相关论文: Robust Set Reconciliation via Locality Sensitive H…

Robust localization in a given map is a crucial component of most autonomous robots. In this paper, we address the problem of localizing in an indoor environment that changes and where prominent structures have no correspondence in the map…

Finding similar data in high-dimensional spaces is one of the important tasks in multimedia applications. Approaches introduced to find exact searching techniques often use tree-based index structures which are known to suffer from the…

Approximating the set of reachable states of a dynamical system is an algorithmic yet mathematically rigorous way to reason about its safety. Although progress has been made in the development of efficient algorithms for affine dynamical…

Cooperative geolocation has attracted significant research interests in recent years. A large number of localization algorithms rely on the availability of statistical knowledge of measurement errors, which is often difficult to obtain in…

Reachability analysis is at the core of many applications, from neural network verification, to safe trajectory planning of uncertain systems. However, this problem is notoriously challenging, and current approaches tend to be either too…

In this work, a set reconciliation setting is considered in which two parties have similar sets that they would like to reconcile. In particular, we focus on a divide-and-conquer strategy known as partitioned set reconciliation (PSR), in…

We consider a reconciliation problem, where two hosts wish to synchronize their respective sets. Efficient solutions for minimizing the communication cost between the two hosts have been previously proposed in the literature. However, they…

We consider the task of learning Ising models when the signs of different random variables are flipped independently with possibly unequal, unknown probabilities. In this paper, we focus on the problem of robust estimation of…

Similarity joins are a fundamental database operation. Given data sets S and R, the goal of a similarity join is to find all points x in S and y in R with distance at most r. Recent research has investigated how locality-sensitive hashing…

The received signal strength (RSS) based technique is widely utilized for ubiquitous positioning due to its advantage of simple implementability. However, its accuracy is limited because the RSS values of adjacent locations can be very…

Robotic grasping is facing a variety of real-world uncertainties caused by non-static object states, unknown object properties, and cluttered object arrangements. The difficulty of grasping increases with the presence of more uncertainties,…

We aim to create the highest possible quality of treatment-control matches for categorical data in the potential outcomes framework. Matching methods are heavily used in the social sciences due to their interpretability, but most matching…

Model explainability is crucial for human users to be able to interpret how a proposed classifier assigns labels to data based on its feature values. We study generalized linear models constructed using sets of feature value rules, which…

Point matching refers to the process of finding spatial transformation and correspondences between two sets of points. In this paper, we focus on the case that there is only partial overlap between two point sets. Following the approach of…

The overarching goals in image-based localization are scale, robustness and speed. In recent years, approaches based on local features and sparse 3D point-cloud models have both dominated the benchmarks and seen successful realworld…

Recent learning-based visual localization methods use global descriptors to disambiguate visually similar places, but existing approaches often derive these descriptors from geometric cues alone (e.g., covisibility graphs), limiting their…

Hash coding has been widely used in the approximate nearest neighbor search for large-scale image retrieval. Recently, many deep hashing methods have been proposed and shown largely improved performance over traditional…

We consider the problem of vision-based 6-DoF object pose estimation in the context of the notional Mars Sample Return campaign, in which a robotic arm would need to localize multiple objects of interest for low-clearance pickup and…

We consider a similarity measure between two sets $A$ and $B$ of vectors, that balances the average and maximum cosine distance between pairs of vectors, one from set $A$ and one from set $B$. As a motivation for this measure, we present…

In the Set Cover problem, we are given a set system with each set having a weight, and we want to find a collection of sets that cover the universe, whilst having low total weight. There are several approaches known (based on greedy…