相关论文: Self-Similarity Based Time Warping

This paper presents a novel time series clustering method, the self-organising eigenspace map (SOEM), based on a generalisation of the well-known self-organising feature map (SOFM). The SOEM operates on the eigenspaces of the embedded…

Most existing 3D geometry copy detection research focused on 3D watermarking, which first embeds ``watermarks'' and then detects the added watermarks. However, this kind of methods is non-straightforward and may be less robust to attacks…

Spatio-temporal forecasting is essential for real-world applications such as traffic management and urban computing. Although recent methods have shown improved accuracy, they often fail to account for dynamic deviations between current…

Point cloud registration approaches often fail when the overlap between point clouds is low due to noisy point correspondences. This work introduces a novel cross-attention mechanism tailored for Transformer-based architectures that tackles…

In this paper, we propose a novel learning-based pipeline for partially overlapping 3D point cloud registration. The proposed model includes an iterative distance-aware similarity matrix convolution module to incorporate information from…

Time series averaging in dynamic time warping (DTW) spaces has been successfully applied to improve pattern recognition systems. This article proposes and analyzes subgradient methods for the problem of finding a sample mean in DTW spaces.…

Gromov--Wasserstein (GW) distances compare graphs, shapes, and point clouds through internal distances, without requiring a common coordinate system. This invariance is powerful, but discrete GW is a nonconvex quadratic optimal transport…

Point cloud registration is a fundamental problem in computer vision and robotics, involving the alignment of 3D point sets captured from varying viewpoints using depth sensors such as LiDAR or structured light. In modern robotic systems,…

We address the problem of unsupervised semantic segmentation of outdoor LiDAR point clouds in diverse traffic scenarios. The key idea is to leverage the spatiotemporal nature of a dynamic point cloud sequence and introduce drastically…

We present a new space-efficient approach, (SparseDTW), to compute the Dynamic Time Warping (DTW) distance between two time series that always yields the optimal result. This is in contrast to other known approaches which typically…

Simultaneous Localization and Mapping (SLAM) is an essential capability for autonomous robots, but due to high data rates of 3D LiDARs real-time SLAM is challenging. We propose a real-time method for 6D LiDAR odometry. Our approach combines…

Spatially dense self-supervised learning is a rapidly growing problem domain with promising applications for unsupervised segmentation and pretraining for dense downstream tasks. Despite the abundance of temporal data in the form of videos,…

Globally-consistent localization in urban environments is crucial for autonomous systems such as self-driving vehicles and drones, as well as assistive technologies for visually impaired people. Traditional Visual-Inertial Odometry (VIO)…

Distributed cooperative localization in wireless networks is a challenging problem since it typically requires solving a large-scale nonconvex and nonsmooth optimization problem. In this paper, we reformulate the classic cooperative…

In instruction conditioned navigation, agents interpret natural language and their surroundings to navigate through an environment. Datasets for studying this task typically contain pairs of these instructions and reference trajectories.…

Computing the discrepancy between time series of variable sizes is notoriously challenging. While dynamic time warping (DTW) is popularly used for this purpose, it is not differentiable everywhere and is known to lead to bad local optima…

We propose DeepMapping, a novel registration framework using deep neural networks (DNNs) as auxiliary functions to align multiple point clouds from scratch to a globally consistent frame. We use DNNs to model the highly non-convex mapping…

We first propose the concept of Stepanov-like weighted pseudo-almost automorphic on time-space scales and we apply this type of oscillation to high-order BAM neural networks with mixed delays. Then, we study the existence and exponential…

Multiple sequences alignment (MSA) is a traditional and challenging task for time-series analyses. The MSA problem is formulated as a discrete optimization problem and is typically solved by dynamic programming. However, the computational…

The demand for multimodal sensing systems for robotics is growing due to the increase in robustness, reliability and accuracy offered by these systems. These systems also need to be spatially and temporally co-registered to be effective. In…