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Deep learning has shown promising results for multiple 3D point cloud registration datasets. However, in the underwater domain, most registration of multibeam echo-sounder (MBES) point cloud data are still performed using classical methods in the iterative closest point (ICP) family. In this work, we curate and release DotsonEast Dataset, a semi-synthetic MBES registration dataset constructed from an autonomous underwater vehicle in West Antarctica. Using this dataset, we systematically benchmark the performance of 2 classical and 4 learning-based methods. The experimental results show that the learning-based methods work well for coarse alignment, and are better at recovering rough transforms consistently at high overlap (20-50%). In comparison, GICP (a variant of ICP) performs well for fine alignment and is better across all metrics at extremely low overlap (10%). To the best of our knowledge, this is the first work to benchmark both learning-based and classical registration methods on an AUV-based MBES dataset. To facilitate future research, both the code and data are made available online., Comment: Accepted at ICRA 2024 (IEEE International Conference on Robotics and Automation 2024)

Side-scan sonar (SSS) is a lightweight acoustic sensor that is commonly deployed on autonomous underwater vehicles (AUVs) to provide high-resolution seafloor images. However, leveraging side-scan images for simultaneous localization and mapping (SLAM) presents a notable challenge, primarily due to the difficulty of establishing sufficient amount of accurate correspondences between these images. To address this, we introduce a novel subframe-based dense SLAM framework utilizing side-scan sonar data, enabling effective dense matching in overlapping regions of paired side-scan images. With each image being evenly divided into subframes, we propose a robust estimation pipeline to estimate the relative pose between each paired subframes, by using a good inlier set identified from dense correspondences. These relative poses are then integrated as edge constraints in a factor graph to optimize the AUV pose trajectory. The proposed framework is evaluated on three real datasets collected by a Hugin AUV. Among one of them includes manually-annotated keypoint correspondences as ground truth and is used for evaluation of pose trajectory. We also present a feasible way of evaluating mapping quality against multi-beam echosounder (MBES) data without the influence of pose. Experimental results demonstrate that our approach effectively mitigates drift from the dead-reckoning (DR) system and enables quasi-dense bathymetry reconstruction. An open-source implementation of this work is available., Comment: 11 pages, 12 figures. arXiv admin note: substantial text overlap with arXiv:2304.01854

Major depressive disorder (MDD) is a complex psychiatric disorder that affects the lives of hundreds of millions of individuals around the globe. Even today, researchers debate if morphological alterations in the brain are linked to MDD, likely due to the heterogeneity of this disorder. The application of deep learning tools to neuroimaging data, capable of capturing complex non-linear patterns, has the potential to provide diagnostic and predictive biomarkers for MDD. However, previous attempts to demarcate MDD patients and healthy controls (HC) based on segmented cortical features via linear machine learning approaches have reported low accuracies. In this study, we used globally representative data from the ENIGMA-MDD working group containing an extensive sample of people with MDD (N=2,772) and HC (N=4,240), which allows a comprehensive analysis with generalizable results. Based on the hypothesis that integration of vertex-wise cortical features can improve classification performance, we evaluated the classification of a DenseNet and a Support Vector Machine (SVM), with the expectation that the former would outperform the latter. As we analyzed a multi-site sample, we additionally applied the ComBat harmonization tool to remove potential nuisance effects of site. We found that both classifiers exhibited close to chance performance (balanced accuracy DenseNet: 51%; SVM: 53%), when estimated on unseen sites. Slightly higher classification performance (balanced accuracy DenseNet: 58%; SVM: 55%) was found when the cross-validation folds contained subjects from all sites, indicating site effect. In conclusion, the integration of vertex-wise morphometric features and the use of the non-linear classifier did not lead to the differentiability between MDD and HC. Our results support the notion that MDD classification on this combination of features and classifiers is unfeasible.

Multi-output deep neural networks(MONs) contain multiple task branches, and these tasks usually share partial network filters that lead to the entanglement of different task inference routes. Due to the inconsistent optimization objectives, the task gradients used for training MONs will interfere with each other on the shared routes, which will decrease the overall model performance. To address this issue, we propose a novel gradient de-conflict algorithm named DR-MGF(Dynamic Routes and Meta-weighted Gradient Fusion) in this work. Different from existing de-conflict methods, DR-MGF achieves gradient de-conflict in MONs by learning task-preferred inference routes. The proposed method is motivated by our experimental findings: the shared filters are not equally important to different tasks. By designing the learnable task-specific importance variables, DR-MGF evaluates the importance of filters for different tasks. Through making the dominances of tasks over filters be proportional to the task-specific importance of filters, DR-MGF can effectively reduce the inter-task interference. The task-specific importance variables ultimately determine task-preferred inference routes at the end of training iterations. Extensive experimental results on CIFAR, ImageNet, and NYUv2 illustrate that DR-MGF outperforms the existing de-conflict methods both in prediction accuracy and convergence speed of MONs. Furthermore, DR-MGF can be extended to general MONs without modifying the overall network structures., Comment: 15 pages

Acoustic sensors play an important role in autonomous underwater vehicles (AUVs). Sidescan sonar (SSS) detects a wide range and provides photo-realistic images in high resolution. However, SSS projects the 3D seafloor to 2D images, which are distorted by the AUV's altitude, target's range and sensor's resolution. As a result, the same physical area can show significant visual differences in SSS images from different survey lines, causing difficulties in tasks such as pixel correspondence and template matching. In this paper, a canonical transformation method consisting of intensity correction and slant range correction is proposed to decrease the above distortion. The intensity correction includes beam pattern correction and incident angle correction using three different Lambertian laws (cos, cos2, cot), whereas the slant range correction removes the nadir zone and projects the position of SSS elements into equally horizontally spaced, view-point independent bins. The proposed method is evaluated on real data collected by a HUGIN AUV, with manually-annotated pixel correspondence as ground truth reference. Experimental results on patch pairs compare similarity measures and keypoint descriptor matching. The results show that the canonical transformation can improve the patch similarity, as well as SIFT descriptor matching accuracy in different images where the same physical area was ensonified., Comment: 7 pages, 8 figures

Side-scan sonar (SSS) is a lightweight acoustic sensor that is frequently deployed on autonomous underwater vehicles (AUVs) to provide high-resolution seafloor images. However, using side-scan images to perform simultaneous localization and mapping (SLAM) remains a challenge when there is a lack of 3D bathymetric information and discriminant features in the side-scan images. To tackle this, we propose a feature-based SLAM framework using side-scan sonar, which is able to automatically detect and robustly match keypoints between paired side-scan images. We then use the detected correspondences as constraints to optimize the AUV pose trajectory. The proposed method is evaluated on real data collected by a Hugin AUV, using as a ground truth reference both manually-annotated keypoints and a 3D bathymetry mesh from multibeam echosounder (MBES). Experimental results demonstrate that our approach is able to reduce drifts from the dead-reckoning system. The framework is made publicly available for the benefit of the community., Comment: 7 pages, 11 figures

Context-aware decision support in the operating room can foster surgical safety and efficiency by leveraging real-time feedback from surgical workflow analysis. Most existing works recognize surgical activities at a coarse-grained level, such as phases, steps or events, leaving out fine-grained interaction details about the surgical activity; yet those are needed for more helpful AI assistance in the operating room. Recognizing surgical actions as triplets of combination delivers comprehensive details about the activities taking place in surgical videos. This paper presents CholecTriplet2021: an endoscopic vision challenge organized at MICCAI 2021 for the recognition of surgical action triplets in laparoscopic videos. The challenge granted private access to the large-scale CholecT50 dataset, which is annotated with action triplet information. In this paper, we present the challenge setup and assessment of the state-of-the-art deep learning methods proposed by the participants during the challenge. A total of 4 baseline methods from the challenge organizers and 19 new deep learning algorithms by competing teams are presented to recognize surgical action triplets directly from surgical videos, achieving mean average precision (mAP) ranging from 4.2% to 38.1%. This study also analyzes the significance of the results obtained by the presented approaches, performs a thorough methodological comparison between them, in-depth result analysis, and proposes a novel ensemble method for enhanced recognition. Our analysis shows that surgical workflow analysis is not yet solved, and also highlights interesting directions for future research on fine-grained surgical activity recognition which is of utmost importance for the development of AI in surgery., Comment: CholecTriplet2021 challenge report. Paper accepted at Elsevier journal of Medical Image Analysis. 22 pages, 8 figures, 11 tables. Challenge website: https://cholectriplet2021.grand-challenge.org

The frequency-specific coupling mechanism of the functional human brain networks underpins its complex cognitive and behavioral functions. Nevertheless, it is not well unveiled what are the frequency-specific subdivisions and network topologies of the human brain. In this study, we estimated functional connectivity of the human cerebral cortex using spectral connection, and conducted frequency-specific parcellation using eigen-clustering and gradient-based methods, and then explored their topological structures. 7T fMRI data of 184 subjects in the HCP dataset were used for parcellation and exploring the topological properties of the functional networks, and 3T fMRI data of another 890 subjects were used to confirm the stability of the frequency-specific topologies. Seven to ten functional networks were stably integrated by two to four dissociable hub categories at specific frequencies, and we proposed an intrinsic functional atlas containing 456 parcels according to the parcellations across frequencies. The results revealed that the functional networks contained stable frequency-specific topologies, which may imply more abundant roles of the functional units and more complex interactions among them., Comment: 43 pages, 14 figures

We make a detailed study on the typical production channel of double charmoniums, $e^+e^-\to J/\psi+\eta_c$, at the center-of-mass collision energy $\sqrt{s}=10.58$ GeV. The key component of the process is the form factor $F_{\rm VP}(q^2)$, which has been calculated within the QCD light-cone sum rules (LCSR). To improve the accuracy of the derived LCSR, we keep the $J/\psi$ light-cone distribution amplitude up to twist-4 accuracy. Total cross sections for $e^+e^-\to J/\psi+\eta_c$ at three typical factorization scales are $\sigma|_{\mu_s} = 22.53^{+3.46}_{-3.49}~{\rm fb}$, $\sigma|_{\mu_k} = 21.98^{+3.35}_{-3.38}~{\rm fb}$ and $\sigma|_{\mu_0} = 21.74^{+3.29}_{-3.33}~{\rm fb}$, respectively. The factorization scale dependence is small, and those predictions are consistent with the BABAR and Belle measurements within errors., Comment: 8 pages, 3 figures, version to be published in Physical Review D

Metasurfaces hold great potentials for advanced holographic display with extraordinary information capacity and pixel sizes in an ultrathin flat profile. Dual-polarization channel to encode two independent phase profiles or spatially multiplexed meta-holography by interleaved metasurfaces are captivated popular solutions to projecting multiplexed and vectorial images. However, the intrinsic limit of orthogonal polarization-channels, their crosstalk due to coupling between meta-atoms, and interleaving-induced degradation of efficiency and reconstructed image quality set great barriers for sophisticated meta-holography from being widely adopted. Here we report a non-interleaved TiO2 metasurface holography, and three distinct phase profiles are encoded into three orthogonal polarization bases with almost zero crosstalk. The corresponding three independently constructed intensity profiles are therefore assigned to trichromatic (RGB) beams, resulting in high-quality and high-efficiency vectorial meta-holography in the whole visible regime. Our strategy presents an unconventionally advanced holographic scheme by synergizing trichromatic colors and tri-polarization channels, simply realized with a minimalist non-interleaved metasurface. Our work unlocks the metasurface's potentials on massive information storage, polarization optics, polarimetric imaging, holographic data encryption, etc.

Banking Trojans, botnets are primary drivers of financially-motivated cybercrime. In this paper, we first analyzed how an APT-based banking botnet works step by step through the whole lifecycle. Specifically, we present a multi-stage system that detects malicious banking botnet activities which potentially target the organizations. The system leverages Cyber Data Lake as well as multiple artificial intelligence techniques at different stages. The evaluation results using public datasets showed that Deep Learning based detections were highly successful compared with baseline models., Comment: FEAP-AI4Fin 2018 : NIPS 2018 Workshop on Challenges and Opportunities for AI in Financial Services: the Impact of Fairness, Explainability, Accuracy, and Privacy

The device-to-device (D2D) communication is one of the promising technologies of the future Internet of Things (IoT), but its security-related issues remain challenging. The block-chain is considered to be a secure and reliable distributed ledger, so we can treat the device user equipment (D-UE) request for the reusing resources of cellular user equipment (C-UE) as a transaction and put it into a transaction pool, then package the record into the block-chain. In this paper, we study the D2D communication resource allocation scheme based on sparse code multiple access (SCMA). Firstly, the system's interference model and block-chain-based transaction flow are analyzed. Then we propose the optimization problem so that C-UE can get the maximum revenue by sharing its resources to D-UE. This problem is NP-hard, so we propose a heuristic algorithm based on semi-definite relaxation (SDR) programming to solve it. Finally, the performance of the proposed algorithm is verified by simulation of different system parameters., Comment: This paper was accepted for the WOCC 2019 in Beijing

With the evolution of data collection ways, it is possible to produce abundant data described by multiple feature sets. Previous studies show that including more features does not necessarily bring positive effect. How to prevent the augmented features worsening classification performance is crucial but rarely studied. In this paper, we study this challenging problem by proposing a secure classification approach, whose accuracy is never degenerated when exploiting augmented features. We propose two ways to achieve the security of our method named as SEcure Classification (SEC). Firstly, to leverage augmented features, we learn various types of classifiers and adapt them by employing a specially designed robust loss. It provides various candidate classifiers to meet the following assumption of security operation. Secondly, we integrate all candidate classifiers by approximately maximizing the performance improvement. Under a mild assumption, the integrated classifier has theoretical security guarantee. Several new optimization methods have been developed to accommodate the problems with proved convergence. Besides evaluating SEC on 16 data sets, we also apply SEC in the application of diagnostic classification of schizophrenia since it has vast application potentiality. Experimental results demonstrate the effectiveness of SEC in both tackling security problem and discriminating schizophrenic patients from healthy controls.

It is still under debate whether the classical Einstein relation in disordered organic semiconductors is valid. We investigated Einstein relation in disordered organic semiconductors theoretically. The results show that, the classic Einstein relation deviate dramatically with disorder and electric field, even in the case of thermal equilibrium.

In the framework of research into radioactive waste disposal, this paper presents some tests carried out to investigate the effects of temperature on the changes in permeability of Boom between 20 and 90 deg C. Constant head permeability tests were carried out in a high pressure isotropic compression tests at various temperature and isotropic stresses. The results show that the changes in permeability of Boom clay with temperature are only due to the changes in viscosity of free water with temperaure. This demonstrates on the one hand that the water involved in transfer at various temperatures is free water and on the other hand that there is apparently only few changes in the status of adsorbed water with respect to temperature between 20 and 90 deg C.