Spatio-Temporal Contextual Learning for Single Object Tracking on Point Clouds.

Single object tracking (SOT) is one of the most active research directions in the field of computer vision. Compared with the 2-D image-based SOT which has already been well-studied, SOT on 3-D point clouds is a relatively emerging research field. In this article, a novel approach, namely, the contextual-aware tracker (CAT), is investigated to achieve a superior 3-D SOT through spatially and temporally contextual learning from the LiDAR sequence. More precisely, in contrast to the previous 3-D SOT methods merely exploiting point clouds in the target bounding box as the template, CAT generates templates by adaptively including the surroundings outside the target box to use available ambient cues. This template generation strategy is more effective and rational than the previous area-fixed one, especially when the object has only a small number of points. Moreover, it is deduced that LiDAR point clouds in 3-D scenes are often incomplete and significantly vary from frame to another, which makes the learning process more difficult. To this end, a novel cross-frame aggregation (CFA) module is proposed to enhance the feature representation of the template by aggregating the features from a historical reference frame. Leveraging such schemes enables CAT to achieve a robust performance, even in the case of extremely sparse point clouds. The experiments confirm that the proposed CAT outperforms the state-of-the-art methods on both the KITTI and NuScenes benchmarks, achieving 3.9% and 5.6% improvements in terms of precision.

An Efficient Entropy-Based Causal Discovery Method for Linear Structural Equation Models With IID Noise Variables.

The discovery of causal relationships from the observational data is an important task. To identify the unique causal structure belonging to a Markov equivalence class, a number of algorithms, such as the linear non-Gaussian acyclic model (LiNGAM), have been proposed. However, two challenges remain to be met: 1) these algorithms fail to work on the data which follow linear structural equation model with Gaussian noise and 2) they misjudge the causal direction when the data contain additional measurement errors. In this paper, we propose an entropy-based two-phase iterative algorithm for arbitrary distribution data with additional measurement errors under some mild assumptions. In the first phase of the algorithm, based on the property that entropy can measure the amount of information behind the data with arbitrary distribution, we design a general approach for the identification of exogenous variable on both Gaussian and non-Gaussian data, and we give the corresponding theoretical derivation. In the second phase, to eliminate the effects of measurement errors, we revise the value of the exogenous variable by removing its measurement error and further use the revised value to remove its effect on the remaining variables. Experimental results on real-world causal structures are presented to demonstrate the effectiveness and stability of our method. We also apply the proposed algorithm on the mobile-base-station data with measurement errors, and the results further prove the effectiveness of our algorithm.