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In the field of resource-constrained robots and the need for effective place recognition in multi-robotic systems, this article introduces RecNet, a novel approach that concurrently addresses both challenges. The core of RecNet's…
Unlike images which are represented in regular dense grids, 3D point clouds are irregular and unordered, hence applying convolution on them can be difficult. In this paper, we extend the dynamic filter to a new convolution operation, named…
A PCA-based, machine learning version of the SPH method is proposed. In the present scheme, the smoothing tensor is computed to have their eigenvalues proportional to the covariance's principal components, using a modified octree data…
Theorems and techniques to form different types of transformationally invariant processing and to produce the same output quantitatively based on either transformationally invariant operators or symmetric operations have recently been…
This work proposes a general-purpose, fully-convolutional network architecture for efficiently processing large-scale 3D data. One striking characteristic of our approach is its ability to process unorganized 3D representations such as…
Deep convolutional neural networks (CNN) have shown their promise as a universal representation for recognition. However, global CNN activations lack geometric invariance, which limits their robustness for classification and matching of…
In this paper we introduce ShiftCNN, a generalized low-precision architecture for inference of multiplierless convolutional neural networks (CNNs). ShiftCNN is based on a power-of-two weight representation and, as a result, performs only…
Feature descriptors of point clouds are used in several applications, such as registration and part segmentation of 3D point clouds. Learning discriminative representations of local geometric features is unquestionably the most important…
Point cloud is often regarded as a discrete sampling of Riemannian manifold and plays a pivotal role in the 3D image interpretation. Particularly, rotation perturbation, an unexpected small change in rotation caused by various factors (like…
Group equivariant convolutional networks (GCNNs) endow classical convolutional networks with additional symmetry priors, which can lead to a considerably improved performance. Recent advances in the theoretical description of GCNNs revealed…
Quadrature formulas for spheres, the rotation group, and other compact, homogeneous manifolds are important in a number of applications and have been the subject of recent research. The main purpose of this paper is to study coordinate…
Convolution plays a crucial role in various applications in signal and image processing, analysis, and recognition. It is also the main building block of convolution neural networks (CNNs). Designing appropriate convolution neural networks…
Modeling the energy and forces of atomic systems is a fundamental problem in computational chemistry with the potential to help address many of the world's most pressing problems, including those related to energy scarcity and climate…
Steerable convolutional neural networks (CNNs) provide a general framework for building neural networks equivariant to translations and transformations of an origin-preserving group $G$, such as reflections and rotations. They rely on…
Convolutional Neural Networks (CNNs) have been providing the state-of-the-art performance for learning-related problems involving 2D/3D images in Euclidean space. However, unlike in the Euclidean space, the shapes of many structures in…
Feature encoding is essential for point cloud analysis. In this paper, we propose a novel point convolution operator named Shell Point Convolution (SPConv) for shape encoding and local context learning. Specifically, SPConv splits 3D…
In recent years, the CNNs have achieved great successes in the image processing tasks, e.g., image recognition and object detection. Unfortunately, traditional CNN's classification is found to be easily misled by increasingly complex image…
Spherical Harmonic Transforms (SHT) are at the heart of many scientific and practical applications ranging from climate modelling to cosmological observations. In many of these areas new, cutting-edge science goals have been recently…
Emerging from low-level vision theory, steerable filters found their counterpart in prior work on steerable convolutional neural networks equivariant to rigid transformations. In our work, we propose a steerable feed-forward learning-based…
Deep convolutional neural networks (CNN) have achieved astonishing results in a large variety of applications. However, using these models on mobile or embedded devices is difficult due to the limited memory and computation resources.…