Related papers: Map of Elections
This paper investigates the use of depth images as localisation sensors for 3D map building. The localisation information is derived from the 3D data thanks to the ICP (Iterative Closest Point) algorithm. The covariance of the ICP, and thus…
The objective of ordinal embedding is to find a Euclidean representation of a set of abstract items, using only answers to triplet comparisons of the form "Is item $i$ closer to the item $j$ or item $k$?". In recent years, numerous…
Maps are a key component in image-based camera localization and visual SLAM systems: they are used to establish geometric constraints between images, correct drift in relative pose estimation, and relocalize cameras after lost tracking. The…
A key aspect of the precision of a mobile robots localization is the quality and aptness of the map it is using. A variety of mapping approaches are available that can be employed to create such maps with varying degrees of effort, hardware…
Cumulant mapping employs a statistical reconstruction of the whole by sampling its parts. The theory developed in this work formalises and extends ad hoc methods of `multi-fold' or `multi-dimensional' covariance mapping. Explicit formulae…
Three different representation of the proper Euclidean geometry are considered. They differ in the number of basic elements, from which the geometrical objects are constructed. In E-representation there are three basic elements (point,…
Given an unlabeled road map, we consider, from an algorithmic perspective, the cartographic problem to place non-overlapping road labels embedded in their roads. We first decompose the road network into logically coherent road sections,…
The paper develops a general framework for constrained clustering which is based on the close connection of geometric clustering and diagrams. Various new structural and algorithmic results are proved (and known results generalized and…
Maps provide robots with crucial environmental knowledge, thereby enabling them to perform interactive tasks effectively. Easily accessing accurate abstract-to-detailed geometric and semantic concepts from maps is crucial for robots to make…
We study two aspects of information semantics: (i) the collection of all relationships, (ii) tracking and spotting anomaly and change. The first is implemented by endowing all relevant information spaces with a Euclidean metric in a common…
Consider an election where N seats are distributed among parties with proportions p_1,...,p_m of the votes. We study, for the common divisor and quota methods, the asymptotic distribution, and in particular the mean, of the seat excess of a…
We give a practical random mapping that takes any set of documents represented as vectors in Euclidean space and then maps them to a sparse subset of the Hamming cube while retaining ordering of inter-vector inner products. Once represented…
Teramoto et al. defined a new measure called the gap ratio that measures the uniformity of a finite point set sampled from $\cal S$, a bounded subset of $\mathbb{R}^2$. We generalize this definition of measure over all metric spaces by…
We cast shape matching as metric learning with convolutional networks. We break the end-to-end process of image representation into two parts. Firstly, well established efficient methods are chosen to turn the images into edge maps.…
UMAP is a non-parametric graph-based dimensionality reduction algorithm using applied Riemannian geometry and algebraic topology to find low-dimensional embeddings of structured data. The UMAP algorithm consists of two steps: (1) Compute a…
Focusing on Stable Roommates (SR) instances, we contribute to the toolbox for conducting experiments for stable matching problems. We introduce a polynomial-time computable pseudometric to measure the similarity of SR instances, analyze its…
In the classical context of robotic mapping and localization, map matching is typically defined as the task of finding a rigid transformation (i.e., 3DOF rotation/translation on the 2D moving plane) that aligns the query and reference maps…
In this paper, we present a new compositing approach to obtain stylized reflections and refractions with a simple control. Our approach does not require any mask or separate 3D rendering. Moreover, only one additional image is sufficient to…
Constructing an occupancy representation of the environment is a fundamental problem for robot autonomy. Many accurate and efficient methods exist that address this problem but most assume that the occupancy states of different elements in…
The goal of data selection is to capture the most structural information from a set of data. This paper presents a fast and accurate data selection method, in which the selected samples are optimized to span the subspace of all data. We…