Focus on Local: Finding Reliable Discriminative Regions for Visual Place Recognition

Visual Place Recognition (VPR) is aimed at predicting the location of a query image by referencing a database of geotagged images. For VPR task, often fewer discriminative local regions in an image produce important effects while mundane background regions do not contribute or even cause perceptual aliasing because of easy overlap. However, existing methods lack precisely modeling and full exploitation of these discriminative regions. In this paper, we propose the Focus on Local (FoL) approach to stimulate the performance of image retrieval and re-ranking in VPR simultaneously by mining and exploiting reliable discriminative local regions in images and introducing pseudo-correlation supervision. First, we design two losses, Extraction-Aggregation Spatial Alignment Loss (SAL) and Foreground-Background Contrast Enhancement Loss (CEL), to explicitly model reliable discriminative local regions and use them to guide the generation of global representations and efficient re-ranking. Second, we introduce a weakly-supervised local feature training strategy based on pseudo-correspondences obtained from aggregating global features to alleviate the lack of local correspondences ground truth for the VPR task. Third, we suggest an efficient re-ranking pipeline that is efficiently and precisely based on discriminative region guidance. Finally, experimental results show that our FoL achieves the state-of-the-art on multiple VPR benchmarks in both image retrieval and re-ranking stages and also significantly outperforms existing two-stage VPR methods in terms of computational efficiency. Code and models are available at https://github.com/chenshunpeng/FoL

Multimodal Fusion and Vision-Language Models: A Survey for Robot Vision

Robot vision has greatly benefited from advancements in multimodal fusion techniques and vision-language models (VLMs). We systematically review the applications of multimodal fusion in key robotic vision tasks, including semantic scene understanding, simultaneous localization and mapping (SLAM), 3D object detection, navigation and localization, and robot manipulation. We compare VLMs based on large language models (LLMs) with traditional multimodal fusion methods, analyzing their advantages, limitations, and synergies. Additionally, we conduct an in-depth analysis of commonly used datasets, evaluating their applicability and challenges in real-world robotic scenarios. Furthermore, we identify critical research challenges such as cross-modal alignment, efficient fusion strategies, real-time deployment, and domain adaptation, and propose future research directions, including self-supervised learning for robust multimodal representations, transformer-based fusion architectures, and scalable multimodal frameworks. Through a comprehensive review, comparative analysis, and forward-looking discussion, we provide a valuable reference for advancing multimodal perception and interaction in robotic vision. A comprehensive list of studies in this survey is available at https://github.com/Xiaofeng-Han-Res/MF-RV.

STAR-RIS Assisted SWIPT Systems: Active or Passive?

A simultaneously transmitting and reflecting reconfigurable intelligent surface (STAR-RIS) assisted simultaneous wireless information and power transfer (SWIPT) system is investigated. Both active and passive STAR-RISs are considered. Passive STAR-RISs can be cost-efficiently fabricated to large aperture sizes with significant near-field regions, but the design flexibility is limited by the coupled phase-shifts. Active STAR-RISs can further amplify signals and have independent phase-shifts, but their aperture sizes are relatively small due to the high cost. To characterize and compare their performance, a power consumption minimization problem is formulated by jointly designing the beamforming at the access point (AP) and the STAR-RIS, subject to both the power and information quality-of-service requirements. To solve the resulting highly-coupled non-convex problem, the original problem is first decomposed into simpler subproblems and then an alternating optimization framework is proposed. For the passive STAR-RIS, the coupled phase-shift constraint is tackled by employing a vector-driven weight penalty method. While for the active STAR-RIS, the independent phase-shift is optimized with AP beamforming via matrix-driven semidefinite programming, and the amplitude matrix is updated using convex optimization techniques in each iteration. Numerical results show that: 1) given the same aperture sizes, the active STAR-RIS exhibits superior performance over the passive one when the aperture size is small, but the performance gap decreases with the increase in aperture size; and 2) given identical power budgets, the passive STAR-RIS is generally preferred, whereas the active STAR-RIS typically suffers performance loss for balancing between the hardware power and the amplification power.

Enhancing User Fairness in Wireless Powered Communication Networks with STAR-RIS

A simultaneously transmitting and reflecting reconfigurable intelligent surface (STAR-RIS) assisted wireless powered communication network (WPCN) is proposed, where two energy-limited devices first harvest energy from a hybrid access point (HAP) and then use that energy to transmit information back. To fully eliminate the doubly-near-far effect in WPCNs, two STAR-RIS operating protocol-driven transmission strategies, namely energy splitting non-orthogonal multiple access (ES- NOMA) and time switching time division multiple access (TS- TDMA) are proposed. For each strategy, the corresponding optimization problem is formulated to maximize the minimum throughput by jointly optimizing time allocation, user transmit power, active HAP beamforming, and passive STAR-RIS beamforming. For ES-NOMA, the resulting intractable problem is solved via a two-layer algorithm, which exploits the one-dimensional search and block coordinate descent methods in an iterative manner. For TS-TDMA, the optimal active beamforming and passive beamforming are first determined according to the maximum-ratio transmission beamformer. Then, the optimal solution of the time allocation variables is obtained by solving a standard convex problem. Numerical results show that: 1) the STAR-RIS can achieve considerable performance improvements for both strategies compared to the conventional RIS; 2) TS- TDMA is preferred for single-antenna scenarios, whereas ES- NOMA is better suited for multi-antenna scenarios; and 3) the superiority of ES-NOMA over TS-TDMA is enhanced as the number of STAR-RIS elements increases.

Generalization Boosted Adapter for Open-Vocabulary Segmentation

Vision-language models (VLMs) have demonstrated remarkable open-vocabulary object recognition capabilities, motivating their adaptation for dense prediction tasks like segmentation. However, directly applying VLMs to such tasks remains challenging due to their lack of pixel-level granularity and the limited data available for fine-tuning, leading to overfitting and poor generalization. To address these limitations, we propose Generalization Boosted Adapter (GBA), a novel adapter strategy that enhances the generalization and robustness of VLMs for open-vocabulary segmentation. GBA comprises two core components: (1) a Style Diversification Adapter (SDA) that decouples features into amplitude and phase components, operating solely on the amplitude to enrich the feature space representation while preserving semantic consistency; and (2) a Correlation Constraint Adapter (CCA) that employs cross-attention to establish tighter semantic associations between text categories and target regions, suppressing irrelevant low-frequency ``noise'' information and avoiding erroneous associations. Through the synergistic effect of the shallow SDA and the deep CCA, GBA effectively alleviates overfitting issues and enhances the semantic relevance of feature representations. As a simple, efficient, and plug-and-play component, GBA can be flexibly integrated into various CLIP-based methods, demonstrating broad applicability and achieving state-of-the-art performance on multiple open-vocabulary segmentation benchmarks.

PSTNet: Enhanced Polyp Segmentation with Multi-scale Alignment and Frequency Domain Integration

Accurate segmentation of colorectal polyps in colonoscopy images is crucial for effective diagnosis and management of colorectal cancer (CRC). However, current deep learning-based methods primarily rely on fusing RGB information across multiple scales, leading to limitations in accurately identifying polyps due to restricted RGB domain information and challenges in feature misalignment during multi-scale aggregation. To address these limitations, we propose the Polyp Segmentation Network with Shunted Transformer (PSTNet), a novel approach that integrates both RGB and frequency domain cues present in the images. PSTNet comprises three key modules: the Frequency Characterization Attention Module (FCAM) for extracting frequency cues and capturing polyp characteristics, the Feature Supplementary Alignment Module (FSAM) for aligning semantic information and reducing misalignment noise, and the Cross Perception localization Module (CPM) for synergizing frequency cues with high-level semantics to achieve efficient polyp segmentation. Extensive experiments on challenging datasets demonstrate PSTNet's significant improvement in polyp segmentation accuracy across various metrics, consistently outperforming state-of-the-art methods. The integration of frequency domain cues and the novel architectural design of PSTNet contribute to advancing computer-assisted polyp segmentation, facilitating more accurate diagnosis and management of CRC.

SkinFormer: Learning Statistical Texture Representation with Transformer for Skin Lesion Segmentation

Accurate skin lesion segmentation from dermoscopic images is of great importance for skin cancer diagnosis. However, automatic segmentation of melanoma remains a challenging task because it is difficult to incorporate useful texture representations into the learning process. Texture representations are not only related to the local structural information learned by CNN, but also include the global statistical texture information of the input image. In this paper, we propose a trans\textbf{Former} network (\textbf{SkinFormer}) that efficiently extracts and fuses statistical texture representation for \textbf{Skin} lesion segmentation. Specifically, to quantify the statistical texture of input features, a Kurtosis-guided Statistical Counting Operator is designed. We propose Statistical Texture Fusion Transformer and Statistical Texture Enhance Transformer with the help of Kurtosis-guided Statistical Counting Operator by utilizing the transformer's global attention mechanism. The former fuses structural texture information and statistical texture information, and the latter enhances the statistical texture of multi-scale features. {Extensive experiments on three publicly available skin lesion datasets validate that our SkinFormer outperforms other SOAT methods, and our method achieves 93.2\% Dice score on ISIC 2018. It can be easy to extend SkinFormer to segment 3D images in the future.} Our code is available at https://github.com/Rongtao-Xu/SkinFormer.

A Comprehensive Investigation on Speaker Augmentation for Speaker Recognition

Data augmentation (DA) has played a pivotal role in the success of deep speaker recognition. Current DA techniques primarily focus on speaker-preserving augmentation, which does not change the speaker trait of the speech and does not create new speakers. Recent research has shed light on the potential of speaker augmentation, which generates new speakers to enrich the training dataset. In this study, we delve into two speaker augmentation approaches: speed perturbation (SP) and vocal tract length perturbation (VTLP). Despite the empirical utilization of both methods, a comprehensive investigation into their efficacy is lacking. Our study, conducted using two public datasets, VoxCeleb and CN-Celeb, revealed that both SP and VTLP are proficient at generating new speakers, leading to significant performance improvements in speaker recognition. Furthermore, they exhibit distinct properties in sensitivity to perturbation factors and data complexity, hinting at the potential benefits of their fusion. Our research underscores the substantial potential of speaker augmentation, highlighting the importance of in-depth exploration and analysis.

StableMoFusion: Towards Robust and Efficient Diffusion-based Motion Generation Framework

Thanks to the powerful generative capacity of diffusion models, recent years have witnessed rapid progress in human motion generation. Existing diffusion-based methods employ disparate network architectures and training strategies. The effect of the design of each component is still unclear. In addition, the iterative denoising process consumes considerable computational overhead, which is prohibitive for real-time scenarios such as virtual characters and humanoid robots. For this reason, we first conduct a comprehensive investigation into network architectures, training strategies, and inference processs. Based on the profound analysis, we tailor each component for efficient high-quality human motion generation. Despite the promising performance, the tailored model still suffers from foot skating which is an ubiquitous issue in diffusion-based solutions. To eliminate footskate, we identify foot-ground contact and correct foot motions along the denoising process. By organically combining these well-designed components together, we present StableMoFusion, a robust and efficient framework for human motion generation. Extensive experimental results show that our StableMoFusion performs favorably against current state-of-the-art methods. Project page: https://h-y1heng.github.io/StableMoFusion-page/

Robust Resource Allocation for STAR-RIS Assisted SWIPT Systems

A simultaneously transmitting and reflecting reconfigurable intelligent surface (STAR-RIS) assisted simultaneous wireless information and power transfer (SWIPT) system is proposed. More particularly, an STAR-RIS is deployed to assist in the information/power transfer from a multi-antenna access point (AP) to multiple single-antenna information users (IUs) and energy users (EUs), where two practical STAR-RIS operating protocols, namely energy splitting (ES) and time switching (TS), are employed. Under the imperfect channel state information (CSI) condition, a multi-objective optimization problem (MOOP) framework, that simultaneously maximizes the minimum data rate and minimum harvested power, is employed to investigate the fundamental rate-energy trade-off between IUs and EUs. To obtain the optimal robust resource allocation strategy, the MOOP is first transformed into a single-objective optimization problem (SOOP) via the {\epsilon}-constraint method, which is then reformulated by approximating semi-infinite inequality constraints with the S-procedure. For ES, an alternating optimization (AO)-based algorithm is proposed to jointly design AP active beamforming and STAR-RIS passive beamforming, where a penalty method is leveraged in STAR-RIS beamforming design. Furthermore, the developed algorithm is extended to optimize the time allocation policy and beamforming vectors in a two-layer iterative manner for TS. Numerical results reveal that: 1) deploying STAR-RISs achieves a significant performance gain over conventional RISs, especially in terms of harvested power for EUs; 2) the ES protocol obtains a better user fairness performance when focusing only on IUs or EUs, while the TS protocol yields a better balance between IUs and EUs; 3) the imperfect CSI affects IUs more significantly than EUs, whereas TS can confer a more robust design to attenuate these effects.