相关论文: Adaptive Cost Function for Pointcloud Registration

We present a new paradigm for rigid alignment between point clouds based on learnable weighted consensus which is robust to noise as well as the full spectrum of the rotation group. Current models, learnable or axiomatic, work well for…

In many real-world machine learning problems, feature values are not readily available. To make predictions, some of the missing features have to be acquired, which can incur a cost in money, computational time, or human time, depending on…

In this paper, we study the adaptive planewave discretization for a cluster of eigenvalues of second-order elliptic partial differential equations. We first design an a posteriori error estimator and prove both the upper and lower bounds.…

With current trends in sensors (cheaper, more volume of data) and applications (increasing affordability for new tasks, new ideas in what 3D data could be useful for); there is corresponding increasing interest in the ability to…

We propose a novel adaptive approximation approach for test-time resource-constrained prediction. Given an input instance at test-time, a gating function identifies a prediction model for the input among a collection of models. Our…

Convolution on 3D point clouds is widely researched yet far from perfect in geometric deep learning. The traditional wisdom of convolution characterises feature correspondences indistinguishably among 3D points, arising an intrinsic…

Point clouds are a basic data type that is increasingly of interest as 3D content becomes more ubiquitous. Applications using point clouds include virtual, augmented, and mixed reality and autonomous driving. We propose a more efficient…

The use of infrastructure sensor technology for traffic detection has already been proven several times. However, extrinsic sensor calibration is still a challenge for the operator. While previous approaches are unable to calibrate the…

We consider a sensor scheduling and remote estimation problem with one sensor and one estimator. At each time step, the sensor makes an observation on the state of a source, and then decides whether to transmit its observation to the…

Existing normal estimation methods for point clouds are often less robust to severe noise and complex geometric structures. Also, they usually ignore the contributions of different neighbouring points during normal estimation, which leads…

Large organizations have seamlessly incorporated data-driven decision making in their operations. However, as data volumes increase, expensive big data infrastructures are called to rescue. In this setting, analytics tasks become very…

Three-dimensional point cloud anomaly detection that aims to detect anomaly data points from a training set serves as the foundation for a variety of applications, including industrial inspection and autonomous driving. However, existing…

Point cloud registration is the task of estimating the rigid transformation that aligns a pair of point cloud fragments. We present an efficient and robust framework for pairwise registration of real-world 3D scans, leveraging Hough voting…

Point cloud registration (PCR) is a fundamental task for integrating 3D observations in remote sensing applications. This paper proposes a fast and effective PCR algorithm utilizing probabilistic self-updating local correspondence and line…

3D motion estimation including scene flow and point cloud registration has drawn increasing interest. Inspired by 2D flow estimation, recent methods employ deep neural networks to construct the cost volume for estimating accurate 3D flow.…

Annotating objects with 3D bounding boxes in LiDAR pointclouds is a costly human driven process in an autonomous driving perception system. In this paper, we present a method to semi-automatically annotate real-world pointclouds collected…

Adaptive filtering algorithms are commonplace in signal processing and have wide-ranging applications from single-channel denoising to multi-channel acoustic echo cancellation and adaptive beamforming. Such algorithms typically operate via…

The reconstruction of real-world surfaces is on high demand in various applications. Most existing reconstruction approaches apply 3D scanners for creating point clouds which are generally sparse and of low density. These points clouds will…

We design a new adaptive learning algorithm for misclassification cost problems that attempt to reduce the cost of misclassified instances derived from the consequences of various errors. Our algorithm (adaptive cost sensitive learning -…

Access to large corpora with strongly labelled sound events is expensive and difficult in engineering applications. Much research turns to address the problem of how to detect both the types and the timestamps of sound events with weak…