Constructing high-definition (HD) maps from sensory input requires accurately mapping the road elements in image space to the Bird's Eye View (BEV) space. The precision of this mapping directly impacts the quality of the final vectorized HD map. Existing HD mapping approaches outsource the projection to standard mapping techniques, such as attention-based ones. However, these methods struggle with accuracy due to generalization problems, often hallucinating non-existent road elements. Our key idea is to start with a geometric mapping based on camera parameters and adapt it to the scene to extract relevant map information from camera images. To implement this, we propose a novel probabilistic projection mechanism with confidence scores to (i) refine the mapping to better align with the scene and (ii) filter out irrelevant elements that should not influence HD map generation. In addition, we improve temporal processing by using confidence scores to selectively accumulate reliable information over time. Experiments on new splits of the nuScenes and Argoverse2 datasets demonstrate improved performance over state-of-the-art approaches, indicating better generalization. The improvements
The MITRE Adversarial Tactics, Techniques and Common Knowledge (MITRE ATT&CK) Attack Technique to Proactive Software Supply Chain Risk Management Framework (P-SSCRM) Task mapping described in this document helps software organizations to determine how different tasks mitigate the attack techniques of software supply chain attacks. The mapping was created through four independent strategies to find agreed-upon mappings. Because each P-SSCRM task is mapped to one or more tasks from the 10 frameworks, the mapping we provide is also a mapping between MITRE ATT&CK and other prominent government and industry frameworks.
Markerless biomechanics increasingly relies on 3D skeletal keypoints extracted from video, yet downstream biomechanical mappings typically treat these estimates as deterministic, providing no principled mechanism for frame-wise quality control. In this work, we investigate predictive uncertainty as a quantitative measure of confidence for mapping 3D pose keypoints to 3D anatomical landmarks, a critical step preceding inverse kinematics and musculoskeletal analysis. Within a temporal learning framework, we model both uncertainty arising from observation noise and uncertainty related to model limitations. Using synchronized motion capture ground truth on AMASS, we evaluate uncertainty at frame and joint level through error--uncertainty rank correlation, risk--coverage analysis, and catastrophic outlier detection. Across experiments, uncertainty estimates, particularly those associated with model uncertainty, exhibit a strong monotonic association with landmark error (Spearman $ρ\approx 0.63$), enabling selective retention of reliable frames (error reduced to $\approx 16.8$ mm at 10% coverage) and accurate detection of severe failures (ROC-AUC $\approx 0.92$ for errors $>50$ mm). R
Alzheimer's disease (AD) confirmation often relies on positron emission tomography (PET) or cerebrospinal fluid (CSF) analysis, which are costly and invasive. Consequently, structural MRI biomarkers such as cortical thickness (CT) are widely used for non-invasive AD screening. Multiscale structural mapping (MSSM) was recently proposed to integrate gray-white matter contrasts (GWCs) with CT from a single T1-weighted MRI (T1w) scan. Building on this framework, we propose MSSM+, together with surface supervertex mapping (SSVM) and a Supervertex Vision Transformer (SV-ViT). 3D T1w images from individuals with AD and cognitively normal (CN) controls were analyzed. MSSM+ extends MSSM by incorporating sulcal depth and cortical curvature at the vertex level. SSVM partitions the cortical surface into supervertices (surface patches) that effectively represent inter- and intra-regional spatial relationships. SV-ViT is a Vision Transformer architecture operating on these supervertices, enabling anatomically informed learning from surface mesh representations. Compared with MSSM, MSSM+ identified more spatially extensive and statistically significant group differences between AD and CN. In AD v
Crop mapping involves identifying and classifying crop types using spatial data, primarily derived from remote sensing imagery. This study presents the first comprehensive review of large-scale, pixel-wise crop mapping workflows, encompassing both conventional supervised methods and emerging transfer learning approaches. To identify the optimal time-series generation approaches and supervised crop mapping models, we conducted systematic experiments, comparing six widely adopted satellite image-based preprocessing methods, alongside eleven supervised pixel-wise classification models. Additionally, we assessed the synergistic impact of varied training sample sizes and variable combinations. Moreover, we identified optimal transfer learning techniques for different magnitudes of domain shift. The evaluation of optimal methods was conducted across five diverse agricultural sites. Landsat 8 served as the primary satellite data source. Labels come from CDL trusted pixels and field surveys. Our findings reveal three key insights. First, fine-scale interval preprocessing paired with Transformer models consistently delivered optimal performance for both supervised and transferable workflows
Semantic mapping with Bayesian Kernel Inference (BKI) has shown promise in providing a richer understanding of environments by effectively leveraging local spatial information. However, existing methods face challenges in constructing accurate semantic maps or reliable uncertainty maps in perceptually challenging environments due to unreliable semantic predictions. To address this issue, we propose an evidential semantic mapping framework, which integrates the evidential reasoning of Dempster-Shafer Theory of Evidence (DST) into the entire mapping pipeline by adopting Evidential Deep Learning (EDL) and Dempster's rule of combination. Additionally, the extended belief is devised to incorporate local spatial information based on their uncertainty during the mapping process. Comprehensive experiments across various off-road datasets demonstrate that our framework enhances the reliability of uncertainty maps, consistently outperforming existing methods in scenes with high perceptual uncertainties while showing semantic accuracy comparable to the best-performing semantic mapping techniques.
Maps provide robots with crucial environmental knowledge, thereby enabling them to perform interactive tasks effectively. Easily accessing accurate abstract-to-detailed geometric and semantic concepts from maps is crucial for robots to make informed and efficient decisions. To comprehensively model the environment and effectively manage the map data structure, we propose DHP-Mapping, a dense mapping system that utilizes multiple Truncated Signed Distance Field (TSDF) submaps and panoptic labels to hierarchically model the environment. The output map is able to maintain both voxel- and submap-level metric and semantic information. Two modules are presented to enhance the mapping efficiency and label consistency: (1) an inter-submaps label fusion strategy to eliminate duplicate points across submaps and (2) a conditional random field (CRF) based approach to enhance panoptic labels through object label comprehension and contextual information. We conducted experiments with two public datasets including indoor and outdoor scenarios. Our system performs comparably to state-of-the-art (SOTA) methods across geometry and label accuracy evaluation metrics. The experiment results highlight t
Robotic mapping with Bayesian Kernel Inference (BKI) has shown promise in creating semantic maps by effectively leveraging local spatial information. However, existing semantic mapping methods face challenges in constructing reliable maps in unstructured outdoor scenarios due to unreliable semantic predictions. To address this issue, we propose an evidential semantic mapping, which can enhance reliability in perceptually challenging off-road environments. We integrate Evidential Deep Learning into the semantic segmentation network to obtain the uncertainty estimate of semantic prediction. Subsequently, this semantic uncertainty is incorporated into an uncertainty-aware BKI, tailored to prioritize more confident semantic predictions when accumulating semantic information. By adaptively handling semantic uncertainties, the proposed framework constructs robust representations of the surroundings even in previously unseen environments. Comprehensive experiments across various off-road datasets demonstrate that our framework enhances accuracy and robustness, consistently outperforming existing methods in scenes with high perceptual uncertainties.
Automated program analysis is a pivotal research domain in many areas of Computer Science -- Formal Methods and Artificial Intelligence, in particular. Due to the undecidability of the problem of program equivalence, comparing two programs is highly challenging. Typically, in order to compare two programs, a relation between both programs' sets of variables is required. Thus, mapping variables between two programs is useful for a panoply of tasks such as program equivalence, program analysis, program repair, and clone detection. In this work, we propose using graph neural networks (GNNs) to map the set of variables between two programs based on both programs' abstract syntax trees (ASTs). To demonstrate the strength of variable mappings, we present three use-cases of these mappings on the task of program repair to fix well-studied and recurrent bugs among novice programmers in introductory programming assignments (IPAs). Experimental results on a dataset of 4166 pairs of incorrect/correct programs show that our approach correctly maps 83% of the evaluation dataset. Moreover, our experiments show that the current state-of-the-art on program repair, greatly dependent on the programs'
Mappings between related ontologies are increasingly used to support data integration and analysis tasks. Changes in the ontologies also require the adaptation of ontology mappings. So far the evolution of ontology mappings has received little attention albeit ontologies change continuously especially in the life sciences. We therefore analyze how mappings between popular life science ontologies evolve for different match algorithms. We also evaluate which semantic ontology changes primarily affect the mappings. We further investigate alternatives to predict or estimate the degree of future mapping changes based on previous ontology and mapping transitions.
Despite remarkable success in diverse web-based applications, Graph Neural Networks(GNNs) inherit and further exacerbate historical discrimination and social stereotypes, which critically hinder their deployments in high-stake domains such as online clinical diagnosis, financial crediting, etc. However, current fairness research that primarily craft on i.i.d data, cannot be trivially replicated to non-i.i.d. graph structures with topological dependence among samples. Existing fair graph learning typically favors pairwise constraints to achieve fairness but fails to cast off dimensional limitations and generalize them into multiple sensitive attributes; besides, most studies focus on in-processing techniques to enforce and calibrate fairness, constructing a model-agnostic debiasing GNN framework at the pre-processing stage to prevent downstream misuses and improve training reliability is still largely under-explored. Furthermore, previous work on GNNs tend to enhance either fairness or privacy individually but few probe into their interplays. In this paper, we propose a novel model-agnostic debiasing framework named MAPPING (\underline{M}asking \underline{A}nd \underline{P}runing an
As the application scenarios of mobile robots are getting more complex and challenging, scene understanding becomes increasingly crucial. A mobile robot that is supposed to operate autonomously in indoor environments must have precise knowledge about what objects are present, where they are, what their spatial extent is, and how they can be reached; i.e., information about free space is also crucial. Panoptic mapping is a powerful instrument providing such information. However, building 3D panoptic maps with high spatial resolution is challenging on mobile robots, given their limited computing capabilities. In this paper, we propose PanopticNDT - an efficient and robust panoptic mapping approach based on occupancy normal distribution transform (NDT) mapping. We evaluate our approach on the publicly available datasets Hypersim and ScanNetV2. The results reveal that our approach can represent panoptic information at a higher level of detail than other state-of-the-art approaches while enabling real-time panoptic mapping on mobile robots. Finally, we prove the real-world applicability of PanopticNDT with qualitative results in a domestic application.
Mean value coordinates can be used to map one polygon into another, with application to computer graphics and curve and surface modelling. In this paper we show that if the polygons are quadrilaterals, and if the target quadrilateral is convex, then the mapping is injective.
Determination of design parameters based on electromagnetic simulations of microwave circuits is an iterative and often time-consuming procedure. Space mapping is a powerful technique to optimize such complex models by efficiently substituting accurate but expensive electromagnetic models, fine models, with fast and approximate models, coarse models. In this paper, we apply two space mapping, an explicit space mapping as well as an implicit and response residual space mapping, techniques to a case study application, a microstrip band-pass filter. First, we model the case study application and optimize its design parameters, using explicit space mapping modelling approach. Then, we use implicit and response residual space mapping approach to optimize the filter's design parameters. Finally, the performance of each design methods is evaluated. It is shown that the use of above-mentioned techniques leads to achieving satisfactory design solutions with a minimum number of computationally expensive fine model evaluations.
Device localization and radar-like mapping are at the heart of integrated sensing and communication, enabling not only new services and applications, but can also improve communication quality with reduced overheads. These forms of sensing are however susceptible to data association problems, due to the unknown relation between measurements and detected objects or targets. In this chapter, we provide an overview of the fundamental tools used to solve mapping, tracking, and simultaneous localization and mapping (SLAM) problems. We distinguish the different types of sensing problems and then focus on mapping and SLAM as running examples. Starting from the applicable models and definitions, we describe the different algorithmic approaches, with a particular focus on how to deal with data association problems. In particular, methods based on random finite set theory and Bayesian graphical models are introduced in detail. A numerical study with synthetic and experimental data is then used to compare these approaches in a variety of scenarios.
We show how shadows can be efficiently generated in differentiable rendering of triangle meshes. Our central observation is that pre-filtered shadow mapping, a technique for approximating shadows based on rendering from the perspective of a light, can be combined with existing differentiable rasterizers to yield differentiable visibility information. We demonstrate at several inverse graphics problems that differentiable shadow maps are orders of magnitude faster than differentiable light transport simulation with similar accuracy -- while differentiable rasterization without shadows often fails to converge.
We study the relation between the set of oriented $\mathbb{Z}/d$-homology $3$-spheres and the level-$d$ mapping class groups, the kernels of the canonical maps from the mapping class group of an oriented surface to the symplectic group with coefficients in $\mathbb{Z}/d\mathbb{Z}$. We formulate a criterion to decide whenever a $\mathbb{Z}/d$-homology $3$-sphere can be constructed from a Heegaard splitting with gluing map an element of the level-$d$ mapping class group. Then we give a tool to construct invariants of $\mathbb{Z}/d$-homology $3$-spheres from families of trivial $2$-cocycles on the level-$d$ mapping class groups. We apply this tool to find all the invariants of $\mathbb{Z}/p$-homology $3$-spheres constructed from families of $2$-cocycles on the abelianization of the level-$p$ mapping class group with $p$ prime and to disprove the conjectured extension of the Casson invariant modulo a prime $p$ to rational homology $3$-spheres due B. Perron.
In this paper we prove that finite index subgroups of genus 3 mapping class and Torelli groups that contain the group generated by Dehn twists on bounding simple closed curves are not Kahler. These results are deduced from explicit presentations of the unipotent (aka, Malcev) completion of genus 3 Torelli groups and of the relative completions of genus 3 mapping class groups. The main results follow from the fact that these presentations are not quadratic. To complete the picture, we compute presentations of completed Torelli and mapping class in genera > 3; they are quadratic. We also show that groups commensurable with hyperelliptic mapping class groups and mapping class groups in genera < 3 are not Kahler.
Context: The Importance of Dynamic Variability Management in Dynamic Software Product Lines. Objective: Define a protocol for conducting a systematic mapping study to summarize and synthesize evidence on dynamic variability management for Dynamic Software Product Lines in self-adaptive systems. Method: Application the protocol to conduct a systematic mapping study according the guidelines of K. Petersen. Results: A validated protocol to conduct a systematic mapping study. Conclusions: First findings show that it is necessary to visualize new ways to manage variability in dynamic software product lines.
We provide a simple criterion for an element of the mapping class group of a closed surface to have normal closure equal to the whole mapping class group. We apply this to show that every nontrivial periodic mapping class that is not a hyperelliptic involution is a normal generator for the mapping class group when the genus is at least 3. We also give many examples of pseudo-Anosov normal generators, answering a question of D. D. Long. In fact we show that every pseudo-Anosov mapping class with stretch factor less than $\sqrt{2}$ is a normal generator. Even more, we give pseudo-Anosov normal generators with arbitrarily large stretch factors and arbitrarily large translation lengths on the curve graph, disproving a conjecture of Ivanov.