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The objective in extreme multi-label learning is to train a classifier that can automatically tag a novel data point with the most relevant subset of labels from an extremely large label set. Embedding based approaches make training and…
We propose a novel real-time LiDAR intensity image-based simultaneous localization and mapping method , which addresses the geometry degeneracy problem in unstructured environments. Traditional LiDAR-based front-end odometry mostly relies…
In this work we present a monocular visual odometry (VO) algorithm which leverages geometry-based methods and deep learning. Most existing VO/SLAM systems with superior performance are based on geometry and have to be carefully designed for…
Dimensionality reduction and manifold learning methods such as t-Distributed Stochastic Neighbor Embedding (t-SNE) are routinely used to map high-dimensional data into a 2-dimensional space to visualize and explore the data. However, two…
We present Low Distortion Local Eigenmaps (LDLE), a manifold learning technique which constructs a set of low distortion local views of a dataset in lower dimension and registers them to obtain a global embedding. The local views are…
We present a new nonlinear dimensionality reduction method, MAPLE, that enhances UMAP by improving manifold modeling. MAPLE employs a self-supervised learning approach to more efficiently encode low-dimensional manifold geometry. Central to…
Manifold learning based methods have been widely used for non-linear dimensionality reduction (NLDR). However, in many practical settings, the need to process streaming data is a challenge for such methods, owing to the high computational…
Existing visual localization methods are typically either 2D image-based, which are easy to build and maintain but limited in effective geometric reasoning, or 3D structure-based, which achieve high accuracy but require a centralized…
t-Stochastic Neighbor Embedding (t-SNE) is a non-parametric data visualization method in classical machine learning. It maps the data from the high-dimensional space into a low-dimensional space, especially a two-dimensional plane, while…
Node embeddings are a paradigm in non-parametric graph representation learning, where graph nodes are embedded into a given vector space to enable downstream processing. State-of-the-art node-embedding algorithms, such as DeepWalk and…
Active area of research in AI is the theory of manifold learning and finding lower-dimensional manifold representation on how we can learn geometry from data for providing better quality curated datasets. There are however various issues…
The recent success of hybrid methods in monocular odometry has led to many attempts to generalize the performance gains to hybrid monocular SLAM. However, most attempts fall short in several respects, with the most prominent issue being the…
Local graph neighborhood sampling is a fundamental computational problem that is at the heart of algorithms for node representation learning. Several works have presented algorithms for learning discrete node embeddings where graph nodes…
The integration of Artificial Intelligence (AI) in medical diagnostics is often hindered by model opacity, where high-accuracy systems function as "black boxes" without transparent reasoning. This limitation is critical in clinical…
Supervised manifold learning methods learn data representations by preserving the geometric structure of data while enhancing the separation between data samples from different classes. In this work, we propose a theoretical study of…
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…
In the study of high-dimensional data, it is often assumed that the data set possesses an underlying lower-dimensional structure. A practical model for this structure is an embedded compact manifold with boundary. Since the underlying…
Multimodal relational data analysis has become of increasing importance in recent years, for exploring across different domains of data, such as images and their text tags obtained from social networking services (e.g., Flickr). A variety…
Visual odometry (VO) is a prevalent way to deal with the relative localization problem, which is becoming increasingly mature and accurate, but it tends to be fragile under challenging environments. Comparing with classical geometry-based…
In recent years, object-oriented simultaneous localization and mapping (SLAM) has attracted increasing attention due to its ability to provide high-level semantic information while maintaining computational efficiency. Some researchers have…