Aerial-Ground Person Re-Identification (AGPReID) holds significant practical value but faces unique challenges due to pronounced variations in viewing angles, lighting conditions, and background interference. Traditional methods, often involving a global analysis of the entire image, frequently lead to inefficiencies and susceptibility to irrelevant data. In this paper, we propose a novel Dynamic Token Selective Transformer (DTST) tailored for AGPReID, which dynamically selects pivotal tokens to concentrate on pertinent regions. Specifically, we segment the input image into multiple tokens, with each token representing a unique region or feature within the image. Using a Top-k strategy, we extract the k most significant tokens that contain vital information essential for identity recognition. Subsequently, an attention mechanism is employed to discern interrelations among diverse tokens, thereby enhancing the representation of identity features. Extensive experiments on benchmark datasets showcases the superiority of our method over existing works. Notably, on the CARGO dataset, our proposed method gains 1.18% mAP improvements when compared to the second place. In addition, we comprehensively analyze the impact of different numbers of tokens, token insertion positions, and numbers of heads on model performance. Please checkout our website for code and dataset: https://yuhaiw.github.io/DTS-AGPReID/

Due to the limited model capacity, leveraging distributed Neural Radiance Fields (NeRFs) for modeling extensive urban environments has become a necessity. However, current distributed NeRF registration approaches encounter aliasing artifacts, arising from discrepancies in rendering resolutions and suboptimal pose precision. These factors collectively deteriorate the fidelity of pose estimation within NeRF frameworks, resulting in occlusion artifacts during the NeRF blending stage. In this paper, we present a distributed NeRF system with tri-stage pose optimization. In the first stage, precise poses of images are achieved by bundle adjusting Mip-NeRF 360 with a coarse-to-fine strategy. In the second stage, we incorporate the inverting Mip-NeRF 360, coupled with the truncated dynamic low-pass filter, to enable the achievement of robust and precise poses, termed Frame2Model optimization. On top of this, we obtain a coarse transformation between NeRFs in different coordinate systems. In the third stage, we fine-tune the transformation between NeRFs by Model2Model pose optimization. After obtaining precise transformation parameters, we proceed to implement NeRF blending, showcasing superior performance metrics in both real-world and simulation scenarios. Codes and data will be publicly available at https://github.com/boilcy/Distributed-NeRF.

Interactive decision-making between multiple automated vehicles under unsigned intersections is a high-level dynamic decision-making scenario, greatly increasing the complexity of decision-making. In this situation, making the decision-making manner in accordance with the logic of human and guaranteeing driving safety is technically challenging. A multi-factor-enabled interactive decision-making method is proposed in this paper to realize such behavior, which employs multiple complementary factors and switchable modes in a dynamic game. More specifically, these factors are driving performance requirements, e.g., moving safety, smoothness comfort, fast passing, and surrounding space, as well as diversified driving styles suitable for different driver groups. Meanwhile, to improve the reasonability of automated driving and reduce the complexity of multi-vehicle games, switchable game modes are established to realize the dynamic adjustment mechanism. The effectiveness of the proposed method in resolving conflicts in a continuous interactive way is verified through extensive simulations. The results indicate the proposed method can reflect the interaction process between multi-agents, and improve compliance between intelligent decision-making and the logic of human.

This paper introduces a leg-wheel transformable quadruped robot named Lywal which can switch to the leg-mode and the wheel-mode for locomotion, and the claw-mode for picking up and transport functions. First, the mechanical structure of Lywal is designed by using an innovative 2-DoF transformable mechanism. Second, the calculation of kinematics is analyzed in detail. Then, the switching-mode strategy and the mobile control strategies in different modes are designed. Finally, the prototype of Lywal is built. The properties of the mobile modes are analyzed, and the picking-up and transport functions of the claw-mode are verified through physical experiments.