相关论文: Depth from Small Motion using Rank-1 Initializatio…

The task of reconstructing a low rank matrix from incomplete linear measurements arises in areas such as machine learning, quantum state tomography and in the phase retrieval problem. In this note, we study the particular setup that the…

This paper introduces RankMap, a platform-aware end-to-end framework for efficient execution of a broad class of iterative learning algorithms for massive and dense datasets. Our framework exploits data structure to factorize it into an…

Semantic segmentation labels each pixel in an image with its corresponding class, and is typically evaluated using the Intersection over Union (IoU) and Dice metrics to quantify the overlap between predicted and ground-truth segmentation…

Purpose: The long scan times of quantitative MRI techniques make motion artifacts more likely. For MR-Fingerprinting-like approaches, this problem can be addressed with self-navigated retrospective motion correction based on reconstructions…

This work is based on a questioning of the quality metrics used by deep neural networks performing depth prediction from a single image, and then of the usability of recently published works on unsupervised learning of depth from videos. To…

Sharpness aware minimization (SAM) optimizer has been extensively explored as it can generalize better for training deep neural networks via introducing extra perturbation steps to flatten the landscape of deep learning models. Integrating…

Training deep neural networks (DNNs) with backpropagation (BP) achieves state-of-the-art accuracy but requires global error propagation and full parameterization, leading to substantial memory and computational overhead. Direct Feedback…

Simultaneous Localization and Mapping (SLAM) systems typically assume static, distant illumination; however, many real-world scenarios, such as endoscopy, subterranean robotics, and search & rescue in collapsed environments, require agents…

As a real scenes sensing approach, depth information obtains the widespread applications. However, resulting from the restriction of depth sensing technology, the depth map captured in practice usually suffers terrible noise and missing…

Consumer-level depth cameras and depth sensors embedded in mobile devices enable numerous applications, such as AR games and face identification. However, the quality of the captured depth is sometimes insufficient for 3D reconstruction,…

A rank-$r$ matrix $X \in \mathbb{R}^{m \times n}$ can be written as a product $U V^\top$, where $U \in \mathbb{R}^{m \times r}$ and $V \in \mathbb{R}^{n \times r}$. One could exploit this observation in optimization: e.g., consider the…

Images captured under extremely low light conditions are noise-limited, which can cause existing robotic vision algorithms to fail. In this paper we develop an image processing technique for aiding 3D reconstruction from images acquired in…

Sequence model based NLP applications can be large. Yet, many applications that benefit from them run on small devices with very limited compute and storage capabilities, while still having run-time constraints. As a result, there is a need…

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…

For the problem of reconstructing a low-rank matrix from a few linear measurements, two classes of algorithms have been widely studied in the literature: convex approaches based on nuclear norm minimization, and non-convex approaches that…

In this work we present the first initialization methods equipped with explicit performance guarantees adapted to the pose-graph simultaneous localization and mapping (SLAM) and rotation averaging (RA) problems. SLAM and rotation averaging…

Autonomous mobile robots like self-flying drones and industrial robots heavily depend on depth images to perform tasks such as 3D reconstruction and visual SLAM. However, the presence of inaccuracies in these depth images can greatly hinder…

Low-rank approximation methods such as singular value decomposition (SVD) and its variants (e.g., Fisher-weighted SVD, Activation SVD) have recently emerged as effective tools for neural network compression. In this setting, decomposition…

Visual-inertial SLAM (VI-SLAM) requires a good initial estimation of the initial velocity, orientation with respect to gravity and gyroscope and accelerometer biases. In this paper we build on the initialization method proposed by…

We derive a new margin-based regularization formulation, termed multi-margin regularization (MMR), for deep neural networks (DNNs). The MMR is inspired by principles that were applied in margin analysis of shallow linear classifiers, e.g.,…