arXiv subjects

Jun Li

Publications and source records attributed to Jun Li.

At least 541 records · Page 30Linked to original sources

arXiv2022

CAMO-MOT: Combined Appearance-Motion Optimization for 3D Multi-Object Tracking with Camera-LiDAR Fusion

3D Multi-object tracking (MOT) ensures consistency during continuous dynamic detection, conducive to subsequent motion planning and navigation tasks in autonomous driving. However, camera-based methods suffer in the case of occlusions and it can be challenging to accurately track the irregular motion of objects for LiDAR-based methods. Some fusion methods work well but do not consider the untrustworthy issue of appearance features under occlusion. At the same time, the false detection problem also significantly affects tracking. As such, we propose a novel camera-LiDAR fusion 3D MOT framework based on the Combined Appearance-Motion Optimization (CAMO-MOT), which uses both camera and LiDAR data and significantly reduces tracking failures caused by occlusion and false detection. For occlusion problems, we are the first to propose an occlusion head to select the best object appearance features multiple times effectively, reducing the influence of occlusions. To decrease the impact of false detection in tracking, we design a motion cost matrix based on confidence scores which improve the positioning and object prediction accuracy in 3D space. As existing multi-object tracking methods only consider a single category, we also propose to build a multi-category loss to implement multi-object tracking in multi-category scenes. A series of validation experiments are conducted on the KITTI and nuScenes tracking benchmarks. Our proposed method achieves state-of-the-art performance and the lowest identity switches (IDS) value (23 for Car and 137 for Pedestrian) among all multi-modal MOT methods on the KITTI test dataset. And our proposed method achieves state-of-the-art performance among all algorithms on the nuScenes test dataset with 75.3% AMOTA.

cs.CV↗

arXiv2022

Experimental Realization of a Quantum Refrigerator Driven by Indefinite Causal Orders

Indefinite causal order (ICO) is playing a key role in recent quantum technologies. Here, we experimentally study quantum thermodynamics driven by ICO on nuclear spins using the nuclear magnetic resonance system. We realize the ICO of two thermalizing channels to exhibit how the mechanism works, and show that the working substance can be cooled or heated albeit it undergoes thermal contacts with reservoirs of the same temperature. Moreover, we construct a single cycle of the ICO refrigerator based on the Maxwell's demon mechanism, and evaluate its performance by measuring the work consumption and the heat energy extracted from the low-temperature reservoir. Unlike classical refrigerators in which the coefficient of performance (COP) is perversely higher the closer the temperature of the high-temperature and low-temperature reservoirs are to each other, the ICO refrigerator's COP is always bounded to small values due to the non-unit success probability in projecting the ancillary qubit to the preferable subspace. To enhance the COP, we propose and experimentally demonstrate a general framework based on the density matrix exponentiation (DME) approach, as an extension to the ICO refrigeration. The COP is observed to be enhanced by more than three times with the DME approach. Our work demonstrates a new way for non-classical heat exchange, and paves the way towards construction of quantum refrigerators on a quantum system.

quant-ph↗

arXiv2022

SIND: A Drone Dataset at Signalized Intersection in China

Intersection is one of the most challenging scenarios for autonomous driving tasks. Due to the complexity and stochasticity, essential applications (e.g., behavior modeling, motion prediction, safety validation, etc.) at intersections rely heavily on data-driven techniques. Thus, there is an intense demand for trajectory datasets of traffic participants (TPs) in intersections. Currently, most intersections in urban areas are equipped with traffic lights. However, there is not yet a large-scale, high-quality, publicly available trajectory dataset for signalized intersections. Therefore, in this paper, a typical two-phase signalized intersection is selected in Tianjin, China. Besides, a pipeline is designed to construct a Signalized INtersection Dataset (SIND), which contains 7 hours of recording including over 13,000 TPs with 7 types. Then, the behaviors of traffic light violations in SIND are recorded. Furthermore, the SIND is also compared with other similar works. The features of the SIND can be summarized as follows: 1) SIND provides more comprehensive information, including traffic light states, motion parameters, High Definition (HD) map, etc. 2) The category of TPs is diverse and characteristic, where the proportion of vulnerable road users (VRUs) is up to 62.6% 3) Multiple traffic light violations of non-motor vehicles are shown. We believe that SIND would be an effective supplement to existing datasets and can promote related research on autonomous driving.The dataset is available online via: https://github.com/SOTIF-AVLab/SinD

cs.CV↗

arXiv2022

Investigation on Principles for Cost Assignment in Motion Vector-based Video Steganography

Cost assignment in the motion vector domain remains a research focus in video steganography. Recent studies in image steganography have summarized many principles for cost assignment and achieved good results. But the basic principles for cost assignment in motion vector-based video steganography have not been fully discussed yet. Firstly, this paper proposes three principles for cost assignment in the motion vector domain, including the principle of local optimality, non-consistency in the block group, and complexity priority. Secondly, three corresponding novel practical distortion functions were designed according to the three principles. Finally, a joint distortion function is constructed based on all three principles to increase overall performance. The experimental results show that not only the three independent distortion functions can effectively resist the corresponding steganalysis attacks, but the final joint distortion can resist the three steganalysis features simultaneously. In addition, it can obtain good visual quality and coding efficiency, which can be applied to practical scenarios.

cs.CR↗

arXiv2022

Stacked conductive metal organic framework nanorods for high performance vacuum electronic devices

Metal-organic frameworks (MOFs) possessing many unique features have been utilized in several fields in recent years. However, their application in field emission (FE) vacuum electronic device is hindered by their poor electrical conductivity. Herein, a novel conductive MOF of Cu-catecholate (Cu-CAT) with the nanorod length of 200 nm and conductivity of 0.01 S/cm is grown on the graphite paper (GP). Under an applied electric field, a large number of electrons can be emitted from the nanoscale emitter tips of MOF surface to the anode. The great field emission performance of Cu-CAT@GP cold cathode film including a low turn-on field of 0.59e6 V/m and ultra-high field enhancement factor of 29622, even comparable to most carbon-based materials that have been widely investigated in FE studies, is achieved in this work. Meanwhile, Cu-CAT@GP film has a good electrical stability with a current attenuation of 9.4% in two hours. The findings reveal the cathode film fabricated by conductive MOF can be a promising candidate of cold electron source for vacuum electronic applications.

physics.app-ph↗

arXiv2022

Pancreas segmentation with probabilistic map guided bi-directional recurrent UNet

Pancreas segmentation in medical imaging data is of great significance for clinical pancreas diagnostics and treatment. However, the large population variations in the pancreas shape and volume cause enormous segmentation difficulties, even for state-of-the-art algorithms utilizing fully-convolutional neural networks (FCNs). Specifically, pancreas segmentation suffers from the loss of spatial information in 2D methods, and the high computational cost of 3D methods. To alleviate these problems, we propose a probabilistic-map-guided bi-directional recurrent UNet (PBR-UNet) architecture, which fuses intra-slice information and inter-slice probabilistic maps into a local 3D hybrid regularization scheme, which is followed by bi-directional recurrent network optimization. The PBR-UNet method consists of an initial estimation module for efficiently extracting pixel-level probabilistic maps and a primary segmentation module for propagating hybrid information through a 2.5D U-Net architecture. Specifically, local 3D information is inferred by combining an input image with the probabilistic maps of the adjacent slices into multichannel hybrid data, and then hierarchically aggregating the hybrid information of the entire segmentation network. Besides, a bi-directional recurrent optimization mechanism is developed to update the hybrid information in both the forward and the backward directions. This allows the proposed network to make full and optimal use of the local context information. Quantitative and qualitative evaluation was performed on the NIH Pancreas-CT dataset, and our proposed PBR-UNet method achieved better segmentation results with less computational cost compared to other state-of-the-art methods.

cs.CV↗

arXiv2022

Entanglement-Enhanced Quantum Metrology in Colored Noise by Quantum Zeno Effect

In open quantum systems, the precision of metrology inevitably suffers from the noise. {In Markovian open quantum dynamics, the precision can not be improved by using entangled probes although the measurement time is effectively shortened.} However, it was predicted over one decade ago that in a non-Markovian one, the error can be significantly reduced by the quantum Zeno effect (QZE) [Chin, Huelga, and Plenio, Phys. Rev. Lett. \textbf{109}, 233601 (2012)]. In this work, we apply a recently-developed quantum simulation approach to experimentally verify that entangled probes can improve the precision of metrology by the QZE. Up to $n=7$ qubits, we demonstrate that the precision has been improved by a factor of $n^{1/4}$, which is consistent with the theoretical prediction. Our quantum simulation approach may provide an intriguing platform for experimental verification of various quantum metrology schemes.

quant-ph↗

arXiv2022

Global Attention-based Encoder-Decoder LSTM Model for Temperature Prediction of Permanent Magnet Synchronous Motors

Temperature monitoring is critical for electrical motors to determine if device protection measures should be executed. However, the complexity of the internal structure of Permanent Magnet Synchronous Motors (PMSM) makes the direct temperature measurement of the internal components difficult. This work pragmatically develops three deep learning models to estimate the PMSMs' internal temperature based on readily measurable external quantities. The proposed supervised learning models exploit Long Short-Term Memory (LSTM) modules, bidirectional LSTM, and attention mechanism to form encoder-decoder structures to predict simultaneously the temperatures of the stator winding, tooth, yoke, and permanent magnet. Experiments were conducted in an exhaustive manner on a benchmark dataset to verify the proposed models' performances. The comparative analysis shows that the proposed global attention-based encoder-decoder (EnDec) model provides a competitive overall performance of 1.72 Mean Squared Error (MSE) and 5.34 Mean Absolute Error (MAE).

cs.LG↗

arXiv2022

Intelligent Amphibious Ground-Aerial Vehicles: State of the Art Technology for Future Transportation

Amphibious ground-aerial vehicles fuse flying and driving modes to enable more flexible air-land mobility and have received growing attention recently. By analyzing the existing amphibious vehicles, we highlight the autonomous fly-driving functionality for the effective uses of amphibious vehicles in complex three-dimensional urban transportation systems. We review and summarize the key enabling technologies for intelligent flying-driving in existing amphibious vehicle designs, identify major technological barriers and propose potential solutions for future research and innovation. This paper aims to serve as a guide for research and development of intelligent amphibious vehicles for urban transportation toward the future.

cs.RO↗

arXiv2022

Temporal and Spatial Online Integrated Calibration for Camera and LiDAR

While camera and LiDAR are widely used in most of the assisted and autonomous driving systems, only a few works have been proposed to associate the temporal synchronization and extrinsic calibration for camera and LiDAR which are dedicated to online sensors data fusion. The temporal and spatial calibration technologies are facing the challenges of lack of relevance and real-time. In this paper, we introduce the pose estimation model and environmental robust line features extraction to improve the relevance of data fusion and instant online ability of correction. Dynamic targets eliminating aims to seek optimal policy considering the correspondence of point cloud matching between adjacent moments. The searching optimization process aims to provide accurate parameters with both computation accuracy and efficiency. To demonstrate the benefits of this method, we evaluate it on the KITTI benchmark with ground truth value. In online experiments, our approach improves the accuracy by 38.5\% than the soft synchronization method in temporal calibration. While in spatial calibration, our approach automatically corrects disturbance errors within 0.4 second and achieves an accuracy of 0.3-degree. This work can promote the research and application of sensor fusion.

cs.RO↗

arXiv2022

Cooling flow regime of a plasma thermal quench

A large class of Laboratory, Space, and Astrophysical plasmas is nearly collisionless. When a localized energy or particle sink, for example, in the form of a radiative cooling spot or a black hole, is introduced into such a plasma, it can trigger a plasma thermal collapse, also known as a thermal quench in tokamak fusion. Here we show that the electron thermal conduction in such a nearly collisionless plasma follows the convective energy transport scaling in itself or in its spatial gradient, due to the constraint of ambipolar transport. As the result, a robust cooling flow aggregates mass toward the cooling spot and the thermal collapse of the surrounding plasma takes the form of four propagating fronts that originate from the radiative cooling spot, along the magnetic field line in a magnetized plasma. The slowest one, which is responsible for deep cooling, is a shock front.

physics.plasm-ph↗

arXiv2022

Network medicine framework reveals generic herb-symptom effectiveness of Traditional Chinese Medicine

Traditional Chinese medicine (TCM) relies on natural medical products to treat symptoms and diseases. While clinical data have demonstrated the effectiveness of selected TCM-based treatments, the mechanistic root of how TCM herbs treat diseases remains largely unknown. More importantly, current approaches focus on single herbs or prescriptions, missing the high-level general principles of TCM. To uncover the mechanistic nature of TCM on a system level, in this work we establish a generic network medicine framework for TCM from the human protein interactome. Applying our framework reveals a network pattern between symptoms (diseases) and herbs in TCM. We first observe that genes associated with a symptom are not distributed randomly in the interactome, but cluster into localized modules; furthermore, a short network distance between two symptom modules is indicative of the symptoms' co-occurrence and similarity. Next, we show that the network proximity of a herb's targets to a symptom module is predictive of the herb's effectiveness in treating the symptom. We validate our framework with real-world hospital patient data by showing that (1) shorter network distance between symptoms of inpatients correlates with higher relative risk (co-occurrence), and (2) herb-symptom network proximity is indicative of patients' symptom recovery rate after herbal treatment. Finally, we identified novel herb-symptom pairs in which the herb's effectiveness in treating the symptom is predicted by network and confirmed in hospital data, but previously unknown to the TCM community. These predictions highlight our framework's potential in creating herb discovery or repurposing opportunities. In conclusion, network medicine offers a powerful novel platform to understand the mechanism of traditional medicine and to predict novel herbal treatment against diseases.

q-bio.MN↗

arXiv2022

RigNet: Repetitive Image Guided Network for Depth Completion

Depth completion deals with the problem of recovering dense depth maps from sparse ones, where color images are often used to facilitate this task. Recent approaches mainly focus on image guided learning frameworks to predict dense depth. However, blurry guidance in the image and unclear structure in the depth still impede the performance of the image guided frameworks. To tackle these problems, we explore a repetitive design in our image guided network to gradually and sufficiently recover depth values. Specifically, the repetition is embodied in both the image guidance branch and depth generation branch. In the former branch, we design a repetitive hourglass network to extract discriminative image features of complex environments, which can provide powerful contextual instruction for depth prediction. In the latter branch, we introduce a repetitive guidance module based on dynamic convolution, in which an efficient convolution factorization is proposed to simultaneously reduce its complexity and progressively model high-frequency structures. Extensive experiments show that our method achieves superior or competitive results on KITTI benchmark and NYUv2 dataset.

cs.CV↗

arXiv2022

Multi-Modal Masked Pre-Training for Monocular Panoramic Depth Completion

In this paper, we formulate a potentially valuable panoramic depth completion (PDC) task as panoramic 3D cameras often produce 360° depth with missing data in complex scenes. Its goal is to recover dense panoramic depths from raw sparse ones and panoramic RGB images. To deal with the PDC task, we train a deep network that takes both depth and image as inputs for the dense panoramic depth recovery. However, it needs to face a challenging optimization problem of the network parameters due to its non-convex objective function. To address this problem, we propose a simple yet effective approach termed M{^3}PT: multi-modal masked pre-training. Specifically, during pre-training, we simultaneously cover up patches of the panoramic RGB image and sparse depth by shared random mask, then reconstruct the sparse depth in the masked regions. To our best knowledge, it is the first time that we show the effectiveness of masked pre-training in a multi-modal vision task, instead of the single-modal task resolved by masked autoencoders (MAE). Different from MAE where fine-tuning completely discards the decoder part of pre-training, there is no architectural difference between the pre-training and fine-tuning stages in our M$^{3}$PT as they only differ in the prediction density, which potentially makes the transfer learning more convenient and effective. Extensive experiments verify the effectiveness of M{^3}PT on three panoramic datasets. Notably, we improve the state-of-the-art baselines by averagely 26.2% in RMSE, 51.7% in MRE, 49.7% in MAE, and 37.5% in RMSElog on three benchmark datasets.

cs.CV↗

arXiv2022

Mix-Teaching: A Simple, Unified and Effective Semi-Supervised Learning Framework for Monocular 3D Object Detection

Monocular 3D object detection is an essential perception task for autonomous driving. However, the high reliance on large-scale labeled data make it costly and time-consuming during model optimization. To reduce such over-reliance on human annotations, we propose Mix-Teaching, an effective semi-supervised learning framework applicable to employ both labeled and unlabeled images in training stage. Mix-Teaching first generates pseudo-labels for unlabeled images by self-training. The student model is then trained on the mixed images possessing much more intensive and precise labeling by merging instance-level image patches into empty backgrounds or labeled images. This is the first to break the image-level limitation and put high-quality pseudo labels from multi frames into one image for semi-supervised training. Besides, as a result of the misalignment between confidence score and localization quality, it's hard to discriminate high-quality pseudo-labels from noisy predictions using only confidence-based criterion. To that end, we further introduce an uncertainty-based filter to help select reliable pseudo boxes for the above mixing operation. To the best of our knowledge, this is the first unified SSL framework for monocular 3D object detection. Mix-Teaching consistently improves MonoFlex and GUPNet by significant margins under various labeling ratios on KITTI dataset. For example, our method achieves around +6.34% AP@0.7 improvement against the GUPNet baseline on validation set when using only 10% labeled data. Besides, by leveraging full training set and the additional 48K raw images of KITTI, it can further improve the MonoFlex by +4.65% improvement on AP@0.7 for car detection, reaching 18.54% AP@0.7, which ranks the 1st place among all monocular based methods on KITTI test leaderboard. The code and pretrained models will be released at https://github.com/yanglei18/Mix-Teaching.

cs.CV↗

arXiv2022

Measuring the modified gravitational waves propagation beyond general relativity from CMB observations

In modified gravity theories, the gravitational waves propagation are presented in nonstandard ways. We consider a friction term different from GR and constrain the modified gravitational waves propagation from observations. The modified gravitational waves produce anisotropies and polarization which generate measurable tensor power spectra. We explore the impact of the friction term on the power spectrum of B-modes and the impact on the constraints on the other parameters (e.g., $r$ or $A_t$) when $ν_0$ is allowed to vary in the Monte Carlo analyses from Planck+BK18 datasets. If we assume the result of the scalar perturbations is unchanged, the inflation consistency relation alters with the friction term. In the $Λ$CDM+$r$+$ν_0$ model, the tensor-to-scalar ratio and the amplitude of tensor spectrum are influenced obviously.

astro-ph.CO↗

arXiv2022

Experimental quantum simulation of non-Hermitian dynamical topological states using stochastic Schrödinger equation

Noise is ubiquitous in real quantum systems, leading to non-Hermitian quantum dynamics, and may affect the fundamental states of matter. Here we report in experiment a quantum simulation of the two-dimensional non-Hermitian quantum anomalous Hall (QAH) model using the nuclear magnetic resonance processor. Unlike the usual experiments using auxiliary qubits, we develop a stochastic average approach based on the stochastic Schrödinger equation to realize the non-Hermitian dissipative quantum dynamics, which has advantages in saving the quantum simulation sources and simplifies implementation of quantum gates. We demonstrate the stability of dynamical topology against weak noise, and observe two types of dynamical topological transitions driven by strong noise. Moreover, a region that the emergent topology is always robust regardless of the noise strength is observed. Our work shows a feasible quantum simulation approach for dissipative quantum dynamics with stochastic Schrödinger equation and opens a route to investigate non-Hermitian dynamical topological physics.

quant-ph↗

arXiv2022

Correlation of the dynamic contact angle with the capillary number and its hysteresis

The moving contact-line problem is of both theoretical and practical interest. The dynamic contact angle changes with the capillary number defined by the contact-line speed, and the correlation also depends on the equilibrium contact angle measured at the static state. This correlation is usually required as an input to the traditional solvers based on the Navier-Stokes-like equations, but it is simulated as an output in the current study using the lattice Boltzmann method (LBM) in a displacement process of two-immiscible fluids. The macroscopic theory and the molecular dynamics (MD) simulation had shown a linear scaling law for the cosine of dynamic contact angle, which is also observed in the previous LBM study in a short range of small capillary numbers and for two neutral wetting conditions. However, our study shows that this linear scaling law holds in the whole range of capillary numbers and is universal for all wetting conditions. In a special case of complete wetting (spreading) with a zero equilibrium contact angle, a thin film of the wetting fluid occurs when the wettability is very strong, which leads to a hysteresis that substantial capillary number is required to initiate the deviation of the dynamic contact angle from its equilibrium state. This observation is consistent with the previous report on a new mechanism for the static contact angle hysteresis due to the presence of free liquid films. With an increasing capillary number, the fluid-fluid interface starts oscillating before fingering. Different fingering patterns are observed for cases with different equilibrium contact angles.

physics.flu-dyn↗