arXiv subjects

Junfeng Wu

Publications and source records attributed to Junfeng Wu.

At least 55 records · Page 3Linked to original sources

arXiv2024

PartGLEE: A Foundation Model for Recognizing and Parsing Any Objects

We present PartGLEE, a part-level foundation model for locating and identifying both objects and parts in images. Through a unified framework, PartGLEE accomplishes detection, segmentation, and grounding of instances at any granularity in the open world scenario. Specifically, we propose a Q-Former to construct the hierarchical relationship between objects and parts, parsing every object into corresponding semantic parts. By incorporating a large amount of object-level data, the hierarchical relationships can be extended, enabling PartGLEE to recognize a rich variety of parts. We conduct comprehensive studies to validate the effectiveness of our method, PartGLEE achieves the state-of-the-art performance across various part-level tasks and obtain competitive results on object-level tasks. The proposed PartGLEE significantly enhances hierarchical modeling capabilities and part-level perception over our previous GLEE model. Further analysis indicates that the hierarchical cognitive ability of PartGLEE is able to facilitate a detailed comprehension in images for mLLMs. The model and code will be released at https://provencestar.github.io/PartGLEE-Vision/ .

cs.CV↗

arXiv2024

SLAM-based Joint Calibration of Multiple Asynchronous Microphone Arrays and Sound Source Localization

Robot audition systems with multiple microphone arrays have many applications in practice. However, accurate calibration of multiple microphone arrays remains challenging because there are many unknown parameters to be identified, including the relative transforms (i.e., orientation, translation) and asynchronous factors (i.e., initial time offset and sampling clock difference) between microphone arrays. To tackle these challenges, in this paper, we adopt batch simultaneous localization and mapping (SLAM) for joint calibration of multiple asynchronous microphone arrays and sound source localization. Using the Fisher information matrix (FIM) approach, we first conduct the observability analysis (i.e., parameter identifiability) of the above-mentioned calibration problem and establish necessary/sufficient conditions under which the FIM and the Jacobian matrix have full column rank, which implies the identifiability of the unknown parameters. We also discover several scenarios where the unknown parameters are not uniquely identifiable. Subsequently, we propose an effective framework to initialize the unknown parameters, which is used as the initial guess in batch SLAM for multiple microphone arrays calibration, aiming to further enhance optimization accuracy and convergence. Extensive numerical simulations and real experiments have been conducted to verify the performance of the proposed method. The experiment results show that the proposed pipeline achieves higher accuracy with fast convergence in comparison to methods that use the noise-corrupted ground truth of the unknown parameters as the initial guess in the optimization and other existing frameworks.

cs.RO↗

arXiv2024

Fast Estimation of Relative Transformation Based on Fusion of Odometry and UWB Ranging Data

In this paper, we investigate the problem of estimating the 4-DOF (three-dimensional position and orientation) robot-robot relative frame transformation using odometers and distance measurements between robots. Firstly, we apply a two-step estimation method based on maximum likelihood estimation. Specifically, a good initial value is obtained through unconstrained least squares and projection, followed by a more accurate estimate achieved through one-step Gauss-Newton iteration. Additionally, the optimal installation positions of Ultra-Wideband (UWB) are provided, and the minimum operating time under different quantities of UWB devices is determined. Simulation demonstrates that the two-step approach offers faster computation with guaranteed accuracy while effectively addressing the relative transformation estimation problem within limited space constraints. Furthermore, this method can be applied to real-time relative transformation estimation when a specific number of UWB devices are installed.

cs.RO↗

arXiv2024

Efficient Invariant Kalman Filter for Inertial-based Odometry with Large-sample Environmental Measurements

A filter for inertial-based odometry is a recursive method used to estimate the pose from measurements of ego-motion and relative pose. Currently, there is no known filter that guarantees the computation of a globally optimal solution for the non-linear measurement model. In this paper, we demonstrate that an innovative filter, with the state being $SE_2(3)$ and the $\sqrt{n}$-\textit{consistent} pose as the initialization, efficiently achieves \textit{asymptotic optimality} in terms of minimum mean square error. This approach is tailored for real-time SLAM and inertial-based odometry applications. Our first contribution is that we propose an iterative filtering method based on the Gauss-Newton method on Lie groups which is numerically to solve the estimation of states from a priori and non-linear measurements. The filtering stands out due to its iterative mechanism and adaptive initialization. Second, when dealing with environmental measurements of the surroundings, we utilize a $\sqrt{n}$-consistent pose as the initial value for the update step in a single iteration. The solution is closed in form and has computational complexity $O(n)$. Third, we theoretically show that the approach can achieve asymptotic optimality in the sense of minimum mean square error from the a priori and virtual relative pose measurements (see Problem~\ref{prob:new update problem}). Finally, to validate our method, we carry out extensive numerical and experimental evaluations. Our results consistently demonstrate that our approach outperforms other state-of-the-art filter-based methods, including the iterated extended Kalman filter and the invariant extended Kalman filter, in terms of accuracy and running time.

cs.RO↗

arXiv2024

A self-induced mechanism of large-scale helical structures in compressible turbulent flows

A novel self-sustaining mechanism is proposed for large-scale helical structures in compressible turbulent flows. The existence of two channels of subgrid-scale and viscosity terms for large-scale helicity evolution is confirmed for the first time, through selecting a physical definition of the large-scale helicity in compressible turbulence. Under the influence of the fluid element expansion, it is found that the helicity is generated at small scales via the second-channel viscosity, and the inverse cross-scale helicity transfers at inertial scales through the second-channel helicity flux. Together, they form a self-induced mechanism, which provides a physical insight into the long-period characteristic of large-scale helical structures in the evolution of compressible flow systems.

physics.flu-dyn↗

arXiv2024

Formation Mechanism of Laser-Driven Magnetized "Pillars of Creation"

Pillars of Creation, one of the most recognized objects in the sky, are believed to be associated with the formation of young stars. However, so far, the formation and maintenance mechanism for the pillars are still not fully understood due to the complexity of the nonlinear radiation magneto-hydrodynamics (RMHD). Here, assuming laboratory laser-driven conditions, we studied the self-consistent dynamics of pillar structures in magnetic fields by means of two-dimensional (2D) and three-dimensional (3D) RMHD simulations, and these results also support our proposed experimental scheme. We find only when the magnetic pressure and ablation pressure are comparable, the magnetic field can significantly alter the plasma hydrodynamics. For medium magnetized cases ($β_{initial} \approx 3.5$), {the initial magnetic fields undergo compression and amplification. This amplification results in the magnetic pressure inside the pillar becoming large enough to support the sides of the pillar against radial collapse due to pressure from the surrounding hot plasma. This effect is particularly pronounced for the parallel component ($B_y$), which is consistent with observational results.} In contrast, a strong perpendicular ($B_x, B_z$) magnetic field ($β_{initial} < 1$) almost remains its initial distribution and significantly suppresses the expansion of blow-off gas plasma, leading to the inability to form pillar-like structures. The 3D simulations suggest that the bending at the head of `Column \uppercase\expandafter{\romannumeral1}' in pillars of creation may be due to the non-parallel magnetic fields. After similarity scaling transformation, our results can be applied to explain the formation and maintenance mechanism of the pillars, and can also provide useful information for future experimental designs.

physics.plasm-ph↗

arXiv2023

Errors Dynamics in Affine Group Systems

Errors dynamics captures the evolution of the state errors between two distinct trajectories, that are governed by the same system rule but initiated or perturbed differently. In particular, state observer error dynamics analysis in matrix Lie group is fundamental in practice. In this paper, we focus on the error dynamics analysis for an affine group system under external disturbances or random noises. To this end, we first discuss the connections between the notions of affine group systems and linear group systems. We provide two equivalent characterizations of a linear group system. Such characterizations are based on the homeomorphism of its transition flow and linearity of its Lie algebra counterpart, respectively. Next, we investigate the evolution of a linear group system and we assume it is diffused by a Brownian motion in tangent spaces. We further show that the dynamics projected in the Lie algebra is governed by a stochastic differential equation with a linear drift term. We apply these findings in analyzing the error dynamics. Under differentiable disturbance, we derive an ordinary differential equation characterizing the evolution of the projected errors in the Lie algebra. In addition, the counterpart with stochastic disturbances is derived for the projected errors in terms of a stochastic differential equation. Explicit and accurate derivation of error dynamics is provided for matrix group $SE_N(3)$, which plays a vital role especially in robotic applications.

eess.SY↗

arXiv2023

General Object Foundation Model for Images and Videos at Scale

We present GLEE in this work, an object-level foundation model for locating and identifying objects in images and videos. Through a unified framework, GLEE accomplishes detection, segmentation, tracking, grounding, and identification of arbitrary objects in the open world scenario for various object perception tasks. Adopting a cohesive learning strategy, GLEE acquires knowledge from diverse data sources with varying supervision levels to formulate general object representations, excelling in zero-shot transfer to new data and tasks. Specifically, we employ an image encoder, text encoder, and visual prompter to handle multi-modal inputs, enabling to simultaneously solve various object-centric downstream tasks while maintaining state-of-the-art performance. Demonstrated through extensive training on over five million images from diverse benchmarks, GLEE exhibits remarkable versatility and improved generalization performance, efficiently tackling downstream tasks without the need for task-specific adaptation. By integrating large volumes of automatically labeled data, we further enhance its zero-shot generalization capabilities. Additionally, GLEE is capable of being integrated into Large Language Models, serving as a foundational model to provide universal object-level information for multi-modal tasks. We hope that the versatility and universality of our method will mark a significant step in the development of efficient visual foundation models for AGI systems. The model and code will be released at https://glee-vision.github.io .

cs.CV↗

arXiv2023

GUGA-based MRCI approach with Core-Valence Separation Approximation (CVS) for the calculation of the Core-Excited States of molecules

We develop and demonstrate how to use the GUGA-based MRCISD with Core-Valence Separation approximation (CVS) to compute the core-excited states. Firstly, perform a normal SCF or valence MCSCF calculation to optimize the molecular orbitals. Secondly, rotate the optimized target core orbitals and append to the active space, form an extended CVS active space, and perform a CVS-MCSCF calculation for core-excited states. Finally, construct the CVS-MRCI expansion space, and perform a CVS-MRCI calculation to optimize the CI coefficients based on the variational method. The CVS approximation with GUGA-based methods can be implemented by flexible truncation of the Distinct Row Table (DRT). Eliminating the valence-excited configurations from the CVS-MRCI expansion space can prevent variational collapse in the Davidson iteration diagonalization. The accuracy of the CVS-MRCI scheme was investigated for excitation energies and compared with that of the CVS-MCSCF method. The results show that CVS-MRCI is capable of reproducing well-matched vertical core excitation energies that are consistent with experiments, by combining large basis sets and a rational reference space. The calculation results also highlight the fact that the dynamic correlation between electrons makes an undeniable contribution in core-excited states.

physics.comp-ph↗

arXiv2023

Consistent and Asymptotically Efficient Localization from Range-Difference Measurements

We consider signal source localization from range-difference measurements. First, we give some readily-checked conditions on measurement noises and sensor deployment to guarantee the asymptotic identifiability of the model and show the consistency and asymptotic normality of the maximum likelihood (ML) estimator. Then, we devise an estimator that owns the same asymptotic property as the ML one. Specifically, we prove that the negative log-likelihood function converges to a function, which has a unique minimum and positive definite Hessian at the true source's position. Hence, it is promising to execute local iterations, e.g., the Gauss-Newton (GN) algorithm, following a consistent estimate. The main issue involved is obtaining a preliminary consistent estimate. To this aim, we construct a linear least-squares problem via algebraic operation and constraint relaxation and obtain a closed-form solution. We then focus on deriving and eliminating the bias of the linear least-squares estimator, which yields an asymptotically unbiased (thus consistent) estimate. Noting that the bias is a function of the noise variance, we further devise a consistent noise variance estimator that involves $3$-order polynomial rooting. Based on the preliminary consistent location estimate, a one-step GN iteration suffices to achieve the same asymptotic property as the ML estimator. Simulation results demonstrate the superiority of our proposed algorithm in the large sample case.

eess.SP↗

arXiv2023

InstMove: Instance Motion for Object-centric Video Segmentation

Despite significant efforts, cutting-edge video segmentation methods still remain sensitive to occlusion and rapid movement, due to their reliance on the appearance of objects in the form of object embeddings, which are vulnerable to these disturbances. A common solution is to use optical flow to provide motion information, but essentially it only considers pixel-level motion, which still relies on appearance similarity and hence is often inaccurate under occlusion and fast movement. In this work, we study the instance-level motion and present InstMove, which stands for Instance Motion for Object-centric Video Segmentation. In comparison to pixel-wise motion, InstMove mainly relies on instance-level motion information that is free from image feature embeddings, and features physical interpretations, making it more accurate and robust toward occlusion and fast-moving objects. To better fit in with the video segmentation tasks, InstMove uses instance masks to model the physical presence of an object and learns the dynamic model through a memory network to predict its position and shape in the next frame. With only a few lines of code, InstMove can be integrated into current SOTA methods for three different video segmentation tasks and boost their performance. Specifically, we improve the previous arts by 1.5 AP on OVIS dataset, which features heavy occlusions, and 4.9 AP on YouTubeVIS-Long dataset, which mainly contains fast-moving objects. These results suggest that instance-level motion is robust and accurate, and hence serving as a powerful solution in complex scenarios for object-centric video segmentation.

cs.CV↗

arXiv2023

Estimating a scalar log-concave random variable, using a silence set based probabilistic sampling

We study the probabilistic sampling of a random variable, in which the variable is sampled only if it falls outside a given set, which is called the silence set. This helps us to understand optimal event-based sampling for the special case of IID random processes, and also to understand the design of a sub-optimal scheme for other cases. We consider the design of this probabilistic sampling for a scalar, log-concave random variable, to minimize either the mean square estimation error, or the mean absolute estimation error. We show that the optimal silence interval: (i) is essentially unique, and (ii) is the limit of an iterative procedure of centering. Further we show through numerical experiments that super-level intervals seem to be remarkably near-optimal for mean square estimation. Finally we use the Gauss inequality for scalar unimodal densities, to show that probabilistic sampling gives a mean square distortion that is less than a third of the distortion incurred by periodic sampling, if the average sampling rate is between 0.3 and 0.9 samples per tick.

math.OC↗

arXiv2023

Efficient Planar Pose Estimation via UWB Measurements

State estimation is an essential part of autonomous systems. Integrating the Ultra-Wideband(UWB) technique has been shown to correct the long-term estimation drift and bypass the complexity of loop closure detection. However, few works on robotics adopt UWB as a stand-alone state estimation solution. The primary purpose of this work is to investigate planar pose estimation using only UWB range measurements and study the estimator's statistical efficiency. We prove the excellent property of a two-step scheme, which says that we can refine a consistent estimator to be asymptotically efficient by one step of Gauss-Newton iteration. Grounded on this result, we design the GN-ULS estimator and evaluate it through simulations and collected datasets. GN-ULS attains millimeter and sub-degree level accuracy on our static datasets and attains centimeter and degree level accuracy on our dynamic datasets, presenting the possibility of using only UWB for real-time state estimation.

cs.RO↗

arXiv2023

Global and Asymptotically Efficient Localization from Range Measurements

We consider the range-based localization problem, which involves estimating an object's position by using $m$ sensors, hoping that as the number $m$ of sensors increases, the estimate converges to the true position with the minimum variance. We show that under some conditions on the sensor deployment and measurement noises, the LS estimator is strongly consistent and asymptotically normal. However, the LS problem is nonsmooth and nonconvex, and therefore hard to solve. We then devise realizable estimators that possess the same asymptotic properties as the LS one. These estimators are based on a two-step estimation architecture, which says that any $\sqrt{m}$-consistent estimate followed by a one-step Gauss-Newton iteration can yield a solution that possesses the same asymptotic property as the LS one. The keypoint of the two-step scheme is to construct a $\sqrt{m}$-consistent estimate in the first step. In terms of whether the variance of measurement noises is known or not, we propose the Bias-Eli estimator (which involves solving a generalized trust region subproblem) and the Noise-Est estimator (which is obtained by solving a convex problem), respectively. Both of them are proved to be $\sqrt{m}$-consistent. Moreover, we show that by discarding the constraints in the above two optimization problems, the resulting closed-form estimators (called Bias-Eli-Lin and Noise-Est-Lin) are also $\sqrt{m}$-consistent. Plenty of simulations verify the correctness of our theoretical claims, showing that the proposed two-step estimators can asymptotically achieve the Cramer-Rao lower bound.

eess.SP↗

arXiv2022

The Runner-up Solution for YouTube-VIS Long Video Challenge 2022

This technical report describes our 2nd-place solution for the ECCV 2022 YouTube-VIS Long Video Challenge. We adopt the previously proposed online video instance segmentation method IDOL for this challenge. In addition, we use pseudo labels to further help contrastive learning, so as to obtain more temporally consistent instance embedding to improve tracking performance between frames. The proposed method obtains 40.2 AP on the YouTube-VIS 2022 long video dataset and was ranked second place in this challenge. We hope our simple and effective method could benefit further research.

cs.CV↗

arXiv2022

Observability Analysis of Graph SLAM-Based Joint Calibration of Multiple Microphone Arrays and Sound Source Localization

Multiple microphone arrays have many applications in robot audition, including sound source localization, audio scene perception and analysis, etc. However, accurate calibration of multiple microphone arrays remains a challenge because there are many unknown parameters to be identified, including the Euler angles, geometry, asynchronous factors between the microphone arrays. This paper is concerned with joint calibration of multiple microphone arrays and sound source localization using graph simultaneous localization and mapping (SLAM). By using a Fisher information matrix (FIM) approach, we focus on the observability analysis of the graph SLAM framework for the above-mentioned calibration problem. We thoroughly investigate the identifiability of the unknown parameters, including the Euler angles, geometry, asynchronous effects between the microphone arrays, and the sound source locations. We establish necessary/sufficient conditions under which the FIM and the Jacobian matrix have full column rank, which implies the identifiability of the unknown parameters. These conditions are closely related to the variation in the motion of the sound source and the configuration of microphone arrays, and have intuitive and physical interpretations. We also discover several scenarios where the unknown parameters are not uniquely identifiable. All theoretical findings are demonstrated using simulation data.

cs.RO↗

arXiv2022

On Embeddings and Inverse Embeddings of Input Design for Regularized System Identification

Input design is an important problem for system identification and has been well studied for the classical system identification, i.e., the maximum likelihood/prediction error method. For the emerging regularized system identification, the study on input design has just started, and it is often formulated as a non-convex optimization problem that minimizes a scalar measure of the Bayesian mean squared error matrix subject to certain constraints, and the state-of-art method is the so-called quadratic mapping and inverse embedding (QMIE) method, where a time domain inverse embedding (TDIE) is proposed to find the inverse of the quadratic mapping. In this paper, we report some new results on the embeddings/inverse embeddings of the QMIE method. Firstly, we present a general result on the frequency domain inverse embedding (FDIE) that is to find the inverse of the quadratic mapping described by the discrete-time Fourier transform. Then we show the relation between the TDIE and the FDIE from a graph signal processing perspective. Finally, motivated by this perspective, we further propose a graph induced embedding and its inverse, which include the previously introduced embeddings as special cases. This deepens the understanding of input design from a new viewpoint beyond the real domain and the frequency domain viewpoints.

eess.SY↗

arXiv2022

Graph Distance Neural Networks for Predicting Multiple Drug Interactions

Since multidrug combination is widely applied, the accurate prediction of drug-drug interaction (DDI) is becoming more and more critical. In our method, we use graph to represent drug-drug interaction: nodes represent drug; edges represent drug-drug interactions. Based on our assumption, we convert the prediction of DDI to link prediction problem, utilizing known drug node characteristics and DDI types to predict unknown DDI types. This work proposes a Graph Distance Neural Network (GDNN) to predict drug-drug interactions. Firstly, GDNN generates initial features for nodes via target point method, fully including the distance information in the graph. Secondly, GDNN adopts an improved message passing framework to better generate each drug node embedded expression, comprehensively considering the nodes and edges characteristics synchronously. Thirdly, GDNN aggregates the embedded expressions, undergoing MLP processing to generate the final predicted drug interaction type. GDNN achieved Test Hits@20=0.9037 on the ogb-ddi dataset, proving GDNN can predict DDI efficiently.

cs.LG↗