Related papers: Random Fourier Features based SLAM
Random features is one of the most popular techniques to speed up kernel methods in large-scale problems. Related works have been recognized by the NeurIPS Test-of-Time award in 2017 and the ICML Best Paper Finalist in 2019. The body of…
In this paper, we propose a fast surrogate leverage weighted sampling strategy to generate refined random Fourier features for kernel approximation. Compared to the current state-of-the-art method that uses the leverage weighted scheme…
Simulating a Gaussian process requires sampling from a high-dimensional Gaussian distribution, which scales cubically with the number of sample locations. Spectral methods address this challenge by exploiting the Fourier representation,…
Online topology estimation of graph-connected time series is challenging, especially since the causal dependencies in many real-world networks are nonlinear. In this paper, we propose a kernel-based algorithm for graph topology estimation.…
It is well known that visual SLAM systems based on dense matching are locally accurate but are also susceptible to long-term drift and map corruption. In contrast, feature matching methods can achieve greater long-term consistency but can…
While recent Gaussian-based SLAM methods achieve photorealistic reconstruction from RGB-D data, their computational performance remains a critical bottleneck. State-of-the-art techniques operate at less than 20 fps, significantly lagging…
Random Fourier features (RFFs) provide a promising way for kernel learning in a spectral case. Current RFFs-based kernel learning methods usually work in a two-stage way. In the first-stage process, learning the optimal feature map is often…
Simultaneous Localization and Mapping (SLAM) have made the real-time dense reconstruction possible increasing the prospects of navigation, tracking, and augmented reality problems. Some breakthroughs have been achieved in this regard during…
Lifelong SLAM considers long-term operation of a robot where already mapped locations are revisited many times in changing environments. As a result, traditional graph-based SLAM approaches eventually become extremely slow due to the…
The current state of the art of Simultaneous Localisation and Mapping, or SLAM, on low power embedded systems is about sparse localisation and mapping with low resolution results in the name of efficiency. Meanwhile, research in this field…
The visual-based SLAM (Simultaneous Localization and Mapping) is a technology widely used in applications such as robotic navigation and virtual reality, which primarily focuses on detecting feature points from visual images to construct an…
Traditional SLAM algorithms excel at camera tracking, but typically produce incomplete and low-resolution maps that are not tightly integrated with semantics prediction. Recent work integrates Gaussian Splatting (GS) into SLAM to enable…
Simultaneous localization and mapping (SLAM) has achieved impressive performance in static environments. However, SLAM in dynamic environments remains an open question. Many methods directly filter out dynamic objects, resulting in…
Feature detection is a common yet time-consuming module in Simultaneous Localization and Mapping (SLAM) implementations, which are increasingly deployed on power-constrained platforms, such as drones. Graphics Processing Units (GPUs) have…
Software fault prediction (SFP) is a critical task in software engineering, enabling early identification of faults in modules to improve software quality and reduce maintenance costs. This research investigates the combined effects of…
We propose a new algorithm for solving the graph-fused lasso (GFL), a method for parameter estimation that operates under the assumption that the signal tends to be locally constant over a predefined graph structure. Our key insight is to…
3D Gaussian Splatting (3DGS) has shown promising results for 3D scene modeling using mixtures of Gaussians, yet its existing simultaneous localization and mapping (SLAM) variants typically rely on direct, deterministic pose optimization…
This paper presents an enhanced adaptive random Fourier features (ARFF) training algorithm for shallow neural networks, building upon the work introduced in "Adaptive Random Fourier Features with Metropolis Sampling", Kammonen et al.,…
Simultaneous Localization and Mapping (SLAM) techniques play a key role towards long-term autonomy of mobile robots due to the ability to correct localization errors and produce consistent maps of an environment over time. Contrarily to…
We propose a novel random walk-based algorithm for unbiased estimation of arbitrary functions of a weighted adjacency matrix, coined universal graph random features (u-GRFs). This includes many of the most popular examples of kernels…