A unique challenge in P2P network is that the peer dynamics (departure or failure) cause unavoidable disruption to the downstream peers. While many works have been dedicated to consider fault resilience in peer select...A unique challenge in P2P network is that the peer dynamics (departure or failure) cause unavoidable disruption to the downstream peers. While many works have been dedicated to consider fault resilience in peer selection, little understanding is achieved regarding the solvability and solution complexity of this problem from the optimization perspective. To this end, we propose an optimization framework based on the generalized flow theory. Key concepts introduced by this framework include resilience factor, resilience index, and generalized throughput, which collectively model the peer resilience in a probabilistic measure. Under this framework, we divide the domain of optimal peer selection along several dimensions including network topology, overlay organization, and the definition of resilience factor and generalized flow. Within each sub-problem, we focus on studying the problem complexity and finding optimal solutions. Simulation study is also performed to evaluate the effectiveness of our model and performance of the proposed algorithms.展开更多
In recent years, there have been a lot of interests in incorporating semantics into simultaneous localization and mapping （SLAM） systems. This paper presents an approach to generate an outdoor large-scale 3D dense s...In recent years, there have been a lot of interests in incorporating semantics into simultaneous localization and mapping （SLAM） systems. This paper presents an approach to generate an outdoor large-scale 3D dense semantic map based on binocular stereo vision. The inputs to system are stereo color images from a moving vehicle. First, dense 3D space around the vehicle is constructed, and tile motion of camera is estimated by visual odometry. Meanwhile, semantic segmentation is performed through the deep learning technology online, and the semantic labels are also used to verify tim feature matching in visual odometry. These three processes calculate the motion, depth and semantic label of every pixel in the input views. Then, a voxel conditional random field （CRF） inference is introduced to fuse semantic labels to voxel. After that, we present a method to remove the moving objects by incorporating the semantic labels, which improves the motion segmentation accuracy. The last is to generate tile dense 3D semantic map of an urban environment from arbitrary long image sequence. We evaluate our approach on KITTI vision benchmark, and the results show that the proposed method is effective.展开更多
文摘A unique challenge in P2P network is that the peer dynamics (departure or failure) cause unavoidable disruption to the downstream peers. While many works have been dedicated to consider fault resilience in peer selection, little understanding is achieved regarding the solvability and solution complexity of this problem from the optimization perspective. To this end, we propose an optimization framework based on the generalized flow theory. Key concepts introduced by this framework include resilience factor, resilience index, and generalized throughput, which collectively model the peer resilience in a probabilistic measure. Under this framework, we divide the domain of optimal peer selection along several dimensions including network topology, overlay organization, and the definition of resilience factor and generalized flow. Within each sub-problem, we focus on studying the problem complexity and finding optimal solutions. Simulation study is also performed to evaluate the effectiveness of our model and performance of the proposed algorithms.
基金supported by National Natural Science Foundation of China(Nos.NSFC 61473042 and 61105092)Beijing Higher Education Young Elite Teacher Project(No.YETP1215)
文摘In recent years, there have been a lot of interests in incorporating semantics into simultaneous localization and mapping （SLAM） systems. This paper presents an approach to generate an outdoor large-scale 3D dense semantic map based on binocular stereo vision. The inputs to system are stereo color images from a moving vehicle. First, dense 3D space around the vehicle is constructed, and tile motion of camera is estimated by visual odometry. Meanwhile, semantic segmentation is performed through the deep learning technology online, and the semantic labels are also used to verify tim feature matching in visual odometry. These three processes calculate the motion, depth and semantic label of every pixel in the input views. Then, a voxel conditional random field （CRF） inference is introduced to fuse semantic labels to voxel. After that, we present a method to remove the moving objects by incorporating the semantic labels, which improves the motion segmentation accuracy. The last is to generate tile dense 3D semantic map of an urban environment from arbitrary long image sequence. We evaluate our approach on KITTI vision benchmark, and the results show that the proposed method is effective.
