In this paper, we argue that modern pre-integration methods for inertial measurement units (IMUs) are accurate enough to ignore the drift for short time intervals. This allows us to consider a simplified camera model, which in turn admits further intrinsic calibration. We develop the first-ever solver to jointly solve the relative pose problem with unknown and equal focal length and radial distortion profile while utilizing the IMU data. Furthermore, we show significant speed-up compared to state-of-the-art algorithms, with small or negligible loss in accuracy for partially calibrated setups. The proposed algorithms are tested on both synthetic and real data, where the latter is focused on navigation using unmanned aerial vehicles (UAVs). We evaluate the proposed solvers on different commercially available low-cost UAVs, and demonstrate that the novel assumption on IMU drift is feasible in real-life applications. The extended intrinsic auto-calibration enables us to use distorted input images, making tedious calibration processes obsolete, compared to current state-of-the-art methods.

In the family of Intelligent Transportation Systems (ITS), Multimodal Transport Systems (MMTS) have placed themselves as a mainstream transportation mean of our time as a feasible integrative transportation process. The Global Economy progressed with the help of transportation. The volume of goods and distances covered have doubled in the last ten years, so there is a high demand of an optimized transportation, fast but with low costs, saving resources but also safe, with low or zero emissions. Thus, it is important to have an overview of existing research in this field, to know what was already done and what is to be studied next. The main objective is to explore a beneficent selection of the existing research, methods and information in the field of multimodal transportation research, to identify industry needs and gaps in research and provide context for future research. The selective survey covers multimodal transport design and optimization in terms of: cost, time, and network topology. The multimodal transport theoretical aspects, context and resources are also covering various aspects. The survey's selection includes nowadays best methods and solvers for Intelligent Transportation Systems (ITS). The gap between theory and real-world applications should be further solved in order to optimize the global multimodal transportation system.

Motivated by the real-world applications such as recommendation systems, image recognition, and conversational AI, it has become crucial to implement learning algorithms in a distributed fashion. In a commonly used framework, namely data-parallelism, large data-sets are distributed among several worker machines for parallel processing. In many applications, like Federated Learning [KMRR16], data is stored in user devices such as mobile phones and personal computers, and in these applications, fully utilizing the on-device machine intelligence is an important direction for next-generation distributed learning. In a standard distributed framework, several worker machines store data, perform local computations and communicate to the center machine (a parameter server), and the center machine aggregates the local information from worker machines and broadcasts updated parameters iteratively. In this setting, it is well-known that one of the major challenges is to tackle the behavior of the Byzantine machines [LSP82]. This can happen owing to software or hardware crashes, poor communication link between the worker and the center machine, stalled computations, and even co-ordinated or malicious attacks by a third party. In this setup, it is generally assumed (see [YCKB18, BMGS17] that a subset of worker machines behave completely arbitrarily--even in a way that depends on the algorithm used and the data on the other machines, thereby capturing the unpredictable nature of the errors.

Statistical distances (SDs), which quantify the dissimilarity between probability distributions, are central to machine learning and statistics. A modern method for estimating such distances from data relies on parametrizing a variational form by a neural network (NN) and optimizing it. These estimators are abundantly used in practice, but corresponding performance guarantees are partial and call for further exploration. In particular, there seems to be a fundamental tradeoff between the two sources of error involved: approximation and estimation. While the former needs the NN class to be rich and expressive, the latter relies on controlling complexity. This paper explores this tradeoff by means of non-asymptotic error bounds, focusing on three popular choices of SDs -- Kullback-Leibler divergence, chi-squared divergence, and squared Hellinger distance. Our analysis relies on non-asymptotic function approximation theorems and tools from empirical process theory. Numerical results validating the theory are also provided.

This paper presents SPICE, a Semantic Pseudo-labeling framework for Image ClustEring. Instead of using indirect loss functions required by the recently proposed methods, SPICE generates pseudo-labels via self-learning and directly uses the pseudo-label-based classification loss to train a deep clustering network. The basic idea of SPICE is to synergize the discrepancy among semantic clusters, the similarity among instance samples, and the semantic consistency of local samples in an embedding space to optimize the clustering network in a semantically-driven paradigm. Specifically, a semantic-similarity-based pseudo-labeling algorithm is first proposed to train a clustering network through unsupervised representation learning. Given the initial clustering results, a local semantic consistency principle is used to select a set of reliably labeled samples, and a semi-pseudo-labeling algorithm is adapted for performance boosting. Extensive experiments demonstrate that SPICE clearly outperforms the state-of-the-art methods on six common benchmark datasets including STL10, Cifar10, Cifar100-20, ImageNet-10, ImageNet-Dog, and Tiny-ImageNet. On average, our SPICE method improves the current best results by about 10% in terms of adjusted rand index, normalized mutual information, and clustering accuracy.

Personal health libraries (PHLs) provide a single point of secure access to patients digital health data and enable the integration of knowledge stored in their digital health profiles with other sources of global knowledge. PHLs can help empower caregivers and health care providers to make informed decisions about patients health by understanding medical events in the context of their lives. This paper reports the implementation of a mobile health digital intervention that incorporates both digital health data stored in patients PHLs and other sources of contextual knowledge to deliver tailored recommendations for improving self-care behaviors in diabetic adults. We conducted a thematic assessment of patient functional and nonfunctional requirements that are missing from current EHRs based on evidence from the literature. We used the results to identify the technologies needed to address those requirements. We describe the technological infrastructures used to construct, manage, and integrate the types of knowledge stored in the PHL. We leverage the Social Linked Data (Solid) platform to design a fully decentralized and privacy-aware platform that supports interoperability and care integration. We provided an initial prototype design of a PHL and drafted a use case scenario that involves four actors to demonstrate how the proposed prototype can be used to address user requirements, including the construction and management of the PHL and its utilization for developing a mobile app that queries the knowledge stored and integrated into the PHL in a private and fully decentralized manner to provide better recommendations. The proposed PHL helps patients and their caregivers take a central role in making decisions regarding their health and equips their health care providers with informatics tools that support the collection and interpretation of the collected knowledge.

There are demographic biases in the SOTA CNN used for FR. Our BFW dataset serves as a proxy to measure bias across ethnicity and gender subgroups, allowing us to characterize FR performances per subgroup. We show performances are non-optimal when a single score threshold is used to determine whether sample pairs are genuine or imposter. Furthermore, actual performance ratings vary greatly from the reported across subgroups. Thus, claims of specific error rates only hold true for populations matching that of the validation data. We mitigate the imbalanced performances using a novel domain adaptation learning scheme on the facial encodings extracted using SOTA deep nets. Not only does this technique balance performance, but it also boosts the overall performance. A benefit of the proposed is to preserve identity information in facial features while removing demographic knowledge in the lower dimensional features. The removal of demographic knowledge prevents future potential biases from being injected into decision-making. Additionally, privacy concerns are satisfied by this removal. We explore why this works qualitatively with hard samples. We also show quantitatively that subgroup classifiers can no longer learn from the encodings mapped by the proposed.

Quality-of-Service prediction of web service is an integral part of services computing due to its diverse applications in the various facets of a service life cycle, such as service composition, service selection, service recommendation. One of the primary objectives of designing a QoS prediction algorithm is to achieve satisfactory prediction accuracy. However, accuracy is not the only criteria to meet while developing a QoS prediction algorithm. The algorithm has to be faster in terms of prediction time so that it can be integrated into a real-time recommendation or composition system. The other important factor to consider while designing the prediction algorithm is scalability to ensure that the prediction algorithm can tackle large-scale datasets. The existing algorithms on QoS prediction often compromise on one goal while ensuring the others. In this paper, we propose a semi-offline QoS prediction model to achieve three important goals simultaneously: higher accuracy, faster prediction time, scalability. Here, we aim to predict the QoS value of service that varies across users. Our framework consists of multi-phase prediction algorithms: preprocessing-phase prediction, online prediction, and prediction using the pre-trained model. In the preprocessing phase, we first apply multi-level clustering on the dataset to obtain correlated users and services. We then preprocess the clusters using collaborative filtering to remove the sparsity of the given QoS invocation log matrix. Finally, we create a two-staged, semi-offline regression model using neural networks to predict the QoS value of service to be invoked by a user in real-time. Our experimental results on four publicly available WS-DREAM datasets show the efficiency in terms of accuracy, scalability, fast responsiveness of our framework as compared to the state-of-the-art methods.

Episodic and semantic memory are critical components of the human memory model. The theory of complementary learning systems (McClelland et al., 1995) suggests that the compressed representation produced by a serial event (episodic memory) is later restructured to build a more generalized form of reusable knowledge (semantic memory). In this work we develop a new principled Bayesian memory allocation scheme that bridges the gap between episodic and semantic memory via a hierarchical latent variable model. We take inspiration from traditional heap allocation and extend the idea of locally contiguous memory to the Kanerva Machine, enabling a novel differentiable block allocated latent memory. In contrast to the Kanerva Machine, we simplify the process of memory writing by treating it as a fully feed forward deterministic process, relying on the stochasticity of the read key distribution to disperse information within the memory. We demonstrate that this allocation scheme improves performance in memory conditional image generation, resulting in new state-of-the-art conditional likelihood values on binarized MNIST ( 41.58 nats/image), binarized Omniglot ( 66.24 nats/image), as well as presenting competitive performance on CIFAR10, DMLab Mazes, Celeb-A and ImageNet32 32. Memory is a central tenet in the model of human intelligence and is crucial to long-term reasoning and planning.

As Women in AI Education Ambassador for Australia Angela Kim told Women's Agenda: AI tech is evolving at the "speed of light", while much about machine learning models can be automated, human must be included in its creation – which means the potential for human bias. Women's Agenda spoke to Charles Sturt University, Associate Professor in Computer Science, Lihong Zheng, who has lectured in mathematics and computer science since 2008. Lihong believes encouraging women to pursue careers in STEM begins in early primary school and continues throughout high school. Lihong started her career at a time when there were even fewer women working in STEM, particularly in Australia. Great mentors and having more women leaders in technology and science make it more accessible for girls to pursue degrees in STEM.