Related papers: Mapping of Sparse 3D Data using Alternating Projec…

We consider an important class of signal processing problems where the signal of interest is known to be sparse, and can be recovered from data given auxiliary information about how the data was generated. For example, a sparse Green's…

Unsupervised point cloud segmentation is critical for embodied artificial intelligence and autonomous driving, as it mitigates the prohibitive cost of dense point-level annotations required by fully supervised methods. While integrating 2D…

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,…

This paper presents an extension to the KinectFusion algorithm which allows creating simplified 3D models with high quality RGB textures. This is achieved through (i) creating model textures using images from an HD RGB camera that is…

Unsupervised 3D representation learning reduces the burden of labeling multimodal 3D data for fusion perception tasks. Among different pre-training paradigms, differentiable-rendering-based methods have shown most promise. However, existing…

Image convolution with complex kernels is a fundamental operation in photography, scientific imaging, and animation effects, yet direct dense convolution is computationally prohibitive on resource-limited devices. Existing approximations,…

Sparsity-constrained optimization underlies many problems in signal processing, statistics, and machine learning. State-of-the-art hard-thresholding (HT) algorithms rely on an appropriately selected continuous step-size parameter to ensure…

We describe a convex programming framework for pose estimation in 2D/3D point-set registration with unknown point correspondences. We give two mixed-integer nonlinear program (MINP) formulations of the 2D/3D registration problem when there…

Convolutional networks are the de-facto standard for analyzing spatio-temporal data such as images, videos, and 3D shapes. Whilst some of this data is naturally dense (e.g., photos), many other data sources are inherently sparse. Examples…

Change detection is one of the most challenging issues when analyzing remotely sensed images. Comparing several multi-date images acquired through the same kind of sensor is the most common scenario. Conversely, designing robust, flexible…

Computed tomography is widely used to examine internal structures in a non-destructive manner. To obtain high-quality reconstructions, one typically has to acquire a densely sampled trajectory to avoid angular undersampling. However, many…

Existing techniques for motion imitation often suffer a certain level of latency due to their computational overhead or a large set of correspondence samples to search. To achieve real-time imitation with small latency, we present a…

In an era where big and high-dimensional data is readily available, data scientists are inevitably faced with the challenge of reducing this data for expensive downstream computation or analysis. To this end, we present here a new method…

Exploring robust and efficient association methods has always been an important issue in multiple-object tracking (MOT). Although existing tracking methods have achieved impressive performance, congestion and frequent occlusions still pose…

The creation of high-fidelity 3D assets is often hindered by a 'pixel-level pain point': the loss of high-frequency details. Existing methods often trade off one aspect for another: either sacrificing cross-view consistency, resulting in…

3D detection is a critical task that enables machines to identify and locate objects in three-dimensional space. It has a broad range of applications in several fields, including autonomous driving, robotics and augmented reality. Monocular…

Convolutional neural networks are designed for dense data, but vision data is often sparse (stereo depth, point clouds, pen stroke, etc.). We present a method to handle sparse depth data with optional dense RGB, and accomplish depth…

Dynamic connectivity is a fundamental dynamic graph problem, and recent algorithmic breakthroughs on dynamic graph sketching have reshaped what is theoretically possible: by encoding the graph as per-vertex linear sketches, these algorithms…

Two-dimensional (2D) fully-addressed arrays can conveniently realize three-dimensional (3D) ultrasound imaging while fully controlled such arrays usually demands thousands of independent channels, which is costly. Sparse array technique…

We adapt image inpainting techniques to impute large, irregular missing regions in urban settings characterized by sparsity, variance in both space and time, and anomalous events. Missing regions in urban data can be caused by sensor or…