Hengyu Mu

Hengyu Mu, Jianshi Wu, Yuxin Guo et al.

Regression-based LiDAR relocalization has recently emerged as a promising solution for high-precision positioning in GNSS-denied environments. However, these methods are primarily tailored to autonomous driving, exhibiting significantly degraded accuracy in unmanned aerial vehicle (UAV) scenarios due to arbitrary pose variations and irregular flight paths. In this paper, we propose SOAR, a regression-based LiDAR relocalization framework for UAVs. Specifically, we introduce a locality-preserving sliding window attention module with locally invariant positional encoding to capture discriminative geometric structures robust to viewpoint changes. A coordinate-independent feature initialization module is further designed to eliminate sensitivity to global transformations. Furthermore, most existing UAV datasets are limited to evaluate LiDAR relocalization in real-world, due to the lack of synchronized LiDAR scans, accurate 6-DoF poses, or multiple traversals. Thus, we construct a large-scale UAV LiDAR localization dataset with 4 scenes and 13 irregular paths exhibiting rotation and altitude variations, providing a more realistic benchmark for UAVs. Extensive experiments demonstrate that our method achieves state-of-the-art performance, improving the localization success rate by 40% and reducing mean error over 10m on UAVLoc. Our code and dataset will be released soon.

Hengyu Mu, Jian Guo, Chong Han et al.

With the increasing emphasis on user privacy protection, biometric recognition based on federated learning have become the latest research hotspot. However, traditional federated learning methods cannot be directly applied to finger vein recognition, due to heterogeneity of data and open-set verification. Therefore, only a few application cases have been proposed. And these methods still have two drawbacks. (1) Uniform model results in poor performance in some clients, as the finger vein data is highly heterogeneous and non-Independently Identically Distributed (non-IID). (2) On individual client, a large amount of time is underutilized, such as the time to wait for returning model from server. To address those problems, this paper proposes a Personalized and Asynchronous Federated Learning for Finger Vein Recognition (PAFedFV) framework. PAFedFV designs personalized model aggregation method to solve the heterogeneity among non-IID data. Meanwhile, it employs an asynchronized training module for clients to utilize their waiting time. Finally, extensive experiments on six finger vein datasets are conducted. Base on these experiment results, the impact of non-IID finger vein data on performance of federated learning are analyzed, and the superiority of PAFedFV in accuracy and robustness are demonstrated.