相关论文: EOE: Expected Overlap Estimation over Unstructured…

In this paper, we present a new method for the multiview registration of point cloud. Previous multiview registration methods rely on exhaustive pairwise registration to construct a densely-connected pose graph and apply Iteratively…

Covariance estimation for the Iterative Closest Point (ICP) point cloud registration algorithm is essential for state estimation and sensor fusion purposes. We argue that a major source of error for ICP is in the input data itself, from the…

We propose a novel approach for sequential optimal experimental design (sOED) for Bayesian inverse problems involving expensive models with high-dimensional unknown parameters. This work focuses on designs that maximize the expected…

This work addresses the problem of point cloud registration using deep neural networks. We propose an approach to predict the alignment between two point clouds with overlapping data content, but displaced origins. Such point clouds…

Envelope method was recently proposed as a method to reduce the dimension of responses in multivariate regressions. However, when there exists missing data, the envelope method using the complete case observations may lead to biased and…

An established approach for 3D point cloud registration is to estimate the registration function from 3D keypoint correspondences. Typically, a robust technique is required to conduct the estimation, since there are false correspondences or…

Consider an edge computing setting in which a user submits queries for the solution of a linear system to an edge processor, which is subject to time-varying computing availability. The edge processor applies a probabilistic linear solver…

In the domain of point cloud registration, the coarse-to-fine feature matching paradigm has received substantial attention owing to its impressive performance. This paradigm involves a two-step process: first, the extraction of multi-level…

Edge Computing (EC) offers an infrastructure that acts as the mediator between the Cloud and the Internet of Things (IoT). The goal is to reduce the latency that we enjoy when relying on Cloud. IoT devices interact with their environment to…

Traditional algorithms of point set registration minimizing point-to-plane distances often achieve a better estimation of rigid transformation than those minimizing point-to-point distances. Nevertheless, recent deep-learning-based methods…

Out-of-distribution (OOD) detection is essential for deploying machine learning models in open-world and safety-critical scenarios, where test inputs may deviate from the training distribution and overconfident predictions on unknown…

Detecting out-of-distribution (OOD) samples is essential when deploying machine learning models in open-world scenarios. Zero-shot OOD detection, requiring no training on in-distribution (ID) data, has been possible with the advent of…

Cross-modal data registration has long been a critical task in computer vision, with extensive applications in autonomous driving and robotics. Accurate and robust registration methods are essential for aligning data from different…

The primary requirement for cross-modal data fusion is the precise alignment of data from different sensors. However, the calibration between LiDAR point clouds and camera images is typically time-consuming and needs external calibration…

State-of-the-art techniques for detecting, or predicting, neurological disorders (1) focus on predicting each disorder individually, and are (2) computationally expensive, leading to a delay that can potentially render the prediction…

Current advances in Pervasive Computing (PC) involve the adoption of the huge infrastructures of the Internet of Things (IoT) and the Edge Computing (EC). Both, IoT and EC, can support innovative applications around end users to facilitate…

Point cloud anomaly detection under the anomaly-free setting poses significant challenges as it requires accurately capturing the features of 3D normal data to identify deviations indicative of anomalies. Current efforts focus on devising…

The proposed system outlined in this paper is a solution to a use case that requires the autonomous picking of cuboidal objects from an organized or unorganized pile with high precision. This paper presents an efficient method for precise…

Unpaired point cloud completion is crucial for real-world applications, where ground-truth data for complete point clouds are often unavailable. By learning a completion map from unpaired incomplete and complete point cloud data, this task…

Point cloud registration is a prerequisite for many applications in computer vision and robotics. Most existing methods focus on pairwise registration of two point clouds with high overlap. Although there have been some methods for low…