Ali Amiri

Saeideh Roshanfekr, Shahriar Esmaeili, Hassan Ataeian et al.

This paper proposes a new RWO-Sampling (Random Walk Over-Sampling) based on graphs for imbalanced datasets. In this method, two schemes based on under-sampling and over-sampling methods are introduced to keep the proximity information robust to noises and outliers. After constructing the first graph on minority class, RWO-Sampling will be implemented on selected samples, and the rest will remain unchanged. The second graph is constructed for the majority class, and the samples in a low-density area (outliers) are removed. Finally, in the proposed method, samples of the majority class in a high-density area are selected, and the rest are eliminated. Furthermore, utilizing RWO-sampling, the boundary of minority class is increased though the outliers are not raised. This method is tested, and the number of evaluation measures is compared to previous methods on nine continuous attribute datasets with different over-sampling rates and one data set for the diagnosis of COVID-19 disease. The experimental results indicated the high efficiency and flexibility of the proposed method for the classification of imbalanced data

Shing Yan Loo, Ali Jahani Amiri, Syamsiah Mashohor et al.

Reliable feature correspondence between frames is a critical step in visual odometry (VO) and visual simultaneous localization and mapping (V-SLAM) algorithms. In comparison with existing VO and V-SLAM algorithms, semi-direct visual odometry (SVO) has two main advantages that lead to state-of-the-art frame rate camera motion estimation: direct pixel correspondence and efficient implementation of probabilistic mapping method. This paper improves the SVO mapping by initializing the mean and the variance of the depth at a feature location according to the depth prediction from a single-image depth prediction network. By significantly reducing the depth uncertainty of the initialized map point (i.e., small variance centred about the depth prediction), the benefits are twofold: reliable feature correspondence between views and fast convergence to the true depth in order to create new map points. We evaluate our method with two outdoor datasets: KITTI dataset and Oxford Robotcar dataset. The experimental results indicate that the improved SVO mapping results in increased robustness and camera tracking accuracy.