相关论文: Learning for Active 3D Mapping

We propose a data-driven sensor-selection algorithm for accurate estimation of the target variables from the selected measurements. The target variables are assumed to be estimated by a ridge-regression estimator which is trained based on…

Given the lidar measurements from an autonomous vehicle, we can project the points and generate a sparse depth image. Depth completion aims at increasing the resolution of such a depth image by infilling and interpolating the sparse depth…

In this paper, we introduce a LiDAR-based robot navigation system, based on novel object-aware affordance-based costmaps. Utilizing a 3D object detection network, our system identifies objects of interest in LiDAR keyframes, refines their…

We present a cost-efficient and versatile method to map an unknown 3D freeform surface using only sparse measurements while the end-effector of a robotic manipulator moves along the surface. The geometry is locally approximated by a plane,…

We consider interactive learning and covering problems, in a setting where actions may incur different costs, depending on the response to the action. We propose a natural greedy algorithm for response-dependent costs. We bound the…

Depth information is useful for many applications. Active depth sensors are appealing because they obtain dense and accurate depth maps. However, due to issues that range from power constraints to multi-sensor interference, these sensors…

We study the problem of scheduling sensors in a resource-constrained linear dynamical system, where the objective is to select a small subset of sensors from a large network to perform the state estimation task. We formulate this problem as…

The rapid development of 3D technology and computer vision applications have motivated a thrust of methodologies for depth acquisition and estimation. However, most existing hardware and software methods have limited performance due to poor…

Sparsity-constrained optimization has wide applicability in machine learning, statistics, and signal processing problems such as feature selection and compressive Sensing. A vast body of work has studied the sparsity-constrained…

We propose a new scalable method to optimize the architecture of an artificial neural network. The proposed algorithm, called Greedy Search for Neural Network Architecture, aims to determine a neural network with minimal number of layers…

Depth acquisition, based on active illumination, is essential for autonomous and robotic navigation. LiDARs (Light Detection And Ranging) with mechanical, fixed, sampling templates are commonly used in today's autonomous vehicles. An…

Dense depth estimation plays a key role in multiple applications such as robotics, 3D reconstruction, and augmented reality. While sparse signal, e.g., LiDAR and Radar, has been leveraged as guidance for enhancing dense depth estimation,…

Recent advances in depth sensing technologies allow fast electronic maneuvering of the laser beam, as opposed to fixed mechanical rotations. This will enable future sensors, in principle, to vary in real-time the sampling pattern. We…

Determinantal point processes (DPPs) are popular probabilistic models that arise in many machine learning tasks, where distributions of diverse sets are characterized by matrix determinants. In this paper, we develop fast algorithms to find…

We propose a new iterative greedy algorithm for reconstructions of sparse signals with or without noisy perturbations in compressed sensing. The proposed algorithm, called \emph{subspace thresholding pursuit} (STP) in this paper, is a…

Autonomous robots are often employed for data collection due to their efficiency and low labour costs. A key task in robotic data acquisition is planning paths through an initially unknown environment to collect observations given…

We introduce ActiveGAMER, an active mapping system that utilizes 3D Gaussian Splatting (3DGS) to achieve high-quality, real-time scene mapping and exploration. Unlike traditional NeRF-based methods, which are computationally demanding and…

Dimensionality reduction on quadratic manifolds augments linear approximations with quadratic correction terms. Previous works rely on linear approximations given by projections onto the first few leading principal components of the…

The problem of optimally placing sensors under a cost constraint arises naturally in the design of industrial and commercial products, as well as in scientific experiments. We consider a relaxation of the full optimization formulation of…

Active perception strategies enable an agent to selectively gather information in a way to improve its performance. In applications in which the agent does not have prior knowledge about the available information sources, it is crucial to…