Many existing datasets for lidar place recognition are solely representative of structured urban environments, and have recently been saturated in performance by deep learning based approaches. Natural and unstructured environments present many additional challenges for the tasks of long-term localisation but these environments are not represented in currently available datasets. To address this we introduce Wild-Places, a challenging large-scale dataset for lidar place recognition in unstructured, natural environments. Wild-Places contains eight lidar sequences collected with a handheld sensor payload over the course of fourteen months, containing a total of 67K undistorted lidar submaps along with accurate 6DoF ground truth. Our dataset contains multiple revisits both within and between sequences, allowing for both intra-sequence (i.e. loop closure detection) and inter-sequence (i.e. re-localisation) place recognition. We also benchmark several state-of-the-art approaches to demonstrate the challenges that this dataset introduces, particularly the case of long-term place recognition due to natural environments changing over time. Our dataset and code will be available at https://csiro-robotics.github.io/Wild-Places.

th骨海星（COTS）爆发是大屏障礁（GBR）珊瑚损失的主要原因，并且正在进行实质性的监视和控制计划，以将COTS人群管理至生态可持续的水平。在本文中，我们在边缘设备上介绍了基于水下的水下数据收集和策展系统，以进行COTS监视。特别是，我们利用了基于深度学习的对象检测技术的功能，并提出了一种资源有效的COTS检测器，该检测器在边缘设备上执行检测推断，以帮助海上专家在数据收集阶段进行COTS识别。初步结果表明，可以将改善计算效率的几种策略（例如，批处理处理，帧跳过，模型输入大小）组合在一起，以在Edge硬件上运行拟议的检测模型，资源消耗较低，信息损失较低。

陆地植物的多样性在维持稳定，健康和生产的生态系统方面起着关键作用。尽管遥感被认为是估计植物多样性的有前途且具有成本效益的代理，但缺乏关于如何从Spaceborne Hyperfectral数据中推断出植物多样性的定量研究。在这项研究中，我们评估了通过DLR接地传感成像光谱仪（DESIS）捕获的高光谱数据的能力，以估计澳大利亚东南部南部梯田和雪山地区的植物物种丰富度。首先通过主成分分析，规范相关分析和部分最小二乘分析从Desis光谱中提取光谱特征。然后在提取的特征和植物物种丰富度之间进行了回归，并具有普通的最小二乘回归，内核脊回归和高斯工艺回归。根据两倍的交叉验证方案，使用相关系数（$ r $）和根平方错误（RMSE）评估结果。凭借最佳性能的模型，$ r $为0.71，而南部塔林群岛地区的RMSE为5.99，而$ R $为0.62，而雪山地区的RMSE为6.20。这项研究中报道的评估结果为未来的研究提供了支持，了解太空传播高光谱测量与陆地植物生物多样性之间的关系。

在对象检测中，当检测器未能检测到目标对象时，会出现假阴性。为了了解为什么对象检测产生假阴性，我们确定了五个“假负机制”，其中每个机制都描述了检测器体系结构内部的特定组件如何失败。着眼于两阶段和一阶段锚点对象检测器体系结构，我们引入了一个框架，用于量化这些虚假的负面机制。使用此框架，我们调查了为什么更快的R-CNN和视网膜无法检测基准视觉数据集和机器人数据集中的对象。我们表明，检测器的假负机制在计算机视觉基准数据集和机器人部署方案之间存在显着差异。这对为机器人应用程序开发的对象检测器的翻译具有影响。

位置识别是机器人技术的基本组成部分，近年来通过使用深度学习模型看到了巨大的改进。当部署在看不见或高度动态的环境中时，网络可以体验到大幅下降，并且需要对收集的数据进行其他培训。但是，对新训练分布进行天真的微调会导致先前访问的域上的性能严重降解，这一现象被称为灾难性遗忘。在本文中，我们解决了点云识别的增量学习问题，并引入了基于结构感知蒸馏的方法，可保留网络嵌入空间的高阶结构。我们在四个流行和大规模的激光雷达数据集（牛津，木兰，内部和基蒂）上介绍了几个挑战性的新基准测试，在各种网络架构上显示了Point Cloud Plote识别性能的广泛改进。据我们所知，这项工作是第一个有效地将增量学习应用于Point Cloud Place识别的工作。

点云是用于在自动车辆中的感知的关键模态，提供对周围环境的坚固几何理解的手段。然而，尽管传感器从自主车辆自然是季度自然的，但仍然有限地探讨了3D Sem-TIC分割的利用点云序列。在本文中，我们提出了一种新颖的稀疏时间本地注意力（StELA）模块，其聚合在先前点云帧中的本地邻域中中间特征，以向解码器提供丰富的时间上下文。使用稀疏的本地邻居使我们的方法能够更灵活地收集比直接匹配点特征的方法，比在整个点云框架上执行昂贵的全球关注的那些。我们在Semantickitti DataSet上实现了64.3％的竞争Miou，并在我们的消融研究中表现出对单一帧基线的显着改进。

荆棘冠的海星（婴儿床）爆发是珊瑚损失的主要原因是巨大的障碍礁（GBR），并且正在进行大量监测和控制计划，以试图管理生态可持续水平的COTS群体。我们释放了GBR上的COTS爆发区域的大规模注释的水下图像数据集，以鼓励机器学习和AI驱动技术的研究，以改善珊瑚礁秤上的COTS群体的检测，监测和管理。该数据集发布并托管在一次竞争中，挑战国际机器学习界，并从这些水下图像中的COTS检测的任务挑战。

Numerous models have tried to effectively embed knowledge graphs in low dimensions. Among the state-of-the-art methods, Graph Neural Network (GNN) models provide structure-aware representations of knowledge graphs. However, they often utilize the information of relations and their interactions with entities inefficiently. Moreover, most state-of-the-art knowledge graph embedding models suffer from scalability issues because of assigning high-dimensional embeddings to entities and relations. To address the above limitations, we propose a scalable general knowledge graph encoder that adaptively involves a powerful tensor decomposition method in the aggregation function of RGCN, a well-known relational GNN model. Specifically, the parameters of a low-rank core projection tensor, used to transform neighborhood entities in the encoder, are shared across relations to benefit from multi-task learning and incorporate relations information effectively. Besides, we propose a low-rank estimation of the core tensor using CP decomposition to compress the model, which is also applicable, as a regularization method, to other similar linear models. We evaluated our model on knowledge graph completion as a common downstream task. We train our model for using a new loss function based on contrastive learning, which relieves the training limitation of the 1-N method on huge graphs. We improved RGCN performance on FB15-237 by 0.42% with considerably lower dimensionality of embeddings.

Diffusion Probabilistic Models (DPMs) have recently been employed for image deblurring. DPMs are trained via a stochastic denoising process that maps Gaussian noise to the high-quality image, conditioned on the concatenated blurry input. Despite their high-quality generated samples, image-conditioned Diffusion Probabilistic Models (icDPM) rely on synthetic pairwise training data (in-domain), with potentially unclear robustness towards real-world unseen images (out-of-domain). In this work, we investigate the generalization ability of icDPMs in deblurring, and propose a simple but effective guidance to significantly alleviate artifacts, and improve the out-of-distribution performance. Particularly, we propose to first extract a multiscale domain-generalizable representation from the input image that removes domain-specific information while preserving the underlying image structure. The representation is then added into the feature maps of the conditional diffusion model as an extra guidance that helps improving the generalization. To benchmark, we focus on out-of-distribution performance by applying a single-dataset trained model to three external and diverse test sets. The effectiveness of the proposed formulation is demonstrated by improvements over the standard icDPM, as well as state-of-the-art performance on perceptual quality and competitive distortion metrics compared to existing methods.

We consider the constrained Linear Inverse Problem (LIP), where a certain atomic norm (like the $\ell_1 $ and the Nuclear norm) is minimized subject to a quadratic constraint. Typically, such cost functions are non-differentiable which makes them not amenable to the fast optimization methods existing in practice. We propose two equivalent reformulations of the constrained LIP with improved convex regularity: (i) a smooth convex minimization problem, and (ii) a strongly convex min-max problem. These problems could be solved by applying existing acceleration based convex optimization methods which provide better \mmode{ O \left( \nicefrac{1}{k^2} \right) } theoretical convergence guarantee. However, to fully exploit the utility of these reformulations, we also provide a novel algorithm, to which we refer as the Fast Linear Inverse Problem Solver (FLIPS), that is tailored to solve the reformulation of the LIP. We demonstrate the performance of FLIPS on the sparse coding problem arising in image processing tasks. In this setting, we observe that FLIPS consistently outperforms the Chambolle-Pock and C-SALSA algorithms--two of the current best methods in the literature.