Recently, graph neural networks for semi-supervised classification have been widely studied. However, existing methods only use the information of limited neighbors and do not deal with the inter-class connections in graphs. In this paper, we propose Adaptive aggregation with Class-Attentive Diffusion (AdaCAD), a new aggregation scheme that adaptively aggregates nodes probably of the same class among K-hop neighbors. To this end, we first propose a novel stochastic process, called Class-Attentive Diffusion (CAD), that strengthens attention to intra-class nodes and attenuates attention to inter-class nodes. In contrast to the existing diffusion methods with a transition matrix determined solely by the graph structure, CAD considers both the node features and the graph structure with the design of our class-attentive transition matrix that utilizes a classifier. Then, we further propose an adaptive update scheme that leverages different reflection ratios of the diffusion result for each node depending on the local class-context. As the main advantage, AdaCAD alleviates the problem of undesired mixing of inter-class features caused by discrepancies between node labels and the graph topology. Built on AdaCAD, we construct a simple model called Class-Attentive Diffusion Network (CAD-Net). Extensive experiments on seven benchmark datasets consistently demonstrate the efficacy of the proposed method and our CAD-Net significantly outperforms the state-of-the-art methods. Code is available at https://github.com/ljin0429/CAD-Net.
In commercial autonomous service robots with several form factors, simultaneous localization and mapping (SLAM) is an essential technology for providing proper services such as cleaning and guidance. Such robots require SLAM algorithms suitable for specific applications and environments. Hence, several SLAM frameworks have been proposed to address various requirements in the past decade. However, we have encountered challenges in implementing recent innovative frameworks when handling service robots with low-end processors and insufficient sensor data, such as low-resolution 2D LiDAR sensors. Specifically, regarding commercial robots, consistent performance in different hardware configurations and environments is more crucial than the performance dedicated to specific sensors or environments. Therefore, we propose a) a multi-stage approach for global pose estimation in embedded systems; b) a graph generation method with zero constraints for synchronized sensors; and c) a robust and memory-efficient method for long-term pose-graph optimization. As verified in inhome and large-scale indoor environments, the proposed method yields consistent global pose estimation for services in commercial fields. Furthermore, the proposed method exhibits potential commercial viability considering the consistent performance verified via mass production and long-term (> 5 years) operation.
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