Ground and aerial robots, with distinct sensing perspectives, acquire heterogeneous point clouds that exhibit limited overlap, presenting significant challenges for collaborative mapping. To address these challenges, this article proposes a robust LiDAR-based aerial-ground collaborative mapping framework for large-scale outdoor environments. Firstly, to perform reliable cross-source place recognition and detect loop closure between aerial-ground robots, a deep network that fuses multi-level bird’s-eye view (BEV) and geometric features is developed to ensure consistent feature extraction and emphasize overlaps between heterogeneous point clouds. Next, an overlap-aware registration method is proposed to align point clouds within a detected loop closure. This method can strategically perform point cloud sparsification based on overlap ratio estimation, and mitigate the adverse effects of interfering points in non-overlapping regions. Furthermore, a graph optimization is implemented to consider all loop closure constraints simultaneously and ensure global map consistency. Comparative experiments on public and self-collected datasets demonstrate the superiority of the proposed approach. We open source code on GitHub1to benefit the community.

Extending from unimodal to multimodal is a critical challenge for unsupervised domain adaptation (UDA). Two major problems emerge in unsupervised multimodal domain adaptation: domain adaptation and modality alignment. An intuitive way to handle these two problems is to fulfill these tasks in two separate stages: aligning modalities followed by domain adaptation, or vice versa. However, domains and modalities are not associated in most existing two-stage studies, and the relationship between them is not leveraged which can provide complementary information to each other. In this paper, we unify these two stages into one to align domains and modalities simultaneously. In our model, a tensor-based alignment module (TAL) is presented to explore the relationship between domains and modalities. By this means, domains and modalities can interact sufficiently and guide them to utilize complementary information for better results. Furthermore, to establish a bridge between domains, a dynamic domain generator (DDG) module is proposed to build transitional samples by mixing the shared information of two domains in a self-supervised manner, which helps our model learn a domain-invariant common representation space. Extensive experiments prove that our method can achieve superior performance in two real-world applications. The code will be publicly available.

Recurrent neural networks (RNN) combined with attention mechanism has proved to be useful for various NLP tasks including machine translation, sequence labeling and syntactic parsing. The attention mechanism is usually applied by estimating the weights (or importance) of inputs and taking the weighted sum of inputs as derived features. Although such features have demonstrated their effectiveness, they may fail to capture the sequence information due to the simple weighted sum being used to produce them. The order of the words does matter to the meaning or the structure of the sentences, especially for syntactic parsing, which aims to recover the structure from a sequence of words. In this study, we propose an RNN-based attention to capture the relevant and sequence-preserved features from a sentence, and use the derived features to perform the dependency parsing. We evaluated the graph-based and transition-based parsing models enhanced with the RNN-based sequence-preserved attention on the both English PTB and Chinese CTB datasets. The experimental results show that the enhanced systems were improved with significant increase in parsing accuracy.

Unsupervised word representations have demonstrated improvements in predictive generalization on various NLP tasks. Most of the existing models are in fact good at capturing the relatedness among words rather than their ''genuine'' similarity because the context representations are often represented by a sum (or an average) of the neighbor's embeddings, which simplifies the computation but ignores an important fact that the meaning of a word is determined by its context, reflecting not only the surrounding words but also the rules used to combine them (i.e. compositionality). On the other hand, much effort has been devoted to learning a single-prototype representation per word, which is problematic because many words are polysemous, and a single-prototype model is incapable of capturing phenomena of homonymy and polysemy. We present a neural network architecture to jointly learn word embeddings and context representations from large data sets. The explicitly produced context representations are further used to learn context-specific and multi-prototype word embeddings. Our embeddings were evaluated on several NLP tasks, and the experimental results demonstrated the proposed model outperformed other competitors and is applicable to intrinsically "character-based" languages.