LoD-Loc: Aerial Visual Localization using LoD 3D Map with Neural Wireframe Alignment

We propose a new method named LoD-Loc for visual localization in the air. Unlike existing localization algorithms, LoD-Loc does not rely on complex 3D representations and can estimate the pose of an Unmanned Aerial Vehicle (UAV) using a Level-of-Detail (LoD) 3D map. LoD-Loc mainly achieves this goal by aligning the wireframe derived from the LoD projected model with that predicted by the neural network. Specifically, given a coarse pose provided by the UAV sensor, LoD-Loc hierarchically builds a cost volume for uniformly sampled pose hypotheses to describe pose probability distribution and select a pose with maximum probability. Each cost within this volume measures the degree of line alignment between projected and predicted wireframes. LoD-Loc also devises a 6-DoF pose optimization algorithm to refine the previous result with a differentiable Gaussian-Newton method. As no public dataset exists for the studied problem, we collect two datasets with map levels of LoD3.0 and LoD2.0, along with real RGB queries and ground-truth pose annotations. We benchmark our method and demonstrate that LoD-Loc achieves excellent performance, even surpassing current state-of-the-art methods that use textured 3D models for localization. The code and dataset are available at https://victorzoo.github.io/LoD-Loc.github.io/.

Beamforming Design for Semantic-Bit Coexisting Communication System

Semantic communication (SemCom) is emerging as a key technology for future sixth-generation (6G) systems. Unlike traditional bit-level communication (BitCom), SemCom directly optimizes performance at the semantic level, leading to superior communication efficiency. Nevertheless, the task-oriented nature of SemCom renders it challenging to completely replace BitCom. Consequently, it is desired to consider a semantic-bit coexisting communication system, where a base station (BS) serves SemCom users (sem-users) and BitCom users (bit-users) simultaneously. Such a system faces severe and heterogeneous inter-user interference. In this context, this paper provides a new semantic-bit coexisting communication framework and proposes a spatial beamforming scheme to accommodate both types of users. Specifically, we consider maximizing the semantic rate for semantic users while ensuring the quality-of-service (QoS) requirements for bit-users. Due to the intractability of obtaining the exact closed-form expression of the semantic rate, a data driven method is first applied to attain an approximated expression via data fitting. With the resulting complex transcendental function, majorization minimization (MM) is adopted to convert the original formulated problem into a multiple-ratio problem, which allows fractional programming (FP) to be used to further transform the problem into an inhomogeneous quadratically constrained quadratic programs (QCQP) problem. Solving the problem leads to a semi-closed form solution with undetermined Lagrangian factors that can be updated by a fixed point algorithm. Extensive simulation results demonstrate that the proposed beamforming scheme significantly outperforms conventional beamforming algorithms such as zero-forcing (ZF), maximum ratio transmission (MRT), and weighted minimum mean-square error (WMMSE).

MIMO Channel as a Neural Function: Implicit Neural Representations for Extreme CSI Compression in Massive MIMO Systems

Acquiring and utilizing accurate channel state information (CSI) can significantly improve transmission performance, thereby holding a crucial role in realizing the potential advantages of massive multiple-input multiple-output (MIMO) technology. Current prevailing CSI feedback approaches improve precision by employing advanced deep-learning methods to learn representative CSI features for a subsequent compression process. Diverging from previous works, we treat the CSI compression problem in the context of implicit neural representations. Specifically, each CSI matrix is viewed as a neural function that maps the CSI coordinates (antenna number and subchannel) to the corresponding channel gains. Instead of transmitting the parameters of the implicit neural functions directly, we transmit modulations based on the CSI matrix derived through a meta-learning algorithm. Modulations are then applied to a shared base network to generate the elements of the CSI matrix. Modulations corresponding to the CSI matrix are quantized and entropy-coded to further reduce the communication bandwidth, thus achieving extreme CSI compression ratios. Numerical results show that our proposed approach achieves state-of-the-art performance and showcases flexibility in feedback strategies.

UAVD4L: A Large-Scale Dataset for UAV 6-DoF Localization

Despite significant progress in global localization of Unmanned Aerial Vehicles (UAVs) in GPS-denied environments, existing methods remain constrained by the availability of datasets. Current datasets often focus on small-scale scenes and lack viewpoint variability, accurate ground truth (GT) pose, and UAV build-in sensor data. To address these limitations, we introduce a large-scale 6-DoF UAV dataset for localization (UAVD4L) and develop a two-stage 6-DoF localization pipeline (UAVLoc), which consists of offline synthetic data generation and online visual localization. Additionally, based on the 6-DoF estimator, we design a hierarchical system for tracking ground target in 3D space. Experimental results on the new dataset demonstrate the effectiveness of the proposed approach. Code and dataset are available at https://github.com/RingoWRW/UAVD4L

A Unitary Weights Based One-Iteration Quantum Perceptron Algorithm for Non-Ideal Training Sets

In order to solve the problem of non-ideal training sets (i.e., the less-complete or over-complete sets) and implement one-iteration learning, a novel efficient quantum perceptron algorithm based on unitary weights is proposed, where the singular value decomposition of the total weight matrix from the training set is calculated to make the weight matrix to be unitary. The example validation of quantum gates {H, S, T, CNOT, Toffoli, Fredkin} shows that our algorithm can accurately implement arbitrary quantum gates within one iteration. The performance comparison between our algorithm and other quantum perceptron algorithms demonstrates the advantages of our algorithm in terms of applicability, accuracy, and availability. For further validating the applicability of our algorithm, a quantum composite gate which consists of several basic quantum gates is also illustrated.

Long-term Visual Localization with Mobile Sensors

Despite the remarkable advances in image matching and pose estimation, image-based localization of a camera in a temporally-varying outdoor environment is still a challenging problem due to huge appearance disparity between query and reference images caused by illumination, seasonal and structural changes. In this work, we propose to leverage additional sensors on a mobile phone, mainly GPS, compass, and gravity sensor, to solve this challenging problem. We show that these mobile sensors provide decent initial poses and effective constraints to reduce the searching space in image matching and final pose estimation. With the initial pose, we are also able to devise a direct 2D-3D matching network to efficiently establish 2D-3D correspondences instead of tedious 2D-2D matching in existing systems. As no public dataset exists for the studied problem, we collect a new dataset that provides a variety of mobile sensor data and significant scene appearance variations, and develop a system to acquire ground-truth poses for query images. We benchmark our method as well as several state-of-the-art baselines and demonstrate the effectiveness of the proposed approach. The code and dataset will be released publicly.

Render-and-Compare: Cross-View 6 DoF Localization from Noisy Prior

Despite the significant progress in 6-DoF visual localization, researchers are mostly driven by ground-level benchmarks. Compared with aerial oblique photography, ground-level map collection lacks scalability and complete coverage. In this work, we propose to go beyond the traditional ground-level setting and exploit the cross-view localization from aerial to ground. We solve this problem by formulating camera pose estimation as an iterative render-and-compare pipeline and enhancing the robustness through augmenting seeds from noisy initial priors. As no public dataset exists for the studied problem, we collect a new dataset that provides a variety of cross-view images from smartphones and drones and develop a semi-automatic system to acquire ground-truth poses for query images. We benchmark our method as well as several state-of-the-art baselines and demonstrate that our method outperforms other approaches by a large margin.

Wireless Image Transmission with Semantic and Security Awareness

Semantic communication is an increasingly popular framework for wireless image transmission due to its high communication efficiency. With the aid of the joint-source-and-channel (JSC) encoder implemented by neural network, semantic communication directly maps original images into symbol sequences containing semantic information. Compared with the traditional separate source and channel coding design used in bitlevel communication systems, semantic communication systems are known to be more efficient and accurate especially in the low signal-to-the-noise ratio (SNR) regime. This thus prompts an critical while yet to be tackled issue of security in semantic communication: it makes the eavesdropper more easier to crack the semantic information as it can be decoded even in a quite noisy channel. In this letter, we develop a semantic communication framework that accounts for both semantic meaning decoding efficiency and its risk of privacy leakage. To achieve this, targeting wireless image transmission, we on the one hand propose an JSC autoencoder featuring residual for efficient semantic meaning extraction and transmission, and on the other hand, propose a data-driven scheme that balances the efficiency-privacy tradeoff. Extensive experimental results are provided to show the effectiveness and robustness of the proposed scheme.

A Deep Learning-Based Framework for Low Complexity Multi-User MIMO Precoding Design

Using precoding to suppress multi-user interference is a well-known technique to improve spectra efficiency in multiuser multiple-input multiple-output (MU-MIMO) systems, and the pursuit of high performance and low complexity precoding method has been the focus in the last decade. The traditional algorithms including the zero-forcing (ZF) algorithm and the weighted minimum mean square error (WMMSE) algorithm failed to achieve a satisfactory trade-off between complexity and performance. In this paper, leveraging on the power of deep learning, we propose a low-complexity precoding design framework for MU-MIMO systems. The key idea is to transform the MIMO precoding problem into the multiple-input single-output precoding problem, where the optimal precoding structure can be obtained in closed-form. A customized deep neural network is designed to fit the mapping from the channels to the precoding matrix. In addition, the technique of input dimensionality reduction, network pruning, and recovery module compression are used to further improve the computational efficiency. Furthermore, the extension to the practical MIMO orthogonal frequency-division multiplexing (MIMO-OFDM) system is studied. Simulation results show that the proposed low-complexity precoding scheme achieves similar performance as the WMMSE algorithm with very low computational complexity.

Accelerating Federated Edge Learning via Optimized Probabilistic Device Scheduling

The popular federated edge learning (FEEL) framework allows privacy-preserving collaborative model training via frequent learning-updates exchange between edge devices and server. Due to the constrained bandwidth, only a subset of devices can upload their updates at each communication round. This has led to an active research area in FEEL studying the optimal device scheduling policy for minimizing communication time. However, owing to the difficulty in quantifying the exact communication time, prior work in this area can only tackle the problem partially by considering either the communication rounds or per-round latency, while the total communication time is determined by both metrics. To close this gap, we make the first attempt in this paper to formulate and solve the communication time minimization problem. We first derive a tight bound to approximate the communication time through cross-disciplinary effort involving both learning theory for convergence analysis and communication theory for per-round latency analysis. Building on the analytical result, an optimized probabilistic scheduling policy is derived in closed-form by solving the approximate communication time minimization problem. It is found that the optimized policy gradually turns its priority from suppressing the remaining communication rounds to reducing per-round latency as the training process evolves. The effectiveness of the proposed scheme is demonstrated via a use case on collaborative 3D objective detection in autonomous driving.