Building an online 3D LiDAR mapping system that produces a detailed surface reconstruction while remaining computationally efficient is a challenging task. In this paper, we present PlanarMesh, a novel incremental, mesh-based LiDAR reconstruction system that adaptively adjusts mesh resolution to achieve compact, detailed reconstructions in real-time. It introduces a new representation, planar-mesh, which combines plane modeling and meshing to capture both large surfaces and detailed geometry. The planar-mesh can be incrementally updated considering both local surface curvature and free-space information from sensor measurements. We employ a multi-threaded architecture with a Bounding Volume Hierarchy (BVH) for efficient data storage and fast search operations, enabling real-time performance. Experimental results show that our method achieves reconstruction accuracy on par with, or exceeding, state-of-the-art techniques-including truncated signed distance functions, occupancy mapping, and voxel-based meshing-while producing smaller output file sizes (10 times smaller than raw input and more than 5 times smaller than mesh-based methods) and maintaining real-time performance (around 2 Hz for a 64-beam sensor).

We propose a novel classification framework grounded in symbolic dynamics and data compression using chaotic maps. The core idea is to model each class by generating symbolic sequences from thresholded real-valued training data, which are then evolved through a one-dimensional chaotic map. For each class, we compute the transition probabilities of symbolic patterns (e.g., `00', `01', `10', and `11' for the second return map) and aggregate these statistics to form a class-specific probabilistic model. During testing phase, the test data are thresholded and symbolized, and then encoded using the class-wise symbolic statistics via back iteration, a dynamical reconstruction technique. The predicted label corresponds to the class yielding the shortest compressed representation, signifying the most efficient symbolic encoding under its respective chaotic model. This approach fuses concepts from dynamical systems, symbolic representations, and compression-based learning. We evaluate the proposed method: \emph{ChaosComp} on both synthetic and real-world datasets, demonstrating competitive performance compared to traditional machine learning algorithms (e.g., macro F1-scores for the proposed method on Breast Cancer Wisconsin = 0.9531, Seeds = 0.9475, Iris = 0.8469 etc.). Rather than aiming for state-of-the-art performance, the goal of this research is to reinterpret the classification problem through the lens of dynamical systems and compression, which are foundational perspectives in learning theory and information processing.

Recent advancements in artificial intelligence have enabled processing of larger inputs, leading everyday software developers to increasingly rely on chat-based large language models (LLMs) like GPT-3.5 and GPT-4 to detect vulnerabilities across entire files, not just within functions. This new development practice requires researchers to urgently investigate whether commonly used LLMs can effectively analyze large file-sized inputs, in order to provide timely insights for software developers and engineers about the pros and cons of this emerging technological trend. Hence, the goal of this paper is to evaluate the effectiveness of several state-of-the-art chat-based LLMs, including the GPT models, in detecting in-file vulnerabilities. We conducted a costly investigation into how the performance of LLMs varies based on vulnerability type, input size, and vulnerability location within the file. To give enough statistical power to our study, we could only focus on the three most common (as well as dangerous) vulnerabilities: XSS, SQL injection, and path traversal. Our findings indicate that the effectiveness of LLMs in detecting these vulnerabilities is strongly influenced by both the location of the vulnerability and the overall size of the input. Specifically, regardless of the vulnerability type, LLMs tend to significantly (p < .05) underperform when detecting vulnerabilities located toward the end of larger files, a pattern we call the 'lost-in-the-end' effect. Finally, to further support software developers and practitioners, we also explored the optimal input size for these LLMs and presented a simple strategy for identifying it, which can be applied to other models and vulnerability types. Eventually, we show how adjusting the input size can lead to significant improvements in LLM-based vulnerability detection, with an average recall increase of over 37% across all models.

3D color lookup tables (LUTs) enable precise color manipulation by mapping input RGB values to specific output RGB values. 3D LUTs are instrumental in various applications, including video editing, in-camera processing, photographic filters, computer graphics, and color processing for displays. While an individual LUT does not incur a high memory overhead, software and devices may need to store dozens to hundreds of LUTs that can take over 100 MB. This work aims to develop a neural network architecture that can encode hundreds of LUTs in a single compact representation. To this end, we propose a model with a memory footprint of less than 0.25 MB that can reconstruct 512 LUTs with only minor color distortion ($\bar{\Delta}E_M$ $\leq$ 2.0) over the entire color gamut. We also show that our network can weight colors to provide further quality gains on natural image colors ($\bar{\Delta}{E}_M$ $\leq$ 1.0). Finally, we show that minor modifications to the network architecture enable a bijective encoding that produces LUTs that are invertible, allowing for reverse color processing. Our code is available at https://github.com/vahidzee/ennelut.

In the autonomous vehicle and self-driving paradigm, cooperative perception or exchanging sensor information among vehicles over wireless communication has added a new dimension. Generally, an autonomous vehicle is a special type of robot that requires real-time, highly reliable sensor inputs due to functional safety. Autonomous vehicles are equipped with a considerable number of sensors to provide different required sensor data to make the driving decision and share with other surrounding vehicles. The inclusion of Data Distribution Service(DDS) as a communication middleware in ROS2 has proved its potential capability to be a reliable real-time distributed system. DDS comes with a scoping mechanism known as domain. Whenever a ROS2 process is initiated, it creates a DDS participant. It is important to note that there is a limit to the number of participants allowed in a single domain. The efficient handling of numerous in-vehicle sensors and their messages demands the use of multiple ROS2 nodes in a single vehicle. Additionally, in the cooperative perception paradigm, a significant number of ROS2 nodes can be required when a vehicle functions as a single ROS2 node. These ROS2 nodes cannot be part of a single domain due to DDS participant limitation; thus, different domain communication is unavoidable. Moreover, there are different vendor-specific implementations of DDS, and each vendor has their configurations, which is an inevitable communication catalyst between the ROS2 nodes. The communication between vehicles or robots or ROS2 nodes depends directly on the vendor-specific configuration, data type, data size, and the DDS implementation used as middleware; in our study, we evaluate and investigate the limitations, capabilities, and prospects of the different domain communication for various vendor-specific DDS implementations for diverse sensor data type.

Being able to change the image size is useful in many situations, be it to optimize images for the web, to save storage space, or to prepare a photo for printing. However, images often lose quality and then appear distorted or pixelated. In this article, we will show you step-by-step how to reduce the size of your images or enlarge an image without losing quality. Being able to change the image size is essential in many areas. The size of an image significantly determines its quality, loading time, and display.

Neural Radiance Fields (NeRF) is an emerging technique to synthesize 3D objects from 2D images with a wide range of potential applications. However, rendering existing NeRF models is extremely computation intensive, making it challenging to support real-time interaction on mobile devices. In this paper, we take the first initiative to examine the state-of-the-art real-time NeRF rendering technique from a system perspective. We first define the entire working pipeline of the NeRF serving system. We then identify possible control knobs that are critical to the system from the communication, computation, and visual performance perspective. Furthermore, an extensive measurement study is conducted to reveal the effects of these control knobs on system performance. Our measurement results reveal that different control knobs contribute differently towards improving the system performance, with the mesh granularity being the most effective knob and the quantization being the least effective knob. In addition, diverse hardware device settings and network conditions have to be considered to fully unleash the benefit of operating under the appropriate knobs

Artificial Intelligence (AI) has the potential to revolutionize space exploration by delegating several spacecraft decisions to an onboard AI instead of relying on ground control and predefined procedures. It is likely that there will be an AI/ML Processing Unit onboard the spacecraft running an inference engine. The neural-network will have pre-installed parameters that can be updated onboard by uploading, by telecommands, parameters obtained by training on the ground. However, satellite uplinks have limited bandwidth and transmissions can be costly. Furthermore, a mission operating with a suboptimal neural network will miss out on valuable scientific data. Smaller networks can thereby decrease the uplink cost, while increasing the value of the scientific data that is downloaded. In this work, we evaluate and discuss the use of reduced-precision and bare-minimum neural networks to reduce the time for upload. As an example of an AI use case, we focus on the NASA's Magnetosperic MultiScale (MMS) mission. We show how an AI onboard could be used in the Earth's magnetosphere to classify data to selectively downlink higher value data or to recognize a region-of-interest to trigger a burst-mode, collecting data at a high-rate. Using a simple filtering scheme and algorithm, we show how the start and end of a region-of-interest can be detected in on a stream of classifications. To provide the classifications, we use an established Convolutional Neural Network (CNN) trained to an accuracy >94%. We also show how the network can be reduced to a single linear layer and trained to the same accuracy as the established CNN. Thereby, reducing the overall size of the model by up to 98.9%. We further show how each network can be reduced by up to 75% of its original size, by using lower-precision formats to represent the network parameters, with a change in accuracy of less than 0.6 percentage points.

There is an evident lack of implementation of Machine Learning (ML) in the legal domain in India, and any research that does take place in this domain is usually based on data from the higher courts of law and works with English data. The lower courts and data from the different regional languages of India are often overlooked. In this paper, we deploy a Convolutional Neural Network (CNN) architecture on a corpus of Hindi legal documents. We perform a bail Prediction task with the help of a CNN model and achieve an overall accuracy of 93\% which is an improvement on the benchmark accuracy, set by Kapoor et al. (2022), albeit in data from 20 districts of the Indian state of Uttar Pradesh.

There are many ways to make a deep neural network smaller. In this paper, we focus on three categories of model size reduction: pruning, quantization, and training smaller models from scratch. Quantization means changing model parameters to lower-precision formats, like changing all 32-bit floating point parameters to 16-bit, which results in file size about half as large. Pruning deals with deleting parameters or groups of parameters (like entire neurons) from a trained model to make it smaller (often followed by a fine-tuning round of training, as done in our experiments). Parameter-level pruning (also called unstructured pruning) prunes individual parameters at a time, whereas neuron-level pruning (also called structured pruning) prunes all parameters associated with a given neuron at once. To simplify terminology across multiple methods we use the term'damage' to broadly refer to the undesired impact of removing a node or zeroing a weight on network performance. Different compression methods use different approaches to either estimate damage directly, or rank neurons or weights in order of increasing assumed damage according to some other metric that does not directly evaluate the impact on loss or performance.