Automatic diabetic retinopathy (DR) grading based on fundus photography has been widely explored to benefit the routine screening and early treatment. Existing researches generally focus on single-field fundus images, which have limited field of view for precise eye examinations. In clinical applications, ophthalmologists adopt two-field fundus photography as the dominating tool, where the information from each field (i.e.,macula-centric and optic disc-centric) is highly correlated and complementary, and benefits comprehensive decisions. However, automatic DR grading based on two-field fundus photography remains a challenging task due to the lack of publicly available datasets and effective fusion strategies. In this work, we first construct a new benchmark dataset (DRTiD) for DR grading, consisting of 3,100 two-field fundus images. To the best of our knowledge, it is the largest public DR dataset with diverse and high-quality two-field images. Then, we propose a novel DR grading approach, namely Cross-Field Transformer (CrossFiT), to capture the correspondence between two fields as well as the long-range spatial correlations within each field. Considering the inherent two-field geometric constraints, we particularly define aligned position embeddings to preserve relative consistent position in fundus. Besides, we perform masked cross-field attention during interaction to flter the noisy relations between fields. Extensive experiments on our DRTiD dataset and a public DeepDRiD dataset demonstrate the effectiveness of our CrossFiT network. The new dataset and the source code of CrossFiT will be publicly available at https://github.com/FDU-VTS/DRTiD.
Visual position recognition affects the safety and accuracy of automatic driving. To accurately identify the location, this paper studies a visual place recognition algorithm based on HMM filter and HMM smoother. Firstly, we constructed the traffic situations in Canberra city. Then the mathematical models of the HMM filter and HMM smoother were performed. Finally, the vehicle position was predicted based on the algorithms. Experiment results show that HMM smoother is better than HMM filter in terms of prediction accuracy.
In real-world applications for automatic guided vehicle (AGV) navigation, the positioning system based on the time-of-flight (TOF) measurements between anchors and tags is confronted with the problem of insufficient measurements caused by blockages to radio signals or lasers, etc. Mounting multiple tags at different positions of the AGV to collect more TOFs is a feasible solution to tackle this difficulty. Vehicle localization by exploiting the measurements between multiple tags and anchors is a rigid body localization (RBL) problem, which estimates both the position and attitude of the vehicle. However, the state-of-the-art solutions to the RBL problem do not deal with missing measurements, and thus will result in degraded localization availability and accuracy in harsh environments. In this paper, different from these existing solutions for RBL, we model this problem as a sensor network localization problem with missing TOFs. To solve this problem, we propose a new efficient RBL solution based on Euclidean distance matrix (EDM) completion, abbreviated as ERBL-EDMC. Firstly, we develop a method to determine the upper and lower bounds of the missing measurements to complete the EDM reliably, using the known relative positions between tags and the statistics of the TOF measurements. Then, based on the completed EDM, the global tag positions are obtained from a coarse estimation followed by a refinement step assisted with inter-tag distances. Finally, the optimal vehicle position and attitude are obtained iteratively based on the estimated tag positions from the previous step. Theoretical analysis and simulation results show that the proposed ERBL-EDMC method effectively solves the RBL problem with incomplete measurements. It obtains the optimal positioning results while maintaining low computational complexity compared with the existing RBL methods based on semi-definite relaxation.
A Global Navigation Satellite System (GNSS) receiver usually needs a sufficient number of full pseudorange measurements to obtain a position solution. However, it is time-consuming to acquire full pseudorange information from only the satellite broadcast signals due to the navigation data features of GNSS. In order to realize fast positioning during a cold or warm start in a GNSS receiver, the existing approaches require an initial estimation of position and time or require a number of computational steps to recover the full pseudorange information from fractional pseudoranges and then compute the position solution. The BeiDou Navigation Satellite System (BDS) has a unique constellation distribution and a fast navigation data rate for geostationary earth orbit (GEO) satellites. Taking advantage of these features, we propose a fast positioning technique for BDS receivers. It simultaneously processes the full and fractional pseudorange measurements from the BDS GEOs and non-GEOs, respectively, which is faster than processing all full measurements. This method resolves the position solution and recovers the full pseudoranges for non-GEOs simultaneously within 1 s theoretically and does not need an estimate of the initial position. Simulation and real data experiments confirm that the proposed technique completes fast positioning without a priori position and time estimation, and the positioning accuracy is identical with the conventional single-point positioning approach using full pseudorange measurements from all available satellites.
Because anomalous samples cannot be used for training, many anomaly detection and localization methods use pre-trained networks and non-parametric modeling to estimate encoded feature distribution. However, these methods neglect the impact of position and neighborhood information on the distribution of normal features. To overcome this, we propose a new algorithm, \textbf{PNI}, which estimates the normal distribution using conditional probability given neighborhood features, modeled with a multi-layer perceptron network. Moreover, position information is utilized by creating a histogram of representative features at each position. Instead of simply resizing the anomaly map, the proposed method employs an additional refine network trained on synthetic anomaly images to better interpolate and account for the shape and edge of the input image. We conducted experiments on the MVTec AD benchmark dataset and achieved state-of-the-art performance, with \textbf{99.56\%} and \textbf{98.98\%} AUROC scores in anomaly detection and localization, respectively.
Recent research has revealed undesirable biases in NLP data and models. However, these efforts largely focus on social disparities in the West, and are not directly portable to other geo-cultural contexts. In this position paper, we outline a holistic research agenda to re-contextualize NLP fairness research for the Indian context, accounting for Indian societal context, bridging technological gaps in capability and resources, and adapting to Indian cultural values. We also summarize findings from an empirical study on various social biases along different axes of disparities relevant to India, demonstrating their prevalence in corpora and models.
Despite impressive performance for high-level downstream tasks, self-supervised pre-training methods have not yet fully delivered on dense geometric vision tasks such as stereo matching or optical flow. The application of self-supervised concepts, such as instance discrimination or masked image modeling, to geometric tasks is an active area of research. In this work, we build on the recent cross-view completion framework, a variation of masked image modeling that leverages a second view from the same scene which makes it well suited for binocular downstream tasks. The applicability of this concept has so far been limited in at least two ways: (a) by the difficulty of collecting real-world image pairs -- in practice only synthetic data have been used -- and (b) by the lack of generalization of vanilla transformers to dense downstream tasks for which relative position is more meaningful than absolute position. We explore three avenues of improvement. First, we introduce a method to collect suitable real-world image pairs at large scale. Second, we experiment with relative positional embeddings and show that they enable vision transformers to perform substantially better. Third, we scale up vision transformer based cross-completion architectures, which is made possible by the use of large amounts of data. With these improvements, we show for the first time that state-of-the-art results on stereo matching and optical flow can be reached without using any classical task-specific techniques like correlation volume, iterative estimation, image warping or multi-scale reasoning, thus paving the way towards universal vision models.
This proceedings contains abstracts and position papers for the work presented at the second Logic and Practice of Programming (LPOP) Workshop. The workshop was held online, virtually in place of Chicago, USA, on November 15, 2010, in conjunction with the ACM SIGPLAN Conference on Systems, Programming, Languages, and Applications: Software for Humanity (SPLASH) 2020. The purpose of this workshop is to be a bridge between different areas of computer science that use logic as a practical tool. We take advantage of the common language of formal logic to exchange ideas between these different areas.
Transformers have achieved remarkable success in medical image analysis owing to their powerful capability to use flexible self-attention mechanism. However, due to lacking intrinsic inductive bias in modeling visual structural information, they generally require a large-scale pre-training schedule, limiting the clinical applications over expensive small-scale medical data. To this end, we propose a parameter-efficient transformer to explore intrinsic inductive bias via position information for medical image segmentation. Specifically, we empirically investigate how different position encoding strategies affect the prediction quality of the region of interest (ROI), and observe that ROIs are sensitive to the position encoding strategies. Motivated by this, we present a novel Hybrid Axial-Attention (HAA), a form of position self-attention that can be equipped with spatial pixel-wise information and relative position information as inductive bias. Moreover, we introduce a gating mechanism to alleviate the burden of training schedule, resulting in efficient feature selection over small-scale datasets. Experiments on the BraTS and Covid19 datasets prove the superiority of our method over the baseline and previous works. Internal workflow visualization with interpretability is conducted to better validate our success.
Hand gesture recognition can benefit from directly processing 3D point cloud sequences, which carry rich geometric information and enable the learning of expressive spatio-temporal features. However, currently employed single-stream models cannot sufficiently capture multi-scale features that include both fine-grained local posture variations and global hand movements. We therefore propose a novel dual-stream model, which decouples the learning of local and global features. These are eventually fused in an LSTM for temporal modelling. To induce the global and local stream to capture complementary position and posture features, we propose the use of different 3D learning architectures in both streams. Specifically, state-of-the-art point cloud networks excel at capturing fine posture variations from raw point clouds in the local stream. To track hand movements in the global stream, we combine an encoding with residual basis point sets and a fully-connected DenseNet. We evaluate the method on the Shrec'17 and DHG dataset and report state-of-the-art results at a reduced computational cost. Source code is available at https://github.com/multimodallearning/hand-gesture-posture-position.
Bayesian receiver autonomous integrity monitoring (RAIM) algorithms are developed for the snapshot cellular positioning problem in a simplified one-dimensional (1D) linear Gaussian setting. Position estimation, multi-fault detection and exclusion, and protection level (PL) computation are enabled by the efficient and exact computation of the position posterior probabilities via message passing along a factor graph. Computer simulations demonstrate the significant performance improvement of the proposed Bayesian RAIM algorithms over a baseline advanced RAIM algorithm, as it obtains tighter PLs that meet the target integrity risk (TIR) requirements.
Tracking passive magnetic markers plays a vital role in advancing healthcare and robotics, offering the potential to significantly improve the precision and efficiency of systems. This technology is key to developing smarter, more responsive tools and devices, such as enhanced surgical instruments, precise diagnostic tools, and robots with improved environmental interaction capabilities. However, traditionally, the tracking of magnetic markers is computationally expensive due to the requirement for iterative optimization procedures. Moreover, these methods depend on the magnetic dipole model for their optimization function, which can yield imprecise outcomes due to the model's significant inaccuracies when dealing with short distances between non-spherical magnet and sensor.Our paper introduces a novel approach that leverages neural networks to bypass these limitations, directly inferring the marker's position and orientation to accurately determine the magnet's 5 DoF in a single step without initial estimation. Although our method demands an extensive supervised training phase, we mitigate this by introducing a computationally more efficient method to generate synthetic, yet realistic data using Finite Element Methods simulations. The benefits of fast and accurate inference significantly outweigh the offline training preparation. In our evaluation, we use different cylindrical magnets, tracked with a square array of 16 sensors. We perform the sensors' reading and position inference on a portable, neural networks-oriented single-board computer, ensuring a compact setup. We benchmark our prototype against vision-based ground truth data, achieving a mean positional error of 4 mm and an orientation error of 8 degrees within a 0.2x0.2x0.15 m working volume. These results showcase our prototype's ability to balance accuracy and compactness effectively in tracking 5 DoF.
Wave propagation through nodes and links of a network forms the basis of spectral graph theory. Nevertheless, the sound emitted by nodes within the resonating chamber formed by a network are not well studied. The sound emitted by vibrations of individual nodes reflects the structure of the overall network topology but also the location of the node within the network. In this article, a sound recognition neural network is trained to infer centrality measures from the nodes' wave-forms. In addition to advancing network representation learning, sounds emitted by nodes are plausible in most cases. Auralization of the network topology may open new directions in arts, competing with network visualization.
Autonomous underwater vehicles (AUVs) are becoming standard tools for underwater exploration and seabed mapping in both scientific and industrial applications \cite{graham2022rapid, stenius2022system}. Their capacity to dive untethered allows them to reach areas inaccessible to surface vessels and to collect data more closely to the seafloor, regardless of the water depth. However, their navigation autonomy remains bounded by the accuracy of their dead reckoning (DR) estimate of their global position, severely limited in the absence of a priori maps of the area and GPS signal. Global localization systems equivalent to the later exists for the underwater domain, such as LBL or USBL. However they involve expensive external infrastructure and their reliability decreases with the distance to the AUV, making them unsuitable for deep sea surveys.
Progress on many Natural Language Processing (NLP) tasks, such as text classification, is driven by objective, reproducible and scalable evaluation via publicly available benchmarks. However, these are not always representative of real-world scenarios where text classifiers are employed, such as sentiment analysis or misinformation detection. In this position paper, we put forward two points that aim to alleviate this problem. First, we propose to extend text classification benchmarks to evaluate the explainability of text classifiers. We review challenges associated with objectively evaluating the capabilities to produce valid explanations which leads us to the second main point: We propose to ground these benchmarks in human-centred applications, for example by using social media, gamification or to learn explainability metrics from human judgements.
The fashion industry is one of the most active and competitive markets in the world, manufacturing millions of products and reaching large audiences every year. A plethora of business processes are involved in this large-scale industry, but due to the generally short life-cycle of clothing items, supply-chain management and retailing strategies are crucial for good market performance. Correctly understanding the wants and needs of clients, managing logistic issues and marketing the correct products are high-level problems with a lot of uncertainty associated to them given the number of influencing factors, but most importantly due to the unpredictability often associated with the future. It is therefore straightforward that forecasting methods, which generate predictions of the future, are indispensable in order to ameliorate all the various business processes that deal with the true purpose and meaning of fashion: having a lot of people wear a particular product or style, rendering these items, people and consequently brands fashionable. In this paper, we provide an overview of three concrete forecasting tasks that any fashion company can apply in order to improve their industrial and market impact. We underline advances and issues in all three tasks and argue about their importance and the impact they can have at an industrial level. Finally, we highlight issues and directions of future work, reflecting on how learning-based forecasting methods can further aid the fashion industry.
Manual prescription of the field of view (FOV) by MRI technologists is variable and prolongs the scanning process. Often, the FOV is too large or crops critical anatomy. We propose a deep-learning framework, trained by radiologists' supervision, for automating FOV prescription. An intra-stack shared feature extraction network and an attention network are used to process a stack of 2D image inputs to generate output scalars defining the location of a rectangular region of interest (ROI). The attention mechanism is used to make the model focus on the small number of informative slices in a stack. Then the smallest FOV that makes the neural network predicted ROI free of aliasing is calculated by an algebraic operation derived from MR sampling theory. We retrospectively collected 595 cases between February 2018 and February 2022. The framework's performance is examined quantitatively with intersection over union (IoU) and pixel error on position, and qualitatively with a reader study. We use the t-test for comparing quantitative results from all models and a radiologist. The proposed model achieves an average IoU of 0.867 and average ROI position error of 9.06 out of 512 pixels on 80 test cases, significantly better (P<0.05) than two baseline models and not significantly different from a radiologist (P>0.12). Finally, the FOV given by the proposed framework achieves an acceptance rate of 92% from an experienced radiologist.
Word order, an essential property of natural languages, is injected in Transformer-based neural language models using position encoding. However, recent experiments have shown that explicit position encoding is not always useful, since some models without such feature managed to achieve state-of-the art performance on some tasks. To understand better this phenomenon, we examine the effect of removing position encodings on the pre-training objective itself (i.e., masked language modelling), to test whether models can reconstruct position information from co-occurrences alone. We do so by controlling the amount of masked tokens in the input sentence, as a proxy to affect the importance of position information for the task. We find that the necessity of position information increases with the amount of masking, and that masked language models without position encodings are not able to reconstruct this information on the task. These findings point towards a direct relationship between the amount of masking and the ability of Transformers to capture order-sensitive aspects of language using position encoding.
This paper investigates the asymptotical cooperative cruise fault tolerant control problem for multiple high-speed trains consisting of multiple carriages in the presence of actuator faults. A distributed state-fault observer utilizing the structural information of faults is designed to achieve asymptotical estimation of states and faults of each carriage. The observer does not rely on choice of control input, and thus it is separated from controller design. Based on the estimated values of states and faults, a distributed fault tolerance controller is designed to realize asymptotical cooperative cruise control of trains under the dual constraints of ensuring both position difference and velocity difference of adjacent trains in specified ranges throughout the whole process.
Feedforward for motion systems is getting increasingly more important to achieve performance requirements. This leads to a situation where position-dependent effects cannot be neglected anymore.