Loop closing is a crucial component in SLAM that helps eliminate accumulated errors through two main steps: loop detection and loop pose correction. The first step determines whether loop closing should be performed, while the second estimates the 6-DoF pose to correct odometry drift. Current methods mostly focus on developing robust descriptors for loop closure detection, often neglecting loop pose estimation. A few methods that do include pose estimation either suffer from low accuracy or incur high computational costs. To tackle this problem, we introduce SGLC, a real-time semantic graph-guided full loop closing method, with robust loop closure detection and 6-DoF pose estimation capabilities. SGLC takes into account the distinct characteristics of foreground and background points. For foreground instances, it builds a semantic graph that not only abstracts point cloud representation for fast descriptor generation and matching but also guides the subsequent loop verification and initial pose estimation. Background points, meanwhile, are exploited to provide more geometric features for scan-wise descriptor construction and stable planar information for further pose refinement. Loop pose estimation employs a coarse-fine-refine registration scheme that considers the alignment of both instance points and background points, offering high efficiency and accuracy. We evaluate the loop closing performance of SGLC through extensive experiments on the KITTI and KITTI-360 datasets, demonstrating its superiority over existing state-of-the-art methods. Additionally, we integrate SGLC into a SLAM system, eliminating accumulated errors and improving overall SLAM performance. The implementation of SGLC will be released at https://github.com/nubot-nudt/SGLC.

Species distribution modeling is a highly versatile tool for understanding the intricate relationship between environmental conditions and species occurrences. However, the available data often lacks information on confirmed species absence and is limited to opportunistically sampled, presence-only observations. To overcome this limitation, a common approach is to employ pseudo-absences, which are specific geographic locations designated as negative samples. While pseudo-absences are well-established for single-species distribution models, their application in the context of multi-species neural networks remains underexplored. Notably, the significant class imbalance between species presences and pseudo-absences is often left unaddressed. Moreover, the existence of different types of pseudo-absences (e.g., random and target-group background points) adds complexity to the selection process. Determining the optimal combination of pseudo-absences types is difficult and depends on the characteristics of the data, particularly considering that certain types of pseudo-absences can be used to mitigate geographic biases. In this paper, we demonstrate that these challenges can be effectively tackled by integrating pseudo-absences in the training of multi-species neural networks through modifications to the loss function. This adjustment involves assigning different weights to the distinct terms of the loss function, thereby addressing both the class imbalance and the choice of pseudo-absence types. Additionally, we propose a strategy to set these loss weights using spatial block cross-validation with presence-only data. We evaluate our approach using a benchmark dataset containing independent presence-absence data from six different regions and report improved results when compared to competing approaches.

Human driver can easily describe the complex traffic scene by visual system. Such an ability of precise perception is essential for driver's planning. To achieve this, a geometry-aware representation that quantizes the physical 3D scene into structured grid map with semantic labels per cell, termed as 3D Occupancy, would be desirable. Compared to the form of bounding box, a key insight behind occupancy is that it could capture the fine-grained details of critical obstacles in the scene, and thereby facilitate subsequent tasks. Prior or concurrent literature mainly concentrate on a single scene completion task, where we might argue that the potential of this occupancy representation might obsess broader impact. In this paper, we propose OccNet, a multi-view vision-centric pipeline with a cascade and temporal voxel decoder to reconstruct 3D occupancy. At the core of OccNet is a general occupancy embedding to represent 3D physical world. Such a descriptor could be applied towards a wide span of driving tasks, including detection, segmentation and planning. To validate the effectiveness of this new representation and our proposed algorithm, we propose OpenOcc, the first dense high-quality 3D occupancy benchmark built on top of nuScenes. Empirical experiments show that there are evident performance gain across multiple tasks, e.g., motion planning could witness a collision rate reduction by 15%-58%, demonstrating the superiority of our method.

Deep Metric Learning (DML) is helpful in computer vision tasks. In this paper, we firstly introduce DML into image co-segmentation. We propose a novel Triplet loss for Image Segmentation, called IS-Triplet loss for short, and combine it with traditional image segmentation loss. Different from the general DML task which learns the metric between pictures, we treat each pixel as a sample, and use their embedded features in high-dimensional space to form triples, then we tend to force the distance between pixels of different categories greater than of the same category by optimizing IS-Triplet loss so that the pixels from different categories are easier to be distinguished in the high-dimensional feature space. We further present an efficient triple sampling strategy to make a feasible computation of IS-Triplet loss. Finally, the IS-Triplet loss is combined with 3 traditional image segmentation losses to perform image segmentation. We apply the proposed approach to image co-segmentation and test it on the SBCoseg dataset and the Internet dataset. The experimental result shows that our approach can effectively improve the discrimination of pixels' categories in high-dimensional space and thus help traditional loss achieve better performance of image segmentation with fewer training epochs.

Compared to the conditional mean as a simple point estimator, the conditional density function is more informative to describe the distributions with multi-modality, asymmetry or heteroskedasticity. In this paper, we propose a novel parametric conditional density estimation method by showing the connection between the general density and the likelihood function of inhomogeneous Poisson process models. The maximum likelihood estimates can be obtained via weighted logistic regressions, and the computation can be significantly relaxed by combining a block-wise alternating maximization scheme and local case-control sampling. We also provide simulation studies for illustration.

The level set tree approach of Hartigan (1975) provides a probabilistically based and highly interpretable encoding of the clustering behavior of a dataset. By representing the hierarchy of data modes as a dendrogram of the level sets of a density estimator, this approach offers many advantages for exploratory analysis and clustering, especially for complex and high-dimensional data. Several R packages exist for level set tree estimation, but their practical usefulness is limited by computational inefficiency, absence of interactive graphical capabilities and, from a theoretical perspective, reliance on asymptotic approximations. To make it easier for practitioners to capture the advantages of level set trees, we have written the Python package DeBaCl for DEnsity-BAsed CLustering. In this article we illustrate how DeBaCl's level set tree estimates can be used for difficult clustering tasks and interactive graphical data analysis. The package is intended to promote the practical use of level set trees through improvements in computational efficiency and a high degree of user customization. In addition, the flexible algorithms implemented in DeBaCl enjoy finite sample accuracy, as demonstrated in recent literature on density clustering. Finally, we show the level set tree framework can be easily extended to deal with functional data. Keywords: density-based clustering, level set tree, Python, interactive graphics, functional data analysis.

We study clustering algorithms based on neighborhood graphs on a random sample of data points. The question we ask is how such a graph should be constructed in order to obtain optimal clustering results. Which type of neighborhood graph should one choose, mutual k-nearest neighbor or symmetric k-nearest neighbor? What is the optimal parameter k? In our setting, clusters are defined as connected components of the t-level set of the underlying probability distribution. Clusters are said to be identified in the neighborhood graph if connected components in the graph correspond to the true underlying clusters. Using techniques from random geometric graph theory, we prove bounds on the probability that clusters are identified successfully, both in a noise-free and in a noisy setting. Those bounds lead to several conclusions. First, k has to be chosen surprisingly high (rather of the order n than of the order log n) to maximize the probability of cluster identification. Secondly, the major difference between the mutual and the symmetric k-nearest neighbor graph occurs when one attempts to detect the most significant cluster only.