Related papers: EOE: Expected Overlap Estimation over Unstructured…

Unsupervised learning is becoming more and more important recently. As one of its key components, the autoencoder (AE) aims to learn a latent feature representation of data which is more robust and discriminative. However, most AE based…

Iterative Closest Point (ICP) is a commonly used algorithm to estimate transformation between two point clouds. The key idea of this work is to leverage recent advances in explainable AI for probabilistic ICP methods that provide…

While grasp detection is an important part of any robotic manipulation pipeline, reliable and accurate grasp detection in $SE(3)$ remains a research challenge. Many robotics applications in unstructured environments such as the home or…

As an important piece of the multi-tier computing architecture for future wireless networks, over-the-air computation (OAC) enables efficient function computation in multiple-access edge computing, where a fusion center aims to compute a…

While massively scaling both data and models have become central in NLP and 2D vision, their benefits for 3D point cloud understanding remain limited. We study the initial step of scaling 3D point cloud understanding under a realistic…

We consider optimal experimental design (OED) for nonlinear inverse problems within the Bayesian framework. Optimizing the data acquisition process for large-scale nonlinear Bayesian inverse problems is a computationally challenging task…

We perform detailed theoretical analysis of an expectation-maximization-based algorithm recently proposed in for solving a variation of the 3D registration problem, named multi-model 3D registration. Despite having shown superior empirical…

Image-based localization is a core component of many augmented/mixed reality (AR/MR) and autonomous robotic systems. Current localization systems rely on the persistent storage of 3D point clouds of the scene to enable camera pose…

In the era of the Internet of Things and massive connectivity, many engineering applications, such as sensor fusion and federated edge learning, rely on efficient data aggregation from geographically distributed users over wireless…

PointNet has recently emerged as a popular representation for unstructured point cloud data, allowing application of deep learning to tasks such as object detection, segmentation and shape completion. However, recent works in literature…

In this paper, we propose a normal estimation method for unstructured 3D point clouds. In this method, a feature constraint mechanism called Local Plane Features Constraint (LPFC) is used and then a multi-scale selection strategy is…

We consider collaborative inference at the wireless edge, where each client's model is trained independently on its local dataset. Clients are queried in parallel to make an accurate decision collaboratively. In addition to maximizing the…

In the domain of computer vision, optical flow stands as a cornerstone for unraveling dynamic visual scenes. However, the challenge of accurately estimating optical flow under conditions of large nonlinear motion patterns remains an open…

Automatic resource scaling is one advantage of Cloud systems. Cloud systems are able to scale the number of physical machines depending on user requests. Therefore, accurate request prediction brings a great improvement in Cloud systems'…

Surface anomaly detection is pivotal for ensuring product quality in industrial manufacturing. While 2D image-based methods have achieved remarkable success, 3D point cloud-based detection remains underexplored despite its richer geometric…

Algorithm selection and hyperparameter tuning remain two of the most challenging tasks in machine learning. Automated machine learning (AutoML) seeks to automate these tasks to enable widespread use of machine learning by non-experts. This…

Off-policy evaluation (OPE) is the problem of estimating the value of a target policy using historical data collected under a different logging policy. OPE methods typically assume overlap between the target and logging policy, enabling…

This paper presents Edge-based Mixture of Experts (MoE) Collaborative Computing (EMC2), an optimal computing system designed for autonomous vehicles (AVs) that simultaneously achieves low-latency and high-accuracy 3D object detection.…

Data augmentation is an effective regularization strategy for mitigating overfitting in deep neural networks, and it plays a crucial role in 3D vision tasks, where the point cloud data is relatively limited. While mixing-based augmentation…

Many real-world optimization problems involve uncertain parameters with probability distributions that can be estimated using contextual feature information. In contrast to the standard approach of first estimating the distribution of…