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A quantum network provides an infrastructure connecting quantum devices with revolutionary computing, sensing, and communication capabilities. As the best-known application of a quantum network, quantum key distribution (QKD) shares secure keys guaranteed by the laws of quantum mechanics. A quantum satellite constellation offers a solution to facilitate the quantum network on a global scale. The Micius satellite has verified the feasibility of satellite quantum communications, however, scaling up quantum satellite constellations is challenging, requiring small lightweight satellites, portable ground stations and real-time secure key exchange. Here we tackle these challenges and report the development of a quantum microsatellite capable of performing space-to-ground QKD using portable ground stations. The quantum microsatellite features a payload weighing approximately 23 kg, while the portable ground station weighs about 100 kg. These weights represent reductions by more than an order and two orders of magnitude, respectively, compared to the Micius satellite. Additionally, we multiplex bidirectional satellite-ground optical communication with quantum communication, enabling key distillation and secure communication in real-time. Using the microsatellite and the portable ground stations, we demonstrate satellite-based QKD with multiple ground stations and achieve the sharing of up to 0.59 million bits of secure keys during a single satellite pass. The compact quantum payload can be readily assembled on existing space stations or small satellites, paving the way for a satellite-constellation-based quantum and classical network for widespread real-life applications., Comment: 40 pages, 8 figures

One of the most significant vulnerabilities in the source unit of quantum key distribution (QKD) is the correlation between quantum states after modulation, which shall be characterized and evaluated for its practical security performance. In this work, we propose a methodology to characterize the intensity correlation according to the single-photon detection results in the measurement unit without modifying the configuration of the QKD system. In contrast to the previous research that employs extra classical optical detector to measure the correlation, our method can directly analyse the detection data generated during the raw key exchange, enabling to characterize the feature of correlation in real-time system operation. The basic method is applied to a BB84 QKD system and the characterized correlation decreases the secure key rate shown by the security proof. Furthermore, the method is extended and applied to characterize the correlation from the result of Bell-state measurement, which demonstrates its applicability to a running full-scheme MDI QKD system. This study provides an approach for standard certification of a QKD system.

The entangled photons are crucial resources for quantum communications and networking. Here, we present an ultra-bright polarization-entangled photon source based on a periodically poled lithium niobate waveguide designed for practical quantum communication networks. Using a 780 nm pump laser, the source achieves a pair generation rate of 2.4 $\times 10^{10}$ pairs/s/mW. This work has achieved a directly measured power of 17.9 nW in entangled photon generation with a 3.2 mW pump power. Based on this, we demonstrate the practicality of the source by conducting quantum key distribution experiments over long-distance fiber links, achieving the applicable secure key rates of up to 440.80 bits/s over 200 km with 62 dB loss and reaching a maximum secure key generation distance of 404 km. These results demonstrate the potential of wavelength-multiplexed polarization-entangled photon sources for high-speed, long-distance quantum communication, positioning them as key components for future large-scale quantum networks., Comment: 18 pages, 6 figures

The emergence of quantum mechanics and general relativity has transformed our understanding of the natural world significantly. However, integrating these two theories presents immense challenges, and their interplay remains untested. Recent theoretical studies suggest that the single-photon interference covering huge space can effectively probe the interface between quantum mechanics and general relativity. We developed an alternative design using unbalanced Michelson interferometers to address this and validated its feasibility over an 8.4 km free-space channel. Using a high-brightness single-photon source based on quantum dots, we demonstrated single-photon interference along this long-distance baseline. We achieved a phase measurement precision of 16.2 mrad, which satisfied the measurement requirements for a gravitational redshift at the geosynchronous orbit by five times the standard deviation. Our results confirm the feasibility of the single-photon version of the Colella-Overhauser-Werner experiment for testing the quantum effects in curved spacetime., Comment: 22 pages, 6 figures

As the main theoretical support of quantum metrology, quantum parameter estimation must follow the steps of quantum metrology towards the applied science and industry. Hence, optimal scheme design will soon be a crucial and core task for quantum parameter estimation. To efficiently accomplish this task, software packages aimed at computer-aided design are in high demand. In response to this need, we hereby introduce QuanEstimation.jl, an open-source Julia framework for scheme evaluation and design in quantum parameter estimation. It can be used either as an independent package or as the computational core of the recently developed hybrid-language (Python-Julia) package QuanEstimation [Phys. Rev. Res. 4, 043057 (2022)]. Utilizing this framework, the scheme evaluation and design in quantum parameter estimation can be readily performed, especially when quantum noises exist., Comment: 12 pages, 3 figures. Corresponding package version: v0.2.0

Cross-View Geo-Localization (CVGL) involves determining the geographical location of a query image by matching it with a corresponding GPS-tagged reference image. Current state-of-the-art methods predominantly rely on training models with labeled paired images, incurring substantial annotation costs and training burdens. In this study, we investigate the adaptation of frozen models for CVGL without requiring ground truth pair labels. We observe that training on unlabeled cross-view images presents significant challenges, including the need to establish relationships within unlabeled data and reconcile view discrepancies between uncertain queries and references. To address these challenges, we propose a self-supervised learning framework to train a learnable adapter for a frozen Foundation Model (FM). This adapter is designed to map feature distributions from diverse views into a uniform space using unlabeled data exclusively. To establish relationships within unlabeled data, we introduce an Expectation-Maximization-based Pseudo-labeling module, which iteratively estimates associations between cross-view features and optimizes the adapter. To maintain the robustness of the FM's representation, we incorporate an information consistency module with a reconstruction loss, ensuring that adapted features retain strong discriminative ability across views. Experimental results demonstrate that our proposed method achieves significant improvements over vanilla FMs and competitive accuracy compared to supervised methods, while necessitating fewer training parameters and relying solely on unlabeled data. Evaluation of our adaptation for task-specific models further highlights its broad applicability.

Keypoint detection and tracking in traditional image frames are often compromised by image quality issues such as motion blur and extreme lighting conditions. Event cameras offer potential solutions to these challenges by virtue of their high temporal resolution and high dynamic range. However, they have limited performance in practical applications due to their inherent noise in event data. This paper advocates fusing the complementary information from image frames and event streams to achieve more robust keypoint detection and tracking. Specifically, we propose a novel keypoint detection network that fuses the textural and structural information from image frames with the high-temporal-resolution motion information from event streams, namely FE-DeTr. The network leverages a temporal response consistency for supervision, ensuring stable and efficient keypoint detection. Moreover, we use a spatio-temporal nearest-neighbor search strategy for robust keypoint tracking. Extensive experiments are conducted on a new dataset featuring both image frames and event data captured under extreme conditions. The experimental results confirm the superior performance of our method over both existing frame-based and event-based methods., Comment: 7 pages, Accepted by ICRA 2024

We present the results for the complete next-to-leading order electroweak corrections to $pp \to HH$ at the Large Hadron Collider, focusing on the dominant gluon-gluon fusion process. While the corrections at the total cross-section level are approximately $-4\%$, those near the energy of $HH$ production threshold exceed $+15\%$, and corrections at the high-energy region are around $-10\%$, leading to a shape distortion for the differential distributions. Our findings substantially diminish the theoretical uncertainties associated with this pivotal process, providing valuable input for understanding the shape of the Higgs boson potential upon comparison with experimental measurements., Comment: 7 pages, 4 figures, version published in PRL

In this paper, we study the next-to-next-to-leading-order (NNLO) QCD corrections for the process $e^+e^- \to J/\psi+J/\psi$ at the $B$ factories. By including the NNLO corrections, the cross section turns negative due to the poor convergence of perturbative expansion. Consequently, to obtain a reasonable estimation for the cross section, the square of the amplitude up to NNLO is used. In addition, the contributions from the bottom quark and the light-by-light part, which are usually neglected, are also included. The final cross section is obtained as $1.76^{+2.42}_{-1.66} ~{\rm fb}$ at a center-of-mass energy of $\sqrt{s}=10.58$ GeV. Our result for total cross section and differential cross section could be compared with precise experimental measurement in future at the $B$ factories., Comment: 15 pages, 3 figures, matches published version

This paper focuses on the scale imbalance problem of semi-supervised object detection(SSOD) in aerial images. Compared to natural images, objects in aerial images show smaller sizes and larger quantities per image, increasing the difficulty of manual annotation. Meanwhile, the advanced SSOD technique can train superior detectors by leveraging limited labeled data and massive unlabeled data, saving annotation costs. However, as an understudied task in aerial images, SSOD suffers from a drastic performance drop when facing a large proportion of small objects. By analyzing the predictions between small and large objects, we identify three imbalance issues caused by the scale bias, i.e., pseudo-label imbalance, label assignment imbalance, and negative learning imbalance. To tackle these issues, we propose a novel Scale-discriminative Semi-Supervised Object Detection (S^3OD) learning pipeline for aerial images. In our S^3OD, three key components, Size-aware Adaptive Thresholding (SAT), Size-rebalanced Label Assignment (SLA), and Teacher-guided Negative Learning (TNL), are proposed to warrant scale unbiased learning. Specifically, SAT adaptively selects appropriate thresholds to filter pseudo-labels for objects at different scales. SLA balances positive samples of objects at different scales through resampling and reweighting. TNL alleviates the imbalance in negative samples by leveraging information generated by a teacher model. Extensive experiments conducted on the DOTA-v1.5 benchmark demonstrate the superiority of our proposed methods over state-of-the-art competitors. Codes will be released soon.

This paper presents a novel framework to learn a concise geometric primitive representation for 3D point clouds. Different from representing each type of primitive individually, we focus on the challenging problem of how to achieve a concise and uniform representation robustly. We employ quadrics to represent diverse primitives with only 10 parameters and propose the first end-to-end learning-based framework, namely QuadricsNet, to parse quadrics in point clouds. The relationships between quadrics mathematical formulation and geometric attributes, including the type, scale and pose, are insightfully integrated for effective supervision of QuaidricsNet. Besides, a novel pattern-comprehensive dataset with quadrics segments and objects is collected for training and evaluation. Experiments demonstrate the effectiveness of our concise representation and the robustness of QuadricsNet. Our code is available at \url{https://github.com/MichaelWu99-lab/QuadricsNet}, Comment: Submitted to ICRA 2024. 7 pages

Camera localization in 3D LiDAR maps has gained increasing attention due to its promising ability to handle complex scenarios, surpassing the limitations of visual-only localization methods. However, existing methods mostly focus on addressing the cross-modal gaps, estimating camera poses frame by frame without considering the relationship between adjacent frames, which makes the pose tracking unstable. To alleviate this, we propose to couple the 2D-3D correspondences between adjacent frames using the 2D-2D feature matching, establishing the multi-view geometrical constraints for simultaneously estimating multiple camera poses. Specifically, we propose a new 2D-3D pose tracking framework, which consists: a front-end hybrid flow estimation network for consecutive frames and a back-end pose optimization module. We further design a cross-modal consistency-based loss to incorporate the multi-view constraints during the training and inference process. We evaluate our proposed framework on the KITTI and Argoverse datasets. Experimental results demonstrate its superior performance compared to existing frame-by-frame 2D-3D pose tracking methods and state-of-the-art vision-only pose tracking algorithms. More online pose tracking videos are available at \url{https://youtu.be/yfBRdg7gw5M}, Comment: This work has been submitted to the IEEE for possible publication

The Hong-Ou-Mandel interference between independent photons plays a pivotal role in the large-scale quantum networks involving distant nodes. Photons need to work in a pure state for indistinguishability to reach high-quality interference. Also, they need to have a sufficiently long coherence time to reduce the time synchronization requirements in practical application. In this paper, we discuss a scheme for generating a pure-state photon-pair source with a long coherence time in periodically poled potassium titanyl phosphate (PPKTP) crystals. By selecting the appropriate pump laser and filter, we could simultaneously eliminate the frequency correlation of the parametric photons while achieving a long coherence time. We experimentally developed this pure-state photon-pair source of 780 nm on PPKTP crystals pumped by a 390 nm pulsed laser. The source provided a coherence time of tens of picoseconds, and it showed to have the potential to be applied in long-distance quantum interference. Furthermore, we experimentally demonstrated the Hong-Ou-Mandel (HOM) interference between two photon sources with visibility exceeding the classical limit.

Detecting arbitrarily oriented tiny objects poses intense challenges to existing detectors, especially for label assignment. Despite the exploration of adaptive label assignment in recent oriented object detectors, the extreme geometry shape and limited feature of oriented tiny objects still induce severe mismatch and imbalance issues. Specifically, the position prior, positive sample feature, and instance are mismatched, and the learning of extreme-shaped objects is biased and unbalanced due to little proper feature supervision. To tackle these issues, we propose a dynamic prior along with the coarse-to-fine assigner, dubbed DCFL. For one thing, we model the prior, label assignment, and object representation all in a dynamic manner to alleviate the mismatch issue. For another, we leverage the coarse prior matching and finer posterior constraint to dynamically assign labels, providing appropriate and relatively balanced supervision for diverse instances. Extensive experiments on six datasets show substantial improvements to the baseline. Notably, we obtain the state-of-the-art performance for one-stage detectors on the DOTA-v1.5, DOTA-v2.0, and DIOR-R datasets under single-scale training and testing. Codes are available at https://github.com/Chasel-Tsui/mmrotate-dcfl., Comment: Accepted by CVPR2023

Quantum speed limit focuses on the minimum time scale for a fixed mission and hence is important in quantum information where fast dynamics is usually beneficial. Most existing tools for the depiction of quantum speed limit are the lower-bound-type tools, which are in fact difficult to reveal the true minimum time, especially for many-body systems or complex dynamics. Therefore, the evaluation of this true minimum time in these scenarios is still an unsolved problem. Hereby we propose a three-step (classification-regression-calibration) methodology based on machine learning to evaluate the true minimum time in complex dynamics. Moreover, the analytical expression of the true minimum time is also provided for the time-dependent Hamiltonians with time-independent eigenstates., Comment: 7+17 pages, 14 figures, 1 table, close to the published version

Visual localization plays an important role for intelligent robots and autonomous driving, especially when the accuracy of GNSS is unreliable. Recently, camera localization in LiDAR maps has attracted more and more attention for its low cost and potential robustness to illumination and weather changes. However, the commonly used pinhole camera has a narrow Field-of-View, thus leading to limited information compared with the omni-directional LiDAR data. To overcome this limitation, we focus on correlating the information of 360 equirectangular images to point clouds, proposing an end-to-end learnable network to conduct cross-modal visual localization by establishing similarity in high-dimensional feature space. Inspired by the attention mechanism, we optimize the network to capture the salient feature for comparing images and point clouds. We construct several sequences containing 360 equirectangular images and corresponding point clouds based on the KITTI-360 dataset and conduct extensive experiments. The results demonstrate the effectiveness of our approach., Comment: This work has been submitted to the IEEE for possible publication

Making line segment detectors more reliable under motion blurs is one of the most important challenges for practical applications, such as visual SLAM and 3D reconstruction. Existing line segment detection methods face severe performance degradation for accurately detecting and locating line segments when motion blur occurs. While event data shows strong complementary characteristics to images for minimal blur and edge awareness at high-temporal resolution, potentially beneficial for reliable line segment recognition. To robustly detect line segments over motion blurs, we propose to leverage the complementary information of images and events. To achieve this, we first design a general frame-event feature fusion network to extract and fuse the detailed image textures and low-latency event edges, which consists of a channel-attention-based shallow fusion module and a self-attention-based dual hourglass module. We then utilize two state-of-the-art wireframe parsing networks to detect line segments on the fused feature map. Besides, we contribute a synthetic and a realistic dataset for line segment detection, i.e., FE-Wireframe and FE-Blurframe, with pairwise motion-blurred images and events. Extensive experiments on both datasets demonstrate the effectiveness of the proposed method. When tested on the real dataset, our method achieves 63.3% mean structural average precision (msAP) with the model pre-trained on the FE-Wireframe and fine-tuned on the FE-Blurframe, improved by 32.6 and 11.3 points compared with models trained on synthetic only and real only, respectively. The codes, datasets, and trained models are released at: https://levenberg.github.io/FE-LSD, Comment: This work has been submitted to the IEEE for possible publication

We present radiance field propagation (RFP), a novel approach to segmenting objects in 3D during reconstruction given only unlabeled multi-view images of a scene. RFP is derived from emerging neural radiance field-based techniques, which jointly encodes semantics with appearance and geometry. The core of our method is a novel propagation strategy for individual objects' radiance fields with a bidirectional photometric loss, enabling an unsupervised partitioning of a scene into salient or meaningful regions corresponding to different object instances. To better handle complex scenes with multiple objects and occlusions, we further propose an iterative expectation-maximization algorithm to refine object masks. RFP is one of the first unsupervised approach for tackling 3D real scene object segmentation for neural radiance field (NeRF) without any supervision, annotations, or other cues such as 3D bounding boxes and prior knowledge of object class. Experiments demonstrate that RFP achieves feasible segmentation results that are more accurate than previous unsupervised image/scene segmentation approaches, and are comparable to existing supervised NeRF-based methods. The segmented object representations enable individual 3D object editing operations., Comment: 23 pages, 14 figures, NeurIPS 2022

Deep learning has had remarkable success in robotic perception, but its data-centric nature suffers when it comes to generalizing to ever-changing environments. By contrast, physics-based optimization generalizes better, but it does not perform as well in complicated tasks due to the lack of high-level semantic information and reliance on manual parametric tuning. To take advantage of these two complementary worlds, we present PyPose: a robotics-oriented, PyTorch-based library that combines deep perceptual models with physics-based optimization. PyPose's architecture is tidy and well-organized, it has an imperative style interface and is efficient and user-friendly, making it easy to integrate into real-world robotic applications. Besides, it supports parallel computing of any order gradients of Lie groups and Lie algebras and $2^{\text{nd}}$-order optimizers, such as trust region methods. Experiments show that PyPose achieves more than $10\times$ speedup in computation compared to the state-of-the-art libraries. To boost future research, we provide concrete examples for several fields of robot learning, including SLAM, planning, control, and inertial navigation., Comment: Project Website: https://pypose.org Documentation: https://pypose.org/docs/ Tutorial: https://pypose.org/tutorials/ Source code: https://github.com/pypose/pypose

In this work, we propose a motion robust and high-speed detection pipeline which better leverages the event data. First, we design an event stream representation called temporal active focus (TAF), which efficiently utilizes the spatial-temporal asynchronous event stream, constructing event tensors robust to object motions. Then, we propose a module called the bifurcated folding module (BFM), which encodes the rich temporal information in the TAF tensor at the input layer of the detector. Following this, we design a high-speed lightweight detector called agile event detector (AED) plus a simple but effective data augmentation method, to enhance the detection accuracy and reduce the model's parameter. Experiments on two typical real-scene event camera object detection datasets show that our method is competitive in terms of accuracy, efficiency, and the number of parameters. By classifying objects into multiple motion levels based on the optical flow density metric, we further illustrated the robustness of our method for objects with different velocities relative to the camera. The codes and trained models are available at https://github.com/HarmoniaLeo/FRLW-EvD ., Comment: Published in: IEEE Transactions on Instrumentation and Measurement (Volume: 72) 2023

Detecting tiny objects is one of the main obstacles hindering the development of object detection. The performance of generic object detectors tends to drastically deteriorate on tiny object detection tasks. In this paper, we point out that either box prior in the anchor-based detector or point prior in the anchor-free detector is sub-optimal for tiny objects. Our key observation is that the current anchor-based or anchor-free label assignment paradigms will incur many outlier tiny-sized ground truth samples, leading to detectors imposing less focus on the tiny objects. To this end, we propose a Gaussian Receptive Field based Label Assignment (RFLA) strategy for tiny object detection. Specifically, RFLA first utilizes the prior information that the feature receptive field follows Gaussian distribution. Then, instead of assigning samples with IoU or center sampling strategy, a new Receptive Field Distance (RFD) is proposed to directly measure the similarity between the Gaussian receptive field and ground truth. Considering that the IoU-threshold based and center sampling strategy are skewed to large objects, we further design a Hierarchical Label Assignment (HLA) module based on RFD to achieve balanced learning for tiny objects. Extensive experiments on four datasets demonstrate the effectiveness of the proposed methods. Especially, our approach outperforms the state-of-the-art competitors with 4.0 AP points on the AI-TOD dataset. Codes are available at https://github.com/Chasel-Tsui/mmdet-rfla, Comment: ECCV2022

Tiny object detection (TOD) in aerial images is challenging since a tiny object only contains a few pixels. State-of-the-art object detectors do not provide satisfactory results on tiny objects due to the lack of supervision from discriminative features. Our key observation is that the Intersection over Union (IoU) metric and its extensions are very sensitive to the location deviation of the tiny objects, which drastically deteriorates the quality of label assignment when used in anchor-based detectors. To tackle this problem, we propose a new evaluation metric dubbed Normalized Wasserstein Distance (NWD) and a new RanKing-based Assigning (RKA) strategy for tiny object detection. The proposed NWD-RKA strategy can be easily embedded into all kinds of anchor-based detectors to replace the standard IoU threshold-based one, significantly improving label assignment and providing sufficient supervision information for network training. Tested on four datasets, NWD-RKA can consistently improve tiny object detection performance by a large margin. Besides, observing prominent noisy labels in the Tiny Object Detection in Aerial Images (AI-TOD) dataset, we are motivated to meticulously relabel it and release AI-TOD-v2 and its corresponding benchmark. In AI-TOD-v2, the missing annotation and location error problems are considerably mitigated, facilitating more reliable training and validation processes. Embedding NWD-RKA into DetectoRS, the detection performance achieves 4.3 AP points improvement over state-of-the-art competitors on AI-TOD-v2. Datasets, codes, and more visualizations are available at: https://chasel-tsui.github.io/AI-TOD-v2/, Comment: Accepted by ISPRS Journal of Photogrammetry and Remote Sensing

Quantum parameter estimation promises a high-precision measurement in theory, however, how to design the optimal scheme in a specific scenario, especially under a practical condition, is still a serious problem that needs to be solved case by case due to the existence of multiple mathematical bounds and optimization methods. Depending on the scenario considered, different bounds may be more or less suitable, both in terms of computational complexity and the tightness of the bound itself. At the same time, the metrological schemes provided by different optimization methods need to be tested against realization complexity, robustness, etc. Hence, a comprehensive toolkit containing various bounds and optimization methods is essential for the scheme design in quantum metrology. To fill this vacancy, here we present a Python-Julia-based open-source toolkit for quantum parameter estimation, which includes many well-used mathematical bounds and optimization methods. Utilizing this toolkit, all procedures in the scheme design, such as the optimizations of the probe state, control and measurement, can be readily and efficiently performed., Comment: 40 pages, 20 figures. Close to the published version. Corresponding package version: v0.2.0 (Python) v0.1.3 (Julia)

In traditional speaker diarization systems, a well-trained speaker model is a key component to extract representations from consecutive and partially overlapping segments in a long speech session. To be more consistent with the back-end segmentation and clustering, we propose a new CNN-based speaker modeling scheme, which takes into account the heterogeneity of the speakers in each training segment and batch. We randomly and synthetically augment the training data into a set of segments, each of which contains more than one speaker and some overlapping parts. A soft label is imposed on each segment based on its speaker occupation ratio, and the standard cross entropy loss is implemented in model training. In this way, the speaker model should have the ability to generate a geometrically meaningful embedding for each multi-speaker segment. Experimental results show that our system is superior to the baseline system using x-vectors in two speaker diarization tasks. In the CALLHOME task trained on the NIST SRE and Switchboard datasets, our system achieves a relative reduction of 12.93% in DER. In Track 2 of CHiME-6, our system provides 13.24%, 12.60%, and 5.65% relative reductions in DER, JER, and WER, respectively., Comment: Published in APSIPA ASC 2021

The fusion of multi-modal sensors has become increasingly popular in autonomous driving and intelligent robots since it can provide richer information than any single sensor, enhance reliability in complex environments. Multi-sensor extrinsic calibration is one of the key factors of sensor fusion. However, such calibration is difficult due to the variety of sensor modalities and the requirement of calibration targets and human labor. In this paper, we demonstrate a new targetless cross-modal calibration framework by focusing on the extrinsic transformations among stereo cameras, thermal cameras, and laser sensors. Specifically, the calibration between stereo and laser is conducted in 3D space by minimizing the registration error, while the thermal extrinsic to the other two sensors is estimated by optimizing the alignment of the edge features. Our method requires no dedicated targets and performs the multi-sensor calibration in a single shot without human interaction. Experimental results show that the calibration framework is accurate and applicable in general scenes., Comment: This work has been submitted to the IEEE for possible publication

Efficiency and robustness are the essential criteria for the visual-inertial odometry (VIO) system. To process massive visual data, the high cost on CPU resources and computation latency limits VIO's possibility in integration with other applications. Recently, the powerful embedded GPUs have great potentials to improve the front-end image processing capability. Meanwhile, multi-camera systems can increase the visual constraints for back-end optimization. Inspired by these insights, we incorporate the GPU-enhanced algorithms in the field of VIO and thus propose a new front-end with NVIDIA Vision Programming Interface (VPI). This new front-end then enables multi-camera VIO feature association and provides more stable back-end pose optimization. Experiments with our new front-end on monocular datasets show the CPU resource occupation rate and computational latency are reduced by 40.4% and 50.6% without losing accuracy compared with the original VIO. The multi-camera system shows a higher VIO initialization success rate and better robustness overall state estimation., Comment: 7 pages, submitted to ICRA2022

Voice conversion (VC) is an effective approach to electrolaryngeal (EL) speech enhancement, a task that aims to improve the quality of the artificial voice from an electrolarynx device. In frame-based VC methods, time alignment needs to be performed prior to model training, and the dynamic time warping (DTW) algorithm is widely adopted to compute the best time alignment between each utterance pair. The validity is based on the assumption that the same phonemes of the speakers have similar features and can be mapped by measuring a pre-defined distance between speech frames of the source and the target. However, the special characteristics of the EL speech can break the assumption, resulting in a sub-optimal DTW alignment. In this work, we propose to use lip images for time alignment, as we assume that the lip movements of laryngectomee remain normal compared to healthy people. We investigate two naive lip representations and distance metrics, and experimental results demonstrate that the proposed method can significantly outperform the audio-only alignment in terms of objective and subjective evaluations., Comment: Accepted to APSIPA ASC 2021

In Simultaneous Localization And Mapping (SLAM) problems, high-level landmarks have the potential to build compact and informative maps compared to traditional point-based landmarks. In this work, we focus on the parameterization of frequently used geometric primitives including points, lines, planes, ellipsoids, cylinders, and cones. We first present a unified representation based on quadrics, leading to a consistent and concise formulation. Then we further study a decomposed model of quadrics that discloses the symmetric and degenerated properties of a primitive. Based on the decomposition, we develop geometrically meaningful quadrics factors in the settings of a graph-SLAM problem. Then in simulation experiments, it is shown that the decomposed formulation has better efficiency and robustness to observation noises than baseline parameterizations. Finally, in real-world experiments, the proposed back-end framework is demonstrated to be capable of building compact and regularized maps., Comment: This paper has been submitted to ICRA 2022

Neural evaluation metrics derived for numerous speech generation tasks have recently attracted great attention. In this paper, we propose SVSNet, the first end-to-end neural network model to assess the speaker voice similarity between converted speech and natural speech for voice conversion tasks. Unlike most neural evaluation metrics that use hand-crafted features, SVSNet directly takes the raw waveform as input to more completely utilize speech information for prediction. SVSNet consists of encoder, co-attention, distance calculation, and prediction modules and is trained in an end-to-end manner. The experimental results on the Voice Conversion Challenge 2018 and 2020 (VCC2018 and VCC2020) datasets show that SVSNet outperforms well-known baseline systems in the assessment of speaker similarity at the utterance and system levels., Comment: To appear in IEEE Signal Processing Letters (SPL)

Speech separation has been extensively studied to deal with the cocktail party problem in recent years. All related approaches can be divided into two categories: time-frequency domain methods and time domain methods. In addition, some methods try to generate speaker vectors to support source separation. In this study, we propose a new model called dual-path filter network (DPFN). Our model focuses on the post-processing of speech separation to improve speech separation performance. DPFN is composed of two parts: the speaker module and the separation module. First, the speaker module infers the identities of the speakers. Then, the separation module uses the speakers' information to extract the voices of individual speakers from the mixture. DPFN constructed based on DPRNN-TasNet is not only superior to DPRNN-TasNet, but also avoids the problem of permutation-invariant training (PIT)., Comment: Accepted by Interspeech2021

Nowadays, neural vocoders can generate very high-fidelity speech when a bunch of training data is available. Although a speaker-dependent (SD) vocoder usually outperforms a speaker-independent (SI) vocoder, it is impractical to collect a large amount of data of a specific target speaker for most real-world applications. To tackle the problem of limited target data, a data augmentation method based on speaker representation and similarity measurement of speaker verification is proposed in this paper. The proposed method selects utterances that have similar speaker identity to the target speaker from an external corpus, and then combines the selected utterances with the limited target data for SD vocoder adaptation. The evaluation results show that, compared with the vocoder adapted using only limited target data, the vocoder adapted using augmented data improves both the quality and similarity of synthesized speech., Comment: 5 pages, 1 figure, 3 tables, Proc. Interspeech, 2021

We propose a new paradigm for maintaining speaker identity in dysarthric voice conversion (DVC). The poor quality of dysarthric speech can be greatly improved by statistical VC, but as the normal speech utterances of a dysarthria patient are nearly impossible to collect, previous work failed to recover the individuality of the patient. In light of this, we suggest a novel, two-stage approach for DVC, which is highly flexible in that no normal speech of the patient is required. First, a powerful parallel sequence-to-sequence model converts the input dysarthric speech into a normal speech of a reference speaker as an intermediate product, and a nonparallel, frame-wise VC model realized with a variational autoencoder then converts the speaker identity of the reference speech back to that of the patient while assumed to be capable of preserving the enhanced quality. We investigate several design options. Experimental evaluation results demonstrate the potential of our approach to improving the quality of the dysarthric speech while maintaining the speaker identity., Comment: Accepted to Interspeech 2021. 5 pages, 3 figures, 1 table

This paper describes the AS-NU systems for two tracks in MultiSpeaker Multi-Style Voice Cloning Challenge (M2VoC). The first track focuses on using a small number of 100 target utterances for voice cloning, while the second track focuses on using only 5 target utterances for voice cloning. Due to the serious lack of data in the second track, we selected the speaker most similar to the target speaker from the training data of the TTS system, and used the speaker's utterances and the given 5 target utterances to fine-tune our model. The evaluation results show that our systems on the two tracks perform similarly in terms of quality, but there is still a clear gap between the similarity score of the second track and the similarity score of the first track.

Stereo reconstruction models trained on small images do not generalize well to high-resolution data. Training a model on high-resolution image size faces difficulties of data availability and is often infeasible due to limited computing resources. In this work, we present the Occlusion-aware Recurrent binocular Stereo matching (ORStereo), which deals with these issues by only training on available low disparity range stereo images. ORStereo generalizes to unseen high-resolution images with large disparity ranges by formulating the task as residual updates and refinements of an initial prediction. ORStereo is trained on images with disparity ranges limited to 256 pixels, yet it can operate 4K-resolution input with over 1000 disparities using limited GPU memory. We test the model's capability on both synthetic and real-world high-resolution images. Experimental results demonstrate that ORStereo achieves comparable performance on 4K-resolution images compared to state-of-the-art methods trained on large disparity ranges. Compared to other methods that are only trained on low-resolution images, our method is 70% more accurate on 4K-resolution images., Comment: Submitted to International Conference on Intelligent Robots and Systems (IROS) 2021

The basic principle of quantum mechanics guarantee the unconditional security of quantum key distribution (QKD) at the cost of inability of amplification of quantum state. As a result, despite remarkable progress in worldwide metropolitan QKD networks over the past decades, long haul fiber QKD network without trustful relay has not been achieved yet. Here, through sending-or-not-sending (SNS) protocol, we complete a twin field QKD (TF-QKD) and distribute secure keys without any trusted repeater over a 511 km long haul fiber trunk linking two distant metropolitans. Our secure key rate is around 3 orders of magnitudes greater than what is expected if the previous QKD field test system over the same length were applied. The efficient quantum-state transmission and stable single-photon interference over such a long distance deployed fiber paves the way to large-scale fiber quantum networks., Comment: 32 pages, 8 figures

The entropy or randomness source is an essential ingredient in random number generation. Quantum random number generators generally require well modeled and calibrated light sources, such as a laser, to generate randomness. With uncharacterized light sources, such as sunlight or an uncharacterized laser, genuine randomness is practically hard to be quantified or extracted owing to its unknown or complicated structure. By exploiting a recently proposed source-independent randomness generation protocol, we theoretically modify it by considering practical issues and experimentally realize the modified scheme with an uncharacterized laser and a sunlight source. The extracted randomness is guaranteed to be secure independent of its source and the randomness generation speed reaches 1 Mbps, three orders of magnitude higher than the original realization. Our result signifies the power of quantum technology in randomness generation and paves the way to high-speed semi-self-testing quantum random number generators with practical light sources., Comment: 24 pages, 5 figures

Satellite-based quantum communication is a promising approach for realizing global-scale quantum networks. For free-space quantum channel, single-mode fiber coupling is particularly important for improving signal-to-noise ratio of daylight quantum key distribution (QKD) and compatibility with standard fiber-based QKD. However, achieving a highly efficient and stable single-mode coupling efficiency under strong atmospheric turbulence remains experimentally challenging. Here, we develop a single-mode receiver with an adaptive optics (AO) system based on a modal version of the stochastic parallel gradient descent (M-SPGD) algorithm and test its performance over an 8 km urban terrestrial free-space channel. Under strong atmospheric turbulence, the M-SPGD AO system obtains an improvement of about 3.7 dB in the single-mode fiber coupling efficiency and a significant suppression of fluctuation, which can find its applications in free-space long-range quantum communications., Comment: 11 pages, 5 figures