相关论文: Plane-extraction from depth-data using a Gaussian …

Gaussian mixture models form a flexible and expressive parametric family of distributions that has found applications in a wide variety of applications. Unfortunately, fitting these models to data is a notoriously hard problem from a…

Identifying dynamical system (DS) is a vital task in science and engineering. Traditional methods require numerous calls to the DS solver, rendering likelihood-based or least-squares inference frameworks impractical. For efficient parameter…

A general framework for dealing with both linear regression and clustering problems is described. It includes Gaussian clusterwise linear regression analysis with random covariates and cluster analysis via Gaussian mixture models with…

We formulate a reduced-order strategy for efficiently forecasting complex high-dimensional dynamical systems entirely based on data streams. The first step of our method involves reconstructing the dynamics in a reduced-order subspace of…

In recent times, the utilization of 3D models has gained traction, owing to the capacity for end-to-end training initially offered by Neural Radiance Fields and more recently by 3D Gaussian Splatting (3DGS) models. The latter holds a…

In this study, we present an end-to-end pipeline capable of converting drone-captured video streams into high-fidelity 3D reconstructions with minimal latency. Unmanned aerial vehicles (UAVs) are extensively used in aerial real-time…

We present a new subspace-based method to construct probabilistic models for high-dimensional data and highlight its use in anomaly detection. The approach is based on a statistical estimation of probability density using densities of…

Man-made environments typically comprise planar structures that exhibit numerous geometric relationships, such as parallelism, coplanarity, and orthogonality. Making full use of these relationships can considerably improve the robustness of…

Creating low dimensional representations of a high dimensional data set is an important component in many machine learning applications. How to cluster data using their low dimensional embedded space is still a challenging problem in…

A Bayesian filtering algorithm is developed for a class of state-space systems that can be modelled via Gaussian mixtures. In general, the exact solution to this filtering problem involves an exponential growth in the number of mixture…

In this article, we introduce a new variable selection technique through trimming for finite mixture of regression models. Compared to the traditional variable selection techniques, the new method is robust and not sensitive to outliers.…

In this paper, we study convergence properties of the gradient Expectation-Maximization algorithm \cite{lange1995gradient} for Gaussian Mixture Models for general number of clusters and mixing coefficients. We derive the convergence rate…

In this work, we employ the Bayesian inference framework to solve the problem of estimating the solution and particularly, its derivatives, which satisfy a known differential equation, from the given noisy and scarce observations of the…

Neural Radiance Fields and Gaussian Splatting have recently transformed computer vision by enabling photo-realistic representations of complex scenes. However, they have seen limited application in real-world robotics tasks such as…

We propose a practical and scalable Gaussian process model for large-scale nonlinear probabilistic regression. Our mixture-of-experts model is conceptually simple and hierarchically recombines computations for an overall approximation of a…

Modeling complex physical systems such as they arise in civil engineering applications requires finding a trade-off between physical fidelity and practicality. Consequently, deviations of simulation from measurements are ubiquitous even…

This work proposes the use of Bayesian approximations of uncertainty from deep learning in a robot planner, showing that this produces more cautious actions in safety-critical scenarios. The case study investigated is motivated by a setup…

Generating synthetic images is a useful method for cheaply obtaining labeled data for training computer vision models. However, obtaining accurate 3D models of relevant objects is necessary, and the resulting images often have a gap in…

Active reconstruction technique enables robots to autonomously collect scene data for full coverage, relieving users from tedious and time-consuming data capturing process. However, designed based on unsuitable scene representations,…

Imbalanced regression arises when the target distribution is skewed, causing models to focus on dense regions and struggle with underrepresented (minority) samples. Despite its relevance across many applications, few methods have been…