arXiv subjects

Rundong Li

Publications and source records attributed to Rundong Li.

16 recordsLinked to original sources

arXiv2026

Accelerating Large-scale Bundle Adjustment for LiDAR Mapping via Parallel Computing

LiDAR bundle adjustment is widely utilized in mapping to construct globally consistent point cloud maps. In this paper, we propose the first fully parallel computing framework to accelerate LiDAR bundle adjustment for large-scale mapping, incorporating three key techniques. First, we design an adaptive, asynchronous data loading strategy to efficiently process large-scale point cloud datasets on memory-constrained GPUs. Secondly, we present a novel bottom-up voxelization method for extracting planar features, enabling fully parallelized pre-processing. Thirdly, we build upon a majorization-minimization formulation to accelerate compute-intensive tasks in the optimization via parallel computation, including the computation of residuals, Jacobian and Hessian matrices, and a parallel increment solver. To support our design, we provide both theoretical and experimental analysis of the time complexity of our approach. Extensive benchmarking on large-scale public datasets across various computational platforms validates the robustness and adaptability of our approach, achieving up to a tenfold improvement in computational efficiency while preserving mapping accuracy comparable to state-of-the-art methods. To benefit future research, the implementation code is available on GitHub.

cs.RO↗

arXiv2026

Efficient and Secure Range Counting over Distributed Geographic Data with Query Range Protection

Range counting is a core primitive in geographic information systems. When data is distributed across multiple organizations, conducting range counting raises substantial privacy concerns. Existing privacy-preserving protocols focus on protecting organizations' datasets, but cannot simultaneously achieve efficiency, query privacy, and accuracy on overlapping data. Typical protocols process query range in plaintext for efficient point-in-range evaluation, since query-private designs rely on expensive secure comparisons. Moreover, most works assume non-overlapping datasets across organizations, which leads to huge errors in overlapping scenarios. In this paper, we propose PPRC, the first protocol that jointly satisfies all the privacy, efficiency, and accuracy requirements. PPRC makes two key technical contributions. First, we design the Private Range Predicate (PRP) technique that supports efficient point-in-range evaluation while protecting the query range. PRP reformulates range evaluation as encrypted membership tests, effectively replacing costly secure comparisons with faster secure multiplications. Second, we propose Oblivious Linear Counting (OLC), an aggregation scheme that efficiently and securely aggregates partial results from organizations with overlapping data. OLC involves only lightweight cryptographic operations and ensures that no information is leaked beyond the final range count. We theoretically analyze the accuracy, efficiency, and security of PPRC. Experiments on real-world and synthetic datasets show that PPRC achieves up to 55x smaller errors and 37x speedup compared to baseline protocols.

cs.DS↗

arXiv2025

A Survey on LiDAR-based Autonomous Aerial Vehicles

This survey offers a comprehensive overview of recent advancements in LiDAR-based autonomous Unmanned Aerial Vehicles (UAVs), covering their design, perception, planning, and control strategies. Over the past decade, LiDAR technology has become a crucial enabler for high-speed, agile, and reliable UAV navigation, especially in GPS-denied environments. The paper begins by examining the evolution of LiDAR sensors, emphasizing their unique advantages such as high accuracy, long-range depth measurements, and robust performance under various lighting conditions, making them particularly well-suited for UAV applications. The integration of LiDAR with UAVs has significantly enhanced their autonomy, enabling complex missions in diverse and challenging environments. Subsequently, we explore essential software components, including perception technologies for state estimation and mapping, as well as trajectory planning and control methodologies, and discuss their adoption in LiDAR-based UAVs. Additionally, we analyze various practical applications of the LiDAR-based UAVs, ranging from industrial operations to supporting different aerial platforms and UAV swarm deployments. The survey concludes by discussing existing challenges and proposing future research directions to advance LiDAR-based UAVs and enhance multi-UAV collaboration. By synthesizing recent developments, this paper aims to provide a valuable resource for researchers and practitioners working to push the boundaries of LiDAR-based UAV systems.

cs.RO↗

arXiv2025

Efficient and Distributed Large-Scale Point Cloud Bundle Adjustment via Majorization-Minimization

Point cloud bundle adjustment is critical in large-scale point cloud mapping. However, it is both computationally and memory intensive, with its complexity growing cubically as the number of scan poses increases. This paper presents BALM3.0, an efficient and distributed large-scale point cloud bundle adjustment method. The proposed method employs the majorization-minimization algorithm to decouple the scan poses in the bundle adjustment process, thus performing the point cloud bundle adjustment on large-scale data with improved computational efficiency. The key difficulty of applying majorization-minimization on bundle adjustment is to identify the proper surrogate cost function. In this paper, the proposed surrogate cost function is based on the point-to-plane distance. The primary advantages of decoupling the scan poses via a majorization-minimization algorithm stem from two key aspects. First, the decoupling of scan poses reduces the optimization time complexity from cubic to linear, significantly enhancing the computational efficiency of the bundle adjustment process in large-scale environments. Second, it lays the theoretical foundation for distributed bundle adjustment. By distributing both data and computation across multiple devices, this approach helps overcome the limitations posed by large memory and computational requirements, which may be difficult for a single device to handle. The proposed method is extensively evaluated in both simulated and real-world environments. The results demonstrate that the proposed method achieves the same optimal residual with comparable accuracy while offering up to 704 times faster optimization speed and reducing memory usage to 1/8. Furthermore, this paper also presented and implemented a distributed bundle adjustment framework and successfully optimized large-scale data (21,436 poses with 70 GB point clouds) with four consumer-level laptops.

cs.RO↗

arXiv2024

Voxel-SLAM: A Complete, Accurate, and Versatile LiDAR-Inertial SLAM System

In this work, we present Voxel-SLAM: a complete, accurate, and versatile LiDAR-inertial SLAM system that fully utilizes short-term, mid-term, long-term, and multi-map data associations to achieve real-time estimation and high precision mapping. The system consists of five modules: initialization, odometry, local mapping, loop closure, and global mapping, all employing the same map representation, an adaptive voxel map. The initialization provides an accurate initial state estimation and a consistent local map for subsequent modules, enabling the system to start with a highly dynamic initial state. The odometry, exploiting the short-term data association, rapidly estimates current states and detects potential system divergence. The local mapping, exploiting the mid-term data association, employs a local LiDAR-inertial bundle adjustment (BA) to refine the states (and the local map) within a sliding window of recent LiDAR scans. The loop closure detects previously visited places in the current and all previous sessions. The global mapping refines the global map with an efficient hierarchical global BA. The loop closure and global mapping both exploit long-term and multi-map data associations. We conducted a comprehensive benchmark comparison with other state-of-the-art methods across 30 sequences from three representative scenes, including narrow indoor environments using hand-held equipment, large-scale wilderness environments with aerial robots, and urban environments on vehicle platforms. Other experiments demonstrate the robustness and efficiency of the initialization, the capacity to work in multiple sessions, and relocalization in degenerated environments.

cs.RO↗

arXiv2024

LVBA: LiDAR-Visual Bundle Adjustment for RGB Point Cloud Mapping

Point cloud maps with accurate color are crucial in robotics and mapping applications. Existing approaches for producing RGB-colorized maps are primarily based on real-time localization using filter-based estimation or sliding window optimization, which may lack accuracy and global consistency. In this work, we introduce a novel global LiDAR-Visual bundle adjustment (BA) named LVBA to improve the quality of RGB point cloud mapping beyond existing baselines. LVBA first optimizes LiDAR poses via a global LiDAR BA, followed by a photometric visual BA incorporating planar features from the LiDAR point cloud for camera pose optimization. Additionally, to address the challenge of map point occlusions in constructing optimization problems, we implement a novel LiDAR-assisted global visibility algorithm in LVBA. To evaluate the effectiveness of LVBA, we conducted extensive experiments by comparing its mapping quality against existing state-of-the-art baselines (i.e., R$^3$LIVE and FAST-LIVO). Our results prove that LVBA can proficiently reconstruct high-fidelity, accurate RGB point cloud maps, outperforming its counterparts.

cs.RO↗

arXiv2024

QSketch: An Efficient Sketch for Weighted Cardinality Estimation in Streams

Estimating cardinality, i.e., the number of distinct elements, of a data stream is a fundamental problem in areas like databases, computer networks, and information retrieval. This study delves into a broader scenario where each element carries a positive weight. Unlike traditional cardinality estimation, limited research exists on weighted cardinality, with current methods requiring substantial memory and computational resources, challenging for devices with limited capabilities and real-time applications like anomaly detection. To address these issues, we propose QSketch, a memory-efficient sketch method for estimating weighted cardinality in streams. QSketch uses a quantization technique to condense continuous variables into a compact set of integer variables, with each variable requiring only 8 bits, making it 8 times smaller than previous methods. Furthermore, we leverage dynamic properties during QSketch generation to significantly enhance estimation accuracy and achieve a lower time complexity of $O(1)$ for updating estimations upon encountering a new element. Experimental results on synthetic and real-world datasets show that QSketch is approximately 30\% more accurate and two orders of magnitude faster than the state-of-the-art, using only $1/8$ of the memory.

cs.DB↗

arXiv2024

ScaleFold: Reducing AlphaFold Initial Training Time to 10 Hours

AlphaFold2 has been hailed as a breakthrough in protein folding. It can rapidly predict protein structures with lab-grade accuracy. However, its implementation does not include the necessary training code. OpenFold is the first trainable public reimplementation of AlphaFold. AlphaFold training procedure is prohibitively time-consuming, and gets diminishing benefits from scaling to more compute resources. In this work, we conducted a comprehensive analysis on the AlphaFold training procedure based on Openfold, identified that inefficient communications and overhead-dominated computations were the key factors that prevented the AlphaFold training from effective scaling. We introduced ScaleFold, a systematic training method that incorporated optimizations specifically for these factors. ScaleFold successfully scaled the AlphaFold training to 2080 NVIDIA H100 GPUs with high resource utilization. In the MLPerf HPC v3.0 benchmark, ScaleFold finished the OpenFold benchmark in 7.51 minutes, shown over $6\times$ speedup than the baseline. For training the AlphaFold model from scratch, ScaleFold completed the pretraining in 10 hours, a significant improvement over the seven days required by the original AlphaFold pretraining baseline.

cs.LG↗

arXiv2023

Joint Intrinsic and Extrinsic LiDAR-Camera Calibration in Targetless Environments Using Plane-Constrained Bundle Adjustment

This paper introduces a novel targetless method for joint intrinsic and extrinsic calibration of LiDAR-camera systems using plane-constrained bundle adjustment (BA). Our method leverages LiDAR point cloud measurements from planes in the scene, alongside visual points derived from those planes. The core novelty of our method lies in the integration of visual BA with the registration between visual points and LiDAR point cloud planes, which is formulated as a unified optimization problem. This formulation achieves concurrent intrinsic and extrinsic calibration, while also imparting depth constraints to the visual points to enhance the accuracy of intrinsic calibration. Experiments are conducted on both public data sequences and self-collected dataset. The results showcase that our approach not only surpasses other state-of-the-art (SOTA) methods but also maintains remarkable calibration accuracy even within challenging environments. For the benefits of the robotics community, we have open sourced our codes.

cs.RO↗

arXiv2022

Zoom Out and Observe: News Environment Perception for Fake News Detection

Fake news detection is crucial for preventing the dissemination of misinformation on social media. To differentiate fake news from real ones, existing methods observe the language patterns of the news post and "zoom in" to verify its content with knowledge sources or check its readers' replies. However, these methods neglect the information in the external news environment where a fake news post is created and disseminated. The news environment represents recent mainstream media opinion and public attention, which is an important inspiration of fake news fabrication because fake news is often designed to ride the wave of popular events and catch public attention with unexpected novel content for greater exposure and spread. To capture the environmental signals of news posts, we "zoom out" to observe the news environment and propose the News Environment Perception Framework (NEP). For each post, we construct its macro and micro news environment from recent mainstream news. Then we design a popularity-oriented and a novelty-oriented module to perceive useful signals and further assist final prediction. Experiments on our newly built datasets show that the NEP can efficiently improve the performance of basic fake news detectors.

cs.CL↗

arXiv2022

Confidence Propagation Cluster: Unleash Full Potential of Object Detectors

It has been a long history that most object detection methods obtain objects by using the non-maximum suppression (NMS) and its improved versions like Soft-NMS to remove redundant bounding boxes. We challenge those NMS-based methods from three aspects: 1) The bounding box with highest confidence value may not be the true positive having the biggest overlap with the ground-truth box. 2) Not only suppression is required for redundant boxes, but also confidence enhancement is needed for those true positives. 3) Sorting candidate boxes by confidence values is not necessary so that full parallelism is achievable. In this paper, inspired by belief propagation (BP), we propose the Confidence Propagation Cluster (CP-Cluster) to replace NMS-based methods, which is fully parallelizable as well as better in accuracy. In CP-Cluster, we borrow the message passing mechanism from BP to penalize redundant boxes and enhance true positives simultaneously in an iterative way until convergence. We verified the effectiveness of CP-Cluster by applying it to various mainstream detectors such as FasterRCNN, SSD, FCOS, YOLOv3, YOLOv5, Centernet etc. Experiments on MS COCO show that our plug and play method, without retraining detectors, is able to steadily improve average mAP of all those state-of-the-art models with a clear margin from 0.3 to 1.9 respectively when compared with NMS-based methods.

cs.CV↗

arXiv2020

The Bright Side and the Dark Side of Hybrid Organic Inorganic Perovskites

The previously developed bistable amphoteric native defect (BAND) model is used for a comprehensive explanation of the unique photophysical properties and for understanding the remarkable performance of perovskites as photovoltaic materials. It is shown that the amphoteric defects in donor (acceptor) configuration capture a fraction of photoexcited electrons (holes) dividing them into two groups: higher energy bright and lower energy dark electrons (holes). The spatial separation of the dark electrons and the dark holes and the k-space separation of the bright and the dark charge carriers reduce electron hole recombination rates, emulating the properties of an ideal photovoltaic material with a balanced, spatially separated transport of electrons and holes. The BAND model also offers a straightforward explanation for the exceptional insensitivity of the photovoltaic performance of polycrystalline perovskite films to structural and optical inhomogeneities. The blue-shifted radiative recombination of bright electrons and holes results in a large anti-Stokes effect that provides a quantitative explanation for the spectral dependence of the laser cooling effect measured in perovskite platelets.

physics.app-ph↗

arXiv2020

Near-Optimal Distributed Band-Joins through Recursive Partitioning

We consider running-time optimization for band-joins in a distributed system, e.g., the cloud. To balance load across worker machines, input has to be partitioned, which causes duplication. We explore how to resolve this tension between maximum load per worker and input duplication for band-joins between two relations. Previous work suffered from high optimization cost or considered partitionings that were too restricted (resulting in suboptimal join performance). Our main insight is that recursive partitioning of the join-attribute space with the appropriate split scoring measure can achieve both low optimization cost and low join cost. It is the first approach that is not only effective for one-dimensional band-joins but also for joins on multiple attributes. Experiments indicate that our method is able to find partitionings that are within 10% of the lower bound for both maximum load per worker and input duplication for a broad range of settings, significantly improving over previous work.

cs.DB↗

arXiv2010

Topological Magnetic Insulators with Corundum Structure

Topological insulators are new states of quantum matter in which surface states residing in the bulk insulating gap are protected by time-reversal symmetry. When a proper kind of antiferromagnetic long range order is established in a topological insulator, the system supports axionic excitations. In this paper, we study theoretically the electronic states in a transition metal oxide of corundum structure, in which both spin-orbit interaction and electron-electron interaction play crucial roles. A tight-binding model analysis predicts that materials with this structure can be strong topological insulator. Because of the electron correlation, an antiferromagnetic order may develop, giving rise to a topological magnetic insulator phase with axionic excitations.

cond-mat.mes-hall↗

arXiv2009

Dynamical Axion Field in Topological Magnetic Insulators

Axions are very light, very weakly interacting particles postulated more than 30 years ago in the context of the Standard Model of particle physics. Their existence could explain the missing dark matter of the universe. However, despite intensive searches, they have yet to be detected. In this work, we show that magnetic fluctuations of topological insulators couple to the electromagnetic fields exactly like the axions, and propose several experiments to detect this dynamical axion field. In particular, we show that the axion coupling enables a nonlinear modulation of the electromagnetic field, leading to attenuated total reflection. We propose a novel optical modulators device based on this principle.

cond-mat.other↗

arXiv2008

Seeing the magnetic monopole through the mirror of topological surface states

Existence of the magnetic monopole is compatible with the fundamental laws of nature, however, this illusive particle has yet to be detected experimentally. In this work, we show that an electric charge near the topological surface state induces an image magnetic monopole charge due to the topological magneto-electric effect. The magnetic field generated by the image magnetic monopole can be experimentally measured, and the inverse square law of the field dependence can be determined quantitatively. We propose that this effect can be used to experimentally realize a gas of quantum particles carrying fractional statistics, consisting of the bound states of the electric charge and the image magnetic monopole charge.

cond-mat.mes-hall↗