Unsupervised Deep Epipolar Flow for Stationary or Dynamic Scenes

Unsupervised deep learning for optical flow computation has achieved promising results. Most existing deep-net based methods rely on image brightness consistency and local smoothness constraint to train the networks. Their performance degrades at regions where repetitive textures or occlusions occur. In this paper, we propose Deep Epipolar Flow, an unsupervised optical flow method which incorporates global geometric constraints into network learning. In particular, we investigate multiple ways of enforcing the epipolar constraint in flow estimation. To alleviate a "chicken-and-egg" type of problem encountered in dynamic scenes where multiple motions may be present, we propose a low-rank constraint as well as a union-of-subspaces constraint for training. Experimental results on various benchmarking datasets show that our method achieves competitive performance compared with supervised methods and outperforms state-of-the-art unsupervised deep-learning methods.Comment: CVPR 201

GP-SLAM+: real-time 3D lidar SLAM based on improved regionalized Gaussian process map reconstruction

This paper presents a 3D lidar SLAM system based on improved regionalized Gaussian process (GP) map reconstruction to provide both low-drift state estimation and mapping in real-time for robotics applications. We utilize spatial GP regression to model the environment. This tool enables us to recover surfaces including those in sparsely scanned areas and obtain uniform samples with uncertainty. Those properties facilitate robust data association and map updating in our scan-to-map registration scheme, especially when working with sparse range data. Compared with previous GP-SLAM, this work overcomes the prohibitive computational complexity of GP and redesigns the registration strategy to meet the accuracy requirements in 3D scenarios. For large-scale tasks, a two-thread framework is employed to suppress the drift further. Aerial and ground-based experiments demonstrate that our method allows robust odometry and precise mapping in real-time. It also outperforms the state-of-the-art lidar SLAM systems in our tests with light-weight sensors.Comment: Accepted by IROS 202

Non-intrusive load identification method based on GAF and RAN networks

Non-intrusive load identification can improve the interaction efficiency between the power supply side and the user side of the grid. Applying this technology can alleviate the problem of energy shortage and is a key technique for achieving efficient management on the user side. In response to the cumbersome process of manually selecting load features and the low accuracy of identification in traditional machine learning algorithms for non-intrusive load identification, this paper proposes a method that transforms the one-dimensional reactive electric signal of the load into a two-dimensional image using Gram coding and utilizes the Residual Attention Network (RAN) for load classification and recognition. By transforming the one-dimensional electrical signal into a two-dimensional image as the input to the RAN network, this approach retains the original load information while providing richer information for the RAN network to extract load features. Furthermore, the RAN network effectively addresses the poor performance and gradient vanishing issues of deep learning networks through bottleneck residual blocks. Finally, experiments were conducted on a public dataset to verify the effectiveness of the proposed method

Taking a Respite from Representation Learning for Molecular Property Prediction

Artificial intelligence (AI) has been widely applied in drug discovery with a major task as molecular property prediction. Despite the boom of AI techniques in molecular representation learning, some key aspects underlying molecular property prediction haven't been carefully examined yet. In this study, we conducted a systematic comparison on three representative models, random forest, MolBERT and GROVER, which utilize three major molecular representations, extended-connectivity fingerprints, SMILES strings and molecular graphs, respectively. Notably, MolBERT and GROVER, are pretrained on large-scale unlabelled molecule corpuses in a self-supervised manner. In addition to the commonly used MoleculeNet benchmark datasets, we also assembled a suite of opioids-related datasets for downstream prediction evaluation. We first conducted dataset profiling on label distribution and structural analyses; we also examined the activity cliffs issue in the opioids-related datasets. Then, we trained 4,320 predictive models and evaluated the usefulness of the learned representations. Furthermore, we explored into the model evaluation by studying the effect of statistical tests, evaluation metrics and task settings. Finally, we dissected the chemical space generalization into inter-scaffold and intra-scaffold generalization and measured prediction performance to evaluate model generalizbility under both settings. By taking this respite, we reflected on the key aspects underlying molecular property prediction, the awareness of which can, hopefully, bring better AI techniques in this field

Gold-YOLO: Efficient Object Detector via Gather-and-Distribute Mechanism

In the past years, YOLO-series models have emerged as the leading approaches in the area of real-time object detection. Many studies pushed up the baseline to a higher level by modifying the architecture, augmenting data and designing new losses. However, we find previous models still suffer from information fusion problem, although Feature Pyramid Network (FPN) and Path Aggregation Network (PANet) have alleviated this. Therefore, this study provides an advanced Gatherand-Distribute mechanism (GD) mechanism, which is realized with convolution and self-attention operations. This new designed model named as Gold-YOLO, which boosts the multi-scale feature fusion capabilities and achieves an ideal balance between latency and accuracy across all model scales. Additionally, we implement MAE-style pretraining in the YOLO-series for the first time, allowing YOLOseries models could be to benefit from unsupervised pretraining. Gold-YOLO-N attains an outstanding 39.9% AP on the COCO val2017 datasets and 1030 FPS on a T4 GPU, which outperforms the previous SOTA model YOLOv6-3.0-N with similar FPS by +2.4%. The PyTorch code is available at https://github.com/huawei-noah/Efficient-Computing/tree/master/Detection/Gold-YOLO, and the MindSpore code is available at https://gitee.com/mindspore/models/tree/master/research/cv/Gold_YOLO.Comment: Accepted by NeurIPS 202