Large-scale video feature indexing in datacenters is critically dependent on efficient data transfer. Although in-network computation has emerged as a compelling strategy for accelerating feature extraction and reducing overhead in distributed multimedia systems, harnessing advanced networking resources at both the switch and host levels remains a formidable challenge. These difficulties are compounded by heterogeneous hardware, diverse application requirements, and complex multipath topologies. Existing methods focus primarily on optimizing inference for large neural network models using specialized collective communication libraries, which often face performance degradation in network congestion scenarios.

Real-time streaming of point cloud video, characterized by massive data volumes and high sensitivity to packet loss, remains a key challenge for immersive applications under dynamic network conditions. While connection-oriented protocols such as TCP and more modern alternatives like QUIC alleviate some transport-layer inefficiencies, including head-of-line blocking, they still retain a coarse-grained, segment-based delivery model and a centralized control loop that limit fine-grained adaptation and effective caching. We introduce INDS (Incremental Named Data Streaming), an adaptive streaming framework based on Information-Centric Networking (ICN) that rethinks delivery for hierarchical, layered media. INDS leverages the Octree structure of point cloud video and expressive content naming to support progressive, partial retrieval of enhancement layers based on consumer bandwidth and decoding capability. By combining time-windows with Group-of-Frames (GoF), INDS's naming scheme supports fine-grained in-network caching and facilitates efficient multi-user data reuse. INDS can be deployed as an overlay, remaining compatible with QUIC-based transport infrastructure as well as future Media-over-QUIC (MoQ) architectures, without requiring changes to underlying IP networks. Our prototype implementation shows up to 80% lower delay, 15-50% higher throughput, and 20-30% increased cache hit rates compared to state-of-the-art DASH-style systems. Together, these results establish INDS as a scalable, cache-friendly solution for real-time point cloud streaming under variable and lossy conditions, while its compatibility with MoQ overlays further positions it as a practical, forward-compatible architecture for emerging immersive media systems.

Robot localization using a built map is essential for a variety of tasks including accurate navigation and mobile manipulation. A popular approach to robot localization is based on image-to-point cloud registration, which combines illumination-invariant LiDAR-based mapping with economical image-based localization. However, the recent works for image-to-point cloud registration either divide the registration into separate modules or project the point cloud to the depth image to register the RGB and depth images. In this paper, we present I2PNet, a novel end-to-end 2D-3D registration network, which directly registers the raw 3D point cloud with the 2D RGB image using differential modules with a united target. The 2D-3D cost volume module for differential 2D-3D association is proposed to bridge feature extraction and pose regression. The soft point-to-pixel correspondence is implicitly constructed on the intrinsic-independent normalized plane in the 2D-3D cost volume module. Moreover, we introduce an outlier mask prediction module to filter the outliers in the 2D-3D association before pose regression. Furthermore, we propose the coarse-to-fine 2D-3D registration architecture to increase localization accuracy. Extensive localization experiments are conducted on the KITTI, nuScenes, M2DGR, Argoverse, Waymo, and Lyft5 datasets. The results demonstrate that I2PNet outperforms the state-of-the-art by a large margin and has a higher efficiency than the previous works. Moreover, we extend the application of I2PNet to the camera-LiDAR online calibration and demonstrate that I2PNet outperforms recent approaches on the online calibration task. Source codes are released athttps://github.com/IRMVLab/I2PNet.