相关论文: DisPerSE: robust structure identification in 2D an…

We propose an unsupervised real-time dense depth completion from a sparse depth map guided by a single image. Our method generates a smooth depth map while preserving discontinuity between different objects. Our key idea is a Binary…

In this paper, we derive a simple method for separating topological noise from topological features using a novel measure for comparing persistence barcodes called persistent entropy.

LiDAR-based place recognition serves as a crucial enabler for long-term autonomy in robotics and autonomous driving systems. Yet, prevailing methodologies relying on handcrafted feature extraction face dual challenges: (1) Inconsistent…

Estimating the 6D object pose from a single RGB image often involves noise and indeterminacy due to challenges such as occlusions and cluttered backgrounds. Meanwhile, diffusion models have shown appealing performance in generating…

Image registration is an ill-posed dense vision task, where multiple solutions achieve similar loss values, motivating probabilistic inference. Variational inference has previously been employed to capture these distributions, however…

As the perception range of LiDAR expands, LiDAR-based 3D object detection contributes ever-increasingly to the long-range perception in autonomous driving. Mainstream 3D object detectors often build dense feature maps, where the cost is…

We introduce a supervised-learning framework for non-rigid point set alignment of a new kind - Displacements on Voxels Networks (DispVoxNets) - which abstracts away from the point set representation and regresses 3D displacement fields on…

Diffusion-based models have shown great promise in real-world image super-resolution (Real-ISR), but often generate content with structural errors and spurious texture details due to the empirical priors and illusions of these models. To…

Phenomenological (P-type) bifurcations are qualitative changes in stochastic dynamical systems whereby the stationary probability density function (PDF) changes its topology. The current state of the art for detecting these bifurcations…

DSperse is a modular framework for distributed machine learning inference with strategic cryptographic verification. Operating within the emerging paradigm of distributed zero-knowledge machine learning, DSperse avoids the high cost and…

Topological methods, including persistent homology, are powerful tools for analysis of high-dimensional data sets but these methods rely almost exclusively on thresholding techniques. In noisy data sets, thresholding does not always allow…

This paper introduces an efficient algorithm for persistence diagram computation, given an input piecewise linear scalar field $f$ defined on a $d$-dimensional simplicial complex $K$, with $d \leq 3$. Our work revisits the seminal algorithm…

We solve the problem of minimizing the number of critical points among all functions on a surface within a prescribed distance {\delta} from a given input function. The result is achieved by establishing a connection between discrete Morse…

Sparse identification of nonlinear dynamics (SINDy) has been widely used to discover the governing equations of a dynamical system from data. It uses sparse regression techniques to identify parsimonious models of unknown systems from a…

State of the art mapping algorithms can produce high-quality maps. However, they are still vulnerable to clutter and outliers which can affect map quality and in consequence hinder the performance of a robot, and further map processing for…

Robust physics (e.g., governing equations and laws) discovery is of great interest for many engineering fields and explainable machine learning. A critical challenge compared with general training is that the term and format of governing…

Pulmonary nodule detection plays an important role in lung cancer screening with low-dose computed tomography (CT) scans. It remains challenging to build nodule detection deep learning models with good generalization performance due to…

Reconstructing models from unorganized point clouds presents a significant challenge, especially when the models consist of multiple components represented by their surface point clouds. Such models often involve point clouds with noise…

Currently prevalent multimodal 3D detection methods are built upon LiDAR-based detectors that usually use dense Bird's-Eye-View (BEV) feature maps. However, the cost of such BEV feature maps is quadratic to the detection range, making it…

Generating realistic sparse multi-category 3D voxel structures is difficult due to the cubic memory scaling of voxel structures and moreover the significant class imbalance caused by sparsity. We introduce Scaffold Diffusion, a generative…