相关论文: Effective scaling registration approach by imposin…

We study the D-optimal Data Fusion (DDF) problem, which aims to select new data points, given an existing Fisher information matrix, so as to maximize the logarithm of the determinant of the overall Fisher information matrix. We show that…

With the advancement in the digital camera technology, the use of high resolution images and videos has been widespread in the modern society. In particular, image and video frame registration is frequently applied in computer graphics and…

We consider approximation algorithms for covering integer programs of the form min $\langle c, x \rangle $ over $x \in \mathbb{N}^n $ subject to $A x \geq b $ and $x \leq d$; where $A \in \mathbb{R}_{\geq 0}^{m \times n}$, $b \in…

Category-level object pose and shape estimation from a single depth image has recently drawn research attention due to its potential utility for tasks such as robotics manipulation. The task is particularly challenging because the three…

Many large MDPs can be represented compactly using a dynamic Bayesian network. Although the structure of the value function does not retain the structure of the process, recent work has shown that value functions in factored MDPs can often…

We propose a robust approach for the registration of two sets of 3D points in the presence of a large amount of outliers. Our first contribution is to reformulate the registration problem using a Truncated Least Squares (TLS) cost that…

FIRAL is a recently proposed deterministic active learning algorithm for multiclass classification using logistic regression. It was shown to outperform the state-of-the-art in terms of accuracy and robustness and comes with theoretical…

In this paper, we propose a robust 3D face recognition system which can handle pose as well as occlusions in real world. The system at first takes as input, a 3D range image, simultaneously registers it using ICP(Iterative Closest Point)…

Large-scale scene point cloud registration with limited overlap is a challenging task due to computational load and constrained data acquisition. To tackle these issues, we propose a point cloud registration method, MT-PCR, based on…

We study two fundamental optimization problems: (1) scaling a symmetric positive definite matrix by a positive diagonal matrix so that the resulting matrix has row and column sums equal to 1; and (2) minimizing a quadratic function subject…

Point cloud registration is a fundamental and challenging problem for autonomous robots interacting in unstructured environments for applications such as object pose estimation, simultaneous localization and mapping, robot-sensor…

Transformers are widely used for their ability to capture data relations in sequence processing, with great success for a wide range of static tasks. However, the computational and memory footprint of their main component, i.e., the Scaled…

Probabilistic point cloud registration methods are becoming more popular because of their robustness. However, unlike point-to-plane variants of iterative closest point (ICP) which incorporate local surface geometric information such as…

Given a source of iid samples of edges of an input graph $G$ with $n$ vertices and $m$ edges, how many samples does one need to compute a constant factor approximation to the maximum matching size in $G$? Moreover, is it possible to obtain…

Imperfect data (noise, outliers and partial overlap) and high degrees of freedom make non-rigid registration a classical challenging problem in computer vision. Existing methods typically adopt the $\ell_{p}$ type robust estimator to…

This paper presents a new approach to solve linear and nonlinear model predictive control (MPC) problems that requires small memory footprint and throughput and is particularly suitable when the model and/or controller parameters change at…

Hermite polynomials and functions have extensive applications in scientific and engineering problems. Although it is recognized that employing the scaled Hermite functions rather than the standard ones can remarkably enhance the…

3-D image registration, which involves aligning two or more images, is a critical step in a variety of medical applications from diagnosis to therapy. Image registration is commonly performed by optimizing an image matching metric as a cost…

We proposed the method that translates the 2-D CSP for minimizing the number of cuts to the Ising model. After that, we conducted computer experiments of the proposed model using the benchmark problem. From the above, the following results…

Clinically useful proton Computed Tomography images will rely on algorithms to find the three-dimensional proton stopping power distribution that optimally fits the measured proton data. We present a least squares iterative method with many…