相关论文: Robust Topological Feature Extraction for Mapping …

Recent advances in pretraining 3D point cloud encoders (e.g., Point-BERT, Point-MAE) have produced powerful models, whose abilities are typically evaluated on geometric or semantic tasks. At the same time, topological descriptors have been…

Internet mapping projects generally consist in sampling the network from a limited set of sources by using traceroute probes. This methodology, akin to the merging of spanning trees from the different sources to a set of destinations, leads…

Understanding the response of an output variable to multi-dimensional inputs lies at the heart of many data exploration endeavours. Topology-based methods, in particular Morse theory and persistent homology, provide a useful framework for…

Many works in the recent literature introduce semantic mapping methods that use CNNs (Convolutional Neural Networks) to recognize semantic properties in images. The types of properties (eg.: room size, place category, and objects) and their…

Community detection is considered as a fundamental task in analyzing social networks. Even though many techniques have been proposed for community detection, most of them are based exclusively on the connectivity structures. However, there…

In this article, we present a method to reconstruct the topology of a partially observed radial network of linear dynamical systems with bi-directional interactions. Our approach exploits the structure of the inverse power spectral density…

We address the problem of building theoretical models that help elucidate the function of the visual brain at computational/algorithmic and structural/mechanistic levels. We seek to understand how the receptive fields and topographic maps…

In this article, we introduce a novel strategy for robotic exploration in unknown environments using a semantic topometric map. As it will be presented, the semantic topometric map is generated by segmenting the grid map of the currently…

Feature extraction from persistence diagrams, as a tool to enrich machine learning techniques, has received increasing attention in recent years. In this paper we explore an adaptive methodology to localize features in persistent diagrams,…

Optimized sensing is important for computational imaging in low-resource environments, when images must be recovered from severely limited measurements. In this paper, we propose a physics-constrained, fully differentiable, autoencoder that…

In this work we use the persistent homology method, a technique in topological data analysis (TDA), to extract essential topological features from the data space and combine them with deep learning features for classification tasks. In TDA,…

We propose DeepExplorer, a simple and lightweight metric-free exploration method for topological mapping of unknown environments. It performs task and motion planning (TAMP) entirely in image feature space. The task planner is a recurrent…

Temporal network analysis and time evolution of network characteristics are powerful tools in describing the changing topology of dynamic networks. This paper uses such approaches to better visualize and provide analytical measures for the…

Mobile robots require comprehensive scene understanding to operate effectively in diverse environments, enriched with contextual information such as layouts, objects, and their relationships. Although advances like neural radiation fields…

This paper proposes a novel topological learning framework that integrates networks of different sizes and topology through persistent homology. Such challenging task is made possible through the introduction of a computationally efficient…

Accurate traversability estimation is essential for safe and effective navigation of outdoor robots operating in complex environments. This paper introduces a novel experience-based method that allows robots to autonomously learn which…

Wireless sensor networks consisting of great number of cheap and tiny sensor nodes which are used for military environment controlling, natural events recording, traffic monitoring, robot navigation, and etc. Such a networks encounter with…

Scene recognition, particularly for aerial and underwater images, often suffers from various types of degradation, such as blurring or overexposure. Previous works that focus on convolutional neural networks have been shown to be able to…

Persistent homology has become an important tool for extracting geometric and topological features from data, whose multi-scale features are summarized in a persistence diagram. From a statistical perspective, however, persistence diagrams…

Extracting and binding salient information from different sensory modalities to determine common features in the environment is a significant challenge in robotics. Here we present MuPNet (Multi-modal Predictive Coding Network), a…