相关论文: Incremental Abstraction in Distributed Probabilist…

Real-time 3D reconstruction is crucial for robotics and augmented reality, yet current simultaneous localization and mapping(SLAM) approaches often struggle to maintain structural consistency and robust pose estimation in the presence of…

Graph-based accelerators have been widely adopted in symbolic data processing applications such as genomics, cybersecurity, and artificial intelligence. However, these systems often suffer from excessive memory usage and inefficiencies…

Graph learning from data represents a canonical problem that has received substantial attention in the literature. However, insufficient work has been done in incorporating prior structural knowledge onto the learning of underlying…

Graphs serve as generic tools to encode the underlying relational structure of data. Often this graph is not given, and so the task of inferring it from nodal observations becomes important. Traditional approaches formulate a convex inverse…

3D Gaussian Splatting has emerged as a promising technique for high-quality 3D rendering, leading to increasing interest in integrating 3DGS into realism SLAM systems. However, existing methods face challenges such as Gaussian primitives…

This paper investigates an open research challenge of reconstructing high-quality, large 3D open scenes from images. It is observed existing methods have various limitations, such as requiring precise camera poses for input and dense…

Combining 3D Gaussian splatting with Simultaneous Localization and Mapping (SLAM) has gained popularity as it enables continuous 3D environment reconstruction during motion. However, existing methods struggle in dynamic environments,…

Motivated by the need for computationally tractable spatial methods in neuroimaging studies, we develop a distributed and integrated framework for estimation and inference of Gaussian process model parameters with ultra-high-dimensional…

Traditional scene graph generation methods are trained using cross-entropy losses that treat objects and relationships as independent entities. Such a formulation, however, ignores the structure in the output space, in an inherently…

3D open-vocabulary scene graph methods are a promising map representation for embodied agents, however many current approaches are computationally expensive. In this paper, we reexamine the critical design choices established in previous…

In this article, we propose a novel navigation framework that leverages a two layered graph representation of the environment for efficient large-scale exploration, while it integrates a novel uncertainty awareness scheme to handle dynamic…

Data stream mining aims at extracting meaningful knowledge from continually evolving data streams, addressing the challenges posed by nonstationary environments, particularly, concept drift which refers to a change in the underlying data…

In this study, we focus on the graph representation learning (a.k.a. network embedding) in attributed graphs. Different from existing embedding methods that treat the incorporation of graph structure and semantic as the simple combination…

Graph partitioning is the problem of dividing the nodes of a graph into balanced partitions while minimizing the edge cut across the partitions. Due to its combinatorial nature, many approximate solutions have been developed, including…

We introduce Graph-Structured Sum-Product Networks (GraphSPNs), a probabilistic approach to structured prediction for problems where dependencies between latent variables are expressed in terms of arbitrary, dynamic graphs. While many…

Instance segmentation of planar regions in indoor scenes benefits visual SLAM and other applications such as augmented reality (AR) where scene understanding is required. Existing methods built upon two-stage frameworks show satisfactory…

We propose an efficient and interpretable scene graph generator. We consider three types of features: visual, spatial and semantic, and we use a late fusion strategy such that each feature's contribution can be explicitly investigated. We…

We identify the graph data structure, frontiers, operators, an iterative loop structure, and convergence conditions as essential components of graph analytics systems based on the native-graph approach. Using these essential components, we…

We propose a novel visual SLAM method that integrates text objects tightly by treating them as semantic features via fully exploring their geometric and semantic prior. The text object is modeled as a texture-rich planar patch whose…

Reconstructing dynamic 3D scenes from monocular video remains fundamentally challenging due to the need to jointly infer motion, structure, and appearance from limited observations. Existing dynamic scene reconstruction methods based on…