strategy in broad clustering scheme as well as the suitable locating process corresponding to distinct environment. © 2012 IEEE