The rolling shutter (RS) mechanism is widely used by consumer-grade cameras, which are essential parts in smartphones and autonomous vehicles. The RS effect leads to image distortion upon relative motion between a camera and the scene. This effect ne
eds to be considered in video stabilization, structure from motion, and vision-aided odometry, for which recent studies have improved earlier global shutter (GS) methods by accounting for the RS effect. However, it is still unclear how the RS affects spatiotemporal calibration of the camera in a sensor assembly, which is crucial to good performance in aforementioned applications. This work takes the camera-IMU system as an example and looks into the RS effect on its spatiotemporal calibration. To this end, we develop a calibration method for a RS-camera-IMU system with continuous-time B-splines by using a calibration target. Unlike in calibrating GS cameras, every observation of a landmark on the target has a unique camera pose fitted by continuous-time B-splines. With simulated data generated from four sets of public calibration data, we show that RS can noticeably affect the extrinsic parameters, causing errors about 1$^circ$ in orientation and 2 $cm$ in translation with a RS setting as in common smartphone cameras. With real data collected by two industrial camera-IMU systems, we find that considering the RS effect gives more accurate and consistent spatiotemporal calibration. Moreover, our method also accurately calibrates the inter-line delay of the RS. The code for simulation and calibration is publicly available.
Here, we demonstrate two reliable routes for the fabrication of armchair-edge graphene nanoribbons (GNRs) on TbAu2/Au(111), belonging to a class of two-dimensional ferromagnetic rare earth-gold intermetallic compounds. On-surface synthesis directly o
n TbAu2 leads to the formation of GNRs, which are short and interconnected with each other. In contrast, the intercalation approach - on-surface synthesis of GNRs directly on Au(111) followed by rare earth intercalation - yields GNRs on TbAu2/Au(111), where both the ribbons and TbAu2 are of high quality comparable with those directly grown on clean Au(111). Besides, the as-grown ribbons retain the same band gap while changing from p-doping to weak n-doping mainly due to a change in the work function of the substrate after the rare earth intercalation. The intercalation approach might also be employed to fabricate other types of GNRs on various rare earth intermetallic compounds, providing platforms to tailor the electronic and magnetic properties of GNRs on magnetic substrates.
State estimation problems without absolute position measurements routinely arise in navigation of unmanned aerial vehicles, autonomous ground vehicles, etc., whose proper operation relies on accurate state estimates and reliable covariances. Unaware
of absolute positions, these problems have immanent unobservable directions. Traditional causal estimators, however, usually gain spurious information on the unobservable directions, leading to over-confident covariance inconsistent with actual estimator errors. The consistency problem of fixed-lag smoothers (FLSs) has only been attacked by the first estimate Jacobian (FEJ) technique because of the complexity to analyze their observability property. But the FEJ has several drawbacks hampering its wide adoption. To ensure the consistency of a FLS, this paper introduces the right invariant error formulation into the FLS framework. To our knowledge, we are the first to analyze the observability of a FLS with the right invariant error. Our main contributions are twofold. As the first novelty, to bypass the complexity of analysis with the classic observability matrix, we show that observability analysis of FLSs can be done equivalently on the linearized system. Second, we prove that the inconsistency issue in the traditional FLS can be elegantly solved by the right invariant error formulation without artificially correcting Jacobians. By applying the proposed FLS to the monocular visual inertial simultaneous localization and mapping (SLAM) problem, we confirm that the method consistently estimates covariance similarly to a batch smoother in simulation and that our method achieved comparable accuracy as traditional FLSs on real data.
Model parallelism has become a necessity for training modern large-scale deep language models. In this work, we identify a new and orthogonal dimension from existing model parallel approaches: it is possible to perform pipeline parallelism within a s
ingle training sequence for Transformer-based language models thanks to its autoregressive property. This enables a more fine-grained pipeline compared with previous work. With this key idea, we design TeraPipe, a high-performance token-level pipeline parallel algorithm for synchronous model-parallel training of Transformer-based language models. We develop a novel dynamic programming-based algorithm to calculate the optimal pipelining execution scheme given a specific model and cluster configuration. We show that TeraPipe can speed up the training by 5.0x for the largest GPT-3 model with 175 billion parameters on an AWS cluster with 48 p3.16xlarge instances compared with state-of-the-art model-parallel methods.
Surface alloying is a straightforward route to control and modify the structure and electronic properties of surfaces. Here, We present a systematical study on the structural and electronic properties of three novel rare earth-based intermetallic com
pounds, namely ReAu2 (Re = Tb, Ho, and Er), on Au(111) via directly depositing rare-earth metals onto the hot Au(111) surface. Scanning tunneling microscopy/spectroscopy measurements reveal the very similar atomic structures and electronic properties, e.g. electronic states, and surface work functions, for all these intermetallic compound systems due to the physical and chemical similarities between these rare earth elements. Further, these electronic properties are periodically modulated by the moire structures caused by the lattice mismatches between ReAu2 and Au(111). These periodically modulated surfaces could serve as templates for the self-assembly of nanostructures. Besides, these two-dimensional rare earth-based intermetallic compounds provide platforms to investigate the rare earth related catalysis, magnetisms, etc., in the lower dimensions.
The Internet of Things (IoT) has started to empower the future of many industrial and mass-market applications. Localization techniques are becoming key to add location context to IoT data without human perception and intervention. Meanwhile, the new
ly-emerged Low-Power Wide-Area Network (LPWAN) technologies have advantages such as long-range, low power consumption, low cost, massive connections, and the capability for communication in both indoor and outdoor areas. These features make LPWAN signals strong candidates for mass-market localization applications. However, there are various error sources that have limited localization performance by using such IoT signals. This paper reviews the IoT localization system through the following sequence: IoT localization system review -- localization data sources -- localization algorithms -- localization error sources and mitigation -- localization performance evaluation. Compared to the related surveys, this paper has a more comprehensive and state-of-the-art review on IoT localization methods, an original review on IoT localization error sources and mitigation, an original review on IoT localization performance evaluation, and a more comprehensive review of IoT localization applications, opportunities, and challenges. Thus, this survey provides comprehensive guidance for peers who are interested in enabling localization ability in the existing IoT systems, using IoT systems for localization, or integrating IoT signals with the existing localization sensors.
