Related papers: 2L-LSH: A Locality-Sensitive Hash Function-Based M…
Finding the nearest neighbor to a hyperplane (or Point-to-Hyperplane Nearest Neighbor Search, simply P2HNNS) is a new and challenging problem with applications in many research domains. While existing state-of-the-art hashing schemes (e.g.,…
For a metric space $(X, d)$, a family $\mathcal{H}$ of locality sensitive hash functions is called $(r, cr, p_1, p_2)$ sensitive if a randomly chosen function $h\in \mathcal{H}$ has probability at least $p_1$ (at most $p_2$) to map any $a,…
This paper introduces "Multi-Level Spherical LSH": parameter-free, a multi-level, data-dependant Locality Sensitive Hashing data structure for solving the Approximate Near Neighbors Problem (ANN). This data structure uses a modified version…
Field robotics in perceptually-challenging environments require fast and accurate state estimation, but modern LiDAR sensors quickly overwhelm current odometry algorithms. To this end, this paper presents a lightweight frontend LiDAR…
Hashing is one of the most popular and powerful approximate nearest neighbor search techniques for large-scale image retrieval. Most traditional hashing methods first represent images as off-the-shelf visual features and then produce…
Approximate Nearest Neighbor Search (ANNS) is a fundamental algorithmic problem, with numerous applications in many areas of computer science. Locality-sensitive hashing (LSH) is one of the most popular solution approaches for ANNS. A…
In recent years, point cloud representation has become one of the research hotspots in the field of computer vision, and has been widely used in many fields, such as autonomous driving, virtual reality, robotics, etc. Although deep learning…
We present here a new algorithm for the fast computation of N-point correlation functions in large astronomical data sets. The algorithm is based on kdtrees which are decorated with cached sufficient statistics thus allowing for orders of…
Nearest neighbor (NN) problem is an important scientific problem. The NN query, to find the closest one to a given query point among a set of points, is widely used in applications such as density estimation, pattern classification,…
This study introduces a method for efficiently detecting objects within 3D point clouds using convolutional neural networks (CNNs). Our approach adopts a unique feature-centric voting mechanism to construct convolutional layers that…
Accurately describing and detecting 2D and 3D keypoints is crucial to establishing correspondences across images and point clouds. Despite a plethora of learning-based 2D or 3D local feature descriptors and detectors having been proposed,…
In this paper, we propose a novel real-time 6D object pose estimation framework, named G2L-Net. Our network operates on point clouds from RGB-D detection in a divide-and-conquer fashion. Specifically, our network consists of three steps.…
3D point cloud segmentation has a wide range of applications in areas such as autonomous driving, augmented reality, virtual reality and digital twins. The point cloud data collected in real scenes often contain small objects and categories…
High-resolution 3D point clouds are highly effective for detecting subtle structural anomalies in industrial inspection. However, their dense and irregular nature imposes significant challenges, including high computational cost,…
Neyshabur and Srebro proposed Simple-LSH, which is the state-of-the-art hashing method for maximum inner product search (MIPS) with performance guarantee. We found that the performance of Simple-LSH, in both theory and practice, suffers…
All pairs similarity search is a problem where a set of data objects is given and the task is to find all pairs of objects that have similarity above a certain threshold for a given similarity measure-of-interest. When the number of points…
Point clouds are naturally sparse, while image pixels are dense. The inconsistency limits feature fusion from both modalities for point-wise scene flow estimation. Previous methods rarely predict scene flow from the entire point clouds of…
Neural architecture search (NAS) is a promising technique to design efficient and high-performance deep neural networks (DNNs). As the performance requirements of ML applications grow continuously, the hardware accelerators start playing a…
Convolutional Neural Networks (CNNs) have performed extremely well on data represented by regularly arranged grids such as images. However, directly leveraging the classic convolution kernels or parameter sharing mechanisms on sparse 3D…
Three-dimensional (3D) point clouds are increasingly used in applications such as autonomous driving, robotics, and virtual reality (VR). Point-based neural networks (PNNs) have demonstrated strong performance in point cloud analysis,…