Related papers: Hidden Markov Random Field Iterative Closest Point

In this project, we study the hidden Markov random field (HMRF) model and its expectation-maximization (EM) algorithm. We implement a MATLAB toolbox named HMRF-EM-image for 2D image segmentation using the HMRF-EM framework. This toolbox…

How to establish the matching (or corresponding) between two different 3D shapes is a classical problem. This paper focused on the research on shape mapping of 3D mesh models, and proposed a shape mapping algorithm based on Hidden Markov…

Hidden Markov models have successfully been applied as models of discrete time series in many fields. Often, when applied in practice, the parameters of these models have to be estimated. The currently predominating identification methods,…

The hidden Markov model (HMM) is a generative model that treats sequential data under the assumption that each observation is conditioned on the state of a discrete hidden variable that evolves in time as a Markov chain. In this paper, we…

In this work we propose a Bayesian framework for fully automated image fusion and their joint segmentation. More specifically, we consider the case where we have observed images of the same object through different image processes or…

Ground segmentation is an important preprocessing task for autonomous vehicles (AVs) with 3D LiDARs. To solve the problem of existing ground segmentation methods being very difficult to balance accuracy and computational complexity, a fast…

Iterative Closest Point (ICP) solves the rigid point cloud registration problem iteratively in two steps: (1) make hard assignments of spatially closest point correspondences, and then (2) find the least-squares rigid transformation. The…

Hidden Markov models provide a natural statistical framework for the detection of the copy number variations (CNV) in genomics. In this paper, we consider a Hidden Markov Model involving several correlated hidden processes at the same time.…

Point cloud registration is a key problem for computer vision applied to robotics, medical imaging, and other applications. This problem involves finding a rigid transformation from one point cloud into another so that they align. Iterative…

Point cloud registration is a central theme in computer vision, with alignment algorithms continuously improving for greater robustness. Commonly used methods evaluate Euclidean distances between point clouds and minimize an objective…

In unsupervised classification, Hidden Markov Models (HMM) are used to account for a neighborhood structure between observations. The emission distributions are often supposed to belong to some parametric family. In this paper, a…

Hidden Markov Models (HMMs) can be accurately approximated using co-occurrence frequencies of pairs and triples of observations by using a fast spectral method in contrast to the usual slow methods like EM or Gibbs sampling. We provide a…

Point cloud registration is a fundamental problem in computer vision and robotics, involving the alignment of 3D point sets captured from varying viewpoints using depth sensors such as LiDAR or structured light. In modern robotic systems,…

While three-dimensional (3D) building models play an increasingly pivotal role in many real-world applications, obtaining a compact representation of buildings remains an open problem. In this paper, we present a novel framework for…

3D point cloud completion, the task of inferring the complete geometric shape from a partial point cloud, has been attracting attention in the community. For acquiring high-fidelity dense point clouds and avoiding uneven distribution,…

We present an iterative overlap estimation technique to augment existing point cloud registration algorithms that can achieve high performance in difficult real-world situations where large pose displacement and non-overlapping geometry…

In this project, we first study the Gaussian-based hidden Markov random field (HMRF) model and its expectation-maximization (EM) algorithm. Then we generalize it to Gaussian mixture model-based hidden Markov random field. The algorithm is…

Point cloud upsampling aims to generate dense and uniformly distributed point sets from sparse point clouds. Existing point cloud upsampling methods typically approach the task as an interpolation problem. They achieve upsampling by…

The Expectation Maximization (EM) algorithm is a versatile tool for model parameter estimation in latent data models. When processing large data sets or data stream however, EM becomes intractable since it requires the whole data set to be…

This work addresses the problem of point cloud registration using deep neural networks. We propose an approach to predict the alignment between two point clouds with overlapping data content, but displaced origins. Such point clouds…