ORB-SLAM3AB: Augmenting ORB-SLAM3 to Counteract Bumps with Optical Flow Inter-frame Matching

This paper proposes an enhancement to the ORB-SLAM3 algorithm, tailored for applications on rugged road surfaces. Our improved algorithm adeptly combines feature point matching with optical flow methods, capitalizing on the high robustness of optical flow in complex terrains and the high precision of feature points on smooth surfaces. By refining the inter-frame matching logic of ORB-SLAM3, we have addressed the issue of frame matching loss on uneven roads. To prevent a decrease in accuracy, an adaptive matching mechanism has been incorporated, which increases the reliance on optical flow points during periods of high vibration, thereby effectively maintaining SLAM precision. Furthermore, due to the scarcity of multi-sensor datasets suitable for environments with bumpy roads or speed bumps, we have collected LiDAR and camera data from such settings. Our enhanced algorithm, ORB-SLAM3AB, was then benchmarked against several advanced open-source SLAM algorithms that rely solely on laser or visual data. Through the analysis of Absolute Trajectory Error (ATE) and Relative Pose Error (RPE) metrics, our results demonstrate that ORB-SLAM3AB achieves superior robustness and accuracy on rugged road surfaces.

Enhancing Adversarial Robustness via Uncertainty-Aware Distributional Adversarial Training

Despite remarkable achievements in deep learning across various domains, its inherent vulnerability to adversarial examples still remains a critical concern for practical deployment. Adversarial training has emerged as one of the most effective defensive techniques for improving model robustness against such malicious inputs. However, existing adversarial training schemes often lead to limited generalization ability against underlying adversaries with diversity due to their overreliance on a point-by-point augmentation strategy by mapping each clean example to its adversarial counterpart during training. In addition, adversarial examples can induce significant disruptions in the statistical information w.r.t. the target model, thereby introducing substantial uncertainty and challenges to modeling the distribution of adversarial examples. To circumvent these issues, in this paper, we propose a novel uncertainty-aware distributional adversarial training method, which enforces adversary modeling by leveraging both the statistical information of adversarial examples and its corresponding uncertainty estimation, with the goal of augmenting the diversity of adversaries. Considering the potentially negative impact induced by aligning adversaries to misclassified clean examples, we also refine the alignment reference based on the statistical proximity to clean examples during adversarial training, thereby reframing adversarial training within a distribution-to-distribution matching framework interacted between the clean and adversarial domains. Furthermore, we design an introspective gradient alignment approach via matching input gradients between these domains without introducing external models. Extensive experiments across four benchmark datasets and various network architectures demonstrate that our approach achieves state-of-the-art adversarial robustness and maintains natural performance.

Capturing complex hand movements and object interactions using machine learning-powered stretchable smart textile gloves

Accurate real-time tracking of dexterous hand movements and interactions has numerous applications in human-computer interaction, metaverse, robotics, and tele-health. Capturing realistic hand movements is challenging because of the large number of articulations and degrees of freedom. Here, we report accurate and dynamic tracking of articulated hand and finger movements using stretchable, washable smart gloves with embedded helical sensor yarns and inertial measurement units. The sensor yarns have a high dynamic range, responding to low 0.005 % to high 155 % strains, and show stability during extensive use and washing cycles. We use multi-stage machine learning to report average joint angle estimation root mean square errors of 1.21 and 1.45 degrees for intra- and inter-subjects cross-validation, respectively, matching accuracy of costly motion capture cameras without occlusion or field of view limitations. We report a data augmentation technique that enhances robustness to noise and variations of sensors. We demonstrate accurate tracking of dexterous hand movements during object interactions, opening new avenues of applications including accurate typing on a mock paper keyboard, recognition of complex dynamic and static gestures adapted from American Sign Language and object identification.

Automatic Medical Report Generation: Methods and Applications

The increasing demand for medical imaging has surpassed the capacity of available radiologists, leading to diagnostic delays and potential misdiagnoses. Artificial intelligence (AI) techniques, particularly in automatic medical report generation (AMRG), offer a promising solution to this dilemma. This review comprehensively examines AMRG methods from 2021 to 2024. It (i) presents solutions to primary challenges in this field, (ii) explores AMRG applications across various imaging modalities, (iii) introduces publicly available datasets, (iv) outlines evaluation metrics, (v) identifies techniques that significantly enhance model performance, and (vi) discusses unresolved issues and potential future research directions. This paper aims to provide a comprehensive understanding of the existing literature and inspire valuable future research.

AI-Enhanced 7-Point Checklist for Melanoma Detection Using Clinical Knowledge Graphs and Data-Driven Quantification

The 7-point checklist (7PCL) is widely used in dermoscopy to identify malignant melanoma lesions needing urgent medical attention. It assigns point values to seven attributes: major attributes are worth two points each, and minor ones are worth one point each. A total score of three or higher prompts further evaluation, often including a biopsy. However, a significant limitation of current methods is the uniform weighting of attributes, which leads to imprecision and neglects their interconnections. Previous deep learning studies have treated the prediction of each attribute with the same importance as predicting melanoma, which fails to recognize the clinical significance of the attributes for melanoma. To address these limitations, we introduce a novel diagnostic method that integrates two innovative elements: a Clinical Knowledge-Based Topological Graph (CKTG) and a Gradient Diagnostic Strategy with Data-Driven Weighting Standards (GD-DDW). The CKTG integrates 7PCL attributes with diagnostic information, revealing both internal and external associations. By employing adaptive receptive domains and weighted edges, we establish connections among melanoma's relevant features. Concurrently, GD-DDW emulates dermatologists' diagnostic processes, who first observe the visual characteristics associated with melanoma and then make predictions. Our model uses two imaging modalities for the same lesion, ensuring comprehensive feature acquisition. Our method shows outstanding performance in predicting malignant melanoma and its features, achieving an average AUC value of 85%. This was validated on the EDRA dataset, the largest publicly available dataset for the 7-point checklist algorithm. Specifically, the integrated weighting system can provide clinicians with valuable data-driven benchmarks for their evaluations.

ESCAPE: Energy-based Selective Adaptive Correction for Out-of-distribution 3D Human Pose Estimation

Despite recent advances in human pose estimation (HPE), poor generalization to out-of-distribution (OOD) data remains a difficult problem. While previous works have proposed Test-Time Adaptation (TTA) to bridge the train-test domain gap by refining network parameters at inference, the absence of ground-truth annotations makes it highly challenging and existing methods typically increase inference times by one or more orders of magnitude. We observe that 1) not every test time sample is OOD, and 2) HPE errors are significantly larger on distal keypoints (wrist, ankle). To this end, we propose ESCAPE: a lightweight correction and selective adaptation framework which applies a fast, forward-pass correction on most data while reserving costly TTA for OOD data. The free energy function is introduced to separate OOD samples from incoming data and a correction network is trained to estimate the errors of pretrained backbone HPE predictions on the distal keypoints. For OOD samples, we propose a novel self-consistency adaptation loss to update the correction network by leveraging the constraining relationship between distal keypoints and proximal keypoints (shoulders, hips), via a second ``reverse" network. ESCAPE improves the distal MPJPE of five popular HPE models by up to 7% on unseen data, achieves state-of-the-art results on two popular HPE benchmarks, and is significantly faster than existing adaptation methods.

CCDM: Continuous Conditional Diffusion Models for Image Generation

Continuous Conditional Generative Modeling (CCGM) aims to estimate the distribution of high-dimensional data, typically images, conditioned on scalar continuous variables known as regression labels. While Continuous conditional Generative Adversarial Networks (CcGANs) were initially designed for this task, their adversarial training mechanism remains vulnerable to extremely sparse or imbalanced data, resulting in suboptimal outcomes. To enhance the quality of generated images, a promising alternative is to replace CcGANs with Conditional Diffusion Models (CDMs), renowned for their stable training process and ability to produce more realistic images. However, existing CDMs encounter challenges when applied to CCGM tasks due to several limitations such as inadequate U-Net architectures and deficient model fitting mechanisms for handling regression labels. In this paper, we introduce Continuous Conditional Diffusion Models (CCDMs), the first CDM designed specifically for the CCGM task. CCDMs address the limitations of existing CDMs by introducing specially designed conditional diffusion processes, a modified denoising U-Net with a custom-made conditioning mechanism, a novel hard vicinal loss for model fitting, and an efficient conditional sampling procedure. With comprehensive experiments on four datasets with varying resolutions ranging from 64x64 to 192x192, we demonstrate the superiority of the proposed CCDM over state-of-the-art CCGM models, establishing new benchmarks in CCGM. Extensive ablation studies validate the model design and implementation configuration of the proposed CCDM. Our code is publicly available at https://github.com/UBCDingXin/CCDM.

GOLD: Generalized Knowledge Distillation via Out-of-Distribution-Guided Language Data Generation

Knowledge distillation from LLMs is essential for the efficient deployment of language models. Prior works have proposed data generation using LLMs for preparing distilled models. We argue that generating data with LLMs is prone to sampling mainly from the center of original content distribution. This limitation hinders the distilled model from learning the true underlying data distribution and to forget the tails of the distributions (samples with lower probability). To this end, we propose GOLD, a task-agnostic data generation and knowledge distillation framework, which employs an iterative out-of-distribution-guided feedback mechanism for the LLM. As a result, the generated data improves the generalizability of distilled models. An energy-based OOD evaluation approach is also introduced to deal with noisy generated data. Our extensive experiments on 10 different classification and sequence-to-sequence tasks in NLP show that GOLD respectively outperforms prior arts and the LLM with an average improvement of 5% and 14%. We will also show that the proposed method is applicable to less explored and novel tasks. The code is available.

PoseGen: Learning to Generate 3D Human Pose Dataset with NeRF

This paper proposes an end-to-end framework for generating 3D human pose datasets using Neural Radiance Fields (NeRF). Public datasets generally have limited diversity in terms of human poses and camera viewpoints, largely due to the resource-intensive nature of collecting 3D human pose data. As a result, pose estimators trained on public datasets significantly underperform when applied to unseen out-of-distribution samples. Previous works proposed augmenting public datasets by generating 2D-3D pose pairs or rendering a large amount of random data. Such approaches either overlook image rendering or result in suboptimal datasets for pre-trained models. Here we propose PoseGen, which learns to generate a dataset (human 3D poses and images) with a feedback loss from a given pre-trained pose estimator. In contrast to prior art, our generated data is optimized to improve the robustness of the pre-trained model. The objective of PoseGen is to learn a distribution of data that maximizes the prediction error of a given pre-trained model. As the learned data distribution contains OOD samples of the pre-trained model, sampling data from such a distribution for further fine-tuning a pre-trained model improves the generalizability of the model. This is the first work that proposes NeRFs for 3D human data generation. NeRFs are data-driven and do not require 3D scans of humans. Therefore, using NeRF for data generation is a new direction for convenient user-specific data generation. Our extensive experiments show that the proposed PoseGen improves two baseline models (SPIN and HybrIK) on four datasets with an average 6% relative improvement.

Optimal Time of Arrival Estimation for MIMO Backscatter Channels

In this paper, we propose a novel time of arrival (TOA) estimator for multiple-input-multiple-output (MIMO) backscatter channels in closed form. The proposed estimator refines the estimation precision from the topological structure of the MIMO backscatter channels, and can considerably enhance the estimation accuracy. Particularly, we show that for the general $M \times N$ bistatic topology, the mean square error (MSE) is $\frac{M+N-1}{MN}\sigma^2_0$, and for the general $M \times M$ monostatic topology, it is $\frac{2M-1}{M^2}\sigma^2_0$ for the diagonal subchannels, and $\frac{M-1}{M^2}\sigma^2_0$ for the off-diagonal subchannels, where $\sigma^2_0$ is the MSE of the conventional least square estimator. In addition, we derive the Cramer-Rao lower bound (CRLB) for MIMO backscatter TOA estimation which indicates that the proposed estimator is optimal. Simulation results verify that the proposed TOA estimator can considerably improve both estimation and positioning accuracy, especially when the MIMO scale is large.