Related papers: A Benchmark for Point Clouds Registration Algorith…
Point cloud registration is a common step in many 3D computer vision tasks such as object pose estimation, where a 3D model is aligned to an observation. Classical registration methods generalize well to novel domains but fail when given a…
This paper establishes the consistency of spectral approaches to data clustering. We consider clustering of point clouds obtained as samples of a ground-truth measure. A graph representing the point cloud is obtained by assigning weights to…
Given a set of images of a scene taken at different times, the availability of an initial background model that describes the scene without foreground objects is the prerequisite for a wide range of applications, ranging from video…
How can applications be deployed on the cloud to achieve maximum performance? This question is challenging to address with the availability of a wide variety of cloud Virtual Machines (VMs) with different performance capabilities. The…
In robotic inspection of aviation parts, achieving accurate pairwise point cloud registration between scanned and model data is essential. However, noise and outliers generated in robotic scanned data can compromise registration accuracy.…
Building 3D geometric maps of man-made spaces is a well-established and active field that is fundamental to computer vision and robotics. However, considering the evolving nature of built environments, it is essential to question the…
3D landmark detection plays a pivotal role in various applications such as 3D registration, pose estimation, and virtual try-on. While considerable success has been achieved in 2D human landmark detection or pose estimation, there is a…
Fog data processing systems provide key abstractions to manage data and event processing in the geo-distributed and heterogeneous fog environment. The lack of standardized benchmarks for such systems, however, hinders their development and…
Recent developments in robotic and sensor hardware make data collection with mobile robots (ground or aerial) feasible and affordable to a wide population of users. The newly emergent applications, such as precision agriculture, weather…
Point cloud registration is a fundamental task for estimating rigid transformations between point clouds. Previous studies have used geometric information for extracting features, matching and estimating transformation. Recently, owing to…
Continuous cloud service performance benchmarking is essential for detecting performance bugs early before deploying them to production. However, detecting performance regressions using application benchmarks, which usually treat the system…
For safety, medical AI systems undergo thorough evaluations before deployment, validating their predictions against a ground truth which is assumed to be fixed and certain. However, this ground truth is often curated in the form of…
Point cloud registration refers to the problem of finding the rigid transformation that aligns two given point clouds, and is crucial for many applications in robotics and computer vision. The main insight of this paper is that we can…
Point Cloud Registration (PCR) estimates the relative rigid transformation between two point clouds of the same scene. Despite significant progress with learning-based approaches, existing methods still face challenges when the overlapping…
Data centers have become ubiquitous for today's businesses. From banks to startups, they rely on cloud infrastructure to deploy user applications. In this context, it is vital to provide users with application performance guarantees.…
Topological mapping offers a compact and robust representation for navigation, but progress in the field is hindered by the lack of standardized evaluation metrics, datasets, and protocols. Existing systems are assessed using different…
Point cloud analysis is challenging due to the irregularity of the point cloud data structure. Existing works typically employ the ad-hoc sampling-grouping operation of PointNet++, followed by sophisticated local and/or global feature…
Benchmark datasets that measure camera pose accuracy have driven progress in visual re-localisation research. To obtain poses for thousands of images, it is common to use a reference algorithm to generate pseudo ground truth. Popular…
Researchers and engineers are increasingly adopting cloud-native technologies for application development and performance evaluation. While this has improved the reproducibility of benchmarks in the cloud, the complexity of cloud-native…
Accurate visual localization in dense urban environments poses a fundamental task in photogrammetry, geospatial information science, and robotics. While imagery is a low-cost and widely accessible sensing modality, its effectiveness on…