The sensor configuration of an autonomous vehicle (AV) is determined in the early development phase when specific perception algorithms are not yet available. Therefore, approaches based on synthetic raw data are necessary to evaluate different configurations. One sensor type used in AV is LiDAR, but developers should carefully consider the amount and placement of the sensors due to their high costs. In this contribution, we propose the Omni-Lidar Evaluation Score (OLES), a novel metric to evaluate different LiDAR configurations based on their simulated raw data. Our OLES metric combines information-theoretic quantities with coverage-based metrics, considering both the spatial coverage and the uniformity of a LiDAR point cloud distribution. We show the need for a new metric and provide details on implementing OLES using the open-source simulator CARLA. We demonstrate the effectiveness of our new metric in a simulation study and highlight its usefulness in the early phases of vehicle development. This research provides a means to evaluate the quality of LiDAR configurations and provides a basis for further optimizing sensor setups for AVs.

Domain adaptive person re-identification (Re-ID) is challenging due to the domain gap between the source and target domains. Existing methods have recently shown great promise by training models with contrastive learning and assigning pseudo labels by clustering, in which a memory bank is utilized to keep features for contrast. However, two main problems lead to sub-optimal generalization ability for existing methods. First, there is no constraint on the updating for memory kept features in existing methods, resulting in inaccurate contrastive learning. Second, the inevitable noisy labels during clustering are usually ignored. To alleviate these problems, we propose a Label Rectifying with Consistent Contrastive-learning (LRCC) framework with two strategies. (1) The consistent contrastive-learning (CC) strategy works with a memory bank which stores the source domain class centroids and all the target domain image features. With the CC strategy, the contrast is conducted across the source and target domains simultaneously. More specifically, we design and maintain consistent clustering during model iteration, thus the classes of memory kept target features are invariable in one epoch. (2) The label rectifying (LR) strategy introduces an auxiliary classifier into the LRCC framework. Thus the pseudo labels are rectified by minimizing the prediction variance between the primary classifier and the auxiliary classifier. To verify the effectiveness of LRCC, we conduct experiments on three public person Re-ID datasets under the domain adaptive setting, DukeMTMC-reID, Market-1501, and MSMT17. The experimental results demonstrate that the proposed LRCC can obtain reliable pseudo labels and achieves state-of-the-art adaptation performance.

Tensor completion arouses much attention in signal processing and machine learning. The tensor train (TT) decomposition has shown better performances than the Tucker decomposition in image and video inpainting. In this paper, we propose a novel tensor completion model based on a newly defined latent Schatten TT norm. Then, the statistical performance is analyzed by establishing a non-asymptotic upper bound on the estimation error. Further, a scalable algorithm is developed to efficiently solve the model. Experimental results of color image inpainting demonstrate that the proposed norm has promising performances compared to other variants of Schatten norm.

Due to the superiority in exploiting the ubiquitous "spatial-shifting" property in modern multi-way data, the recently proposed low-tubal-rank model has been successfully applied for tensor recovery in signal processing and computer vision. In this paper, we define the generalized tensor Dantzig selector to recover a low-tubal-rank tensor from noisy linear measurements. Algorithmically, we develop an efficient algorithm based on the ADMM framework. Statistically, we establish non-asymptotic upper bounds on the estimation error for the problems of tensor completion and compressive sensing. Numerical experiments illustrate that our bounds can predict the scaling behavior of the estimation error. Experiments on realword datasets show the effectiveness of the proposed model.

Real multi-way data may suffer from missing entries, noise and outliers simultaneously. The recently proposed tubal nuclear norm (TNN) has shown its superiority in tensor completion. However, statistical analysis of TNN based models is still deficient. This paper aims to robustly recover a polluted incomplete tensor with rigorous statistical guarantee. Specifically, an estimator based on a weighed variant of TNN is proposed to complete a low-tubal-rank tensor corrupted by element sparse errors or slice sparse sample outliers from partial noisy observations. Non-asymptotic upper bounds on the estimation error are established and further proved to be minimax optimal up to a log factor. Sharpness of the upper bounds is verified on synthetic datasets and superiority of the proposed estimator is demonstrated through robust video inpainting.