相关论文: Multi-instance Point Cloud Registration by Efficie…

Preprocessing a 2D image often produces a noisy cloud of interest points. We study the problem of counting holes in unorganized clouds in the plane. The holes in a given cloud are quantified by the topological persistence of their boundary…

Correspondence-based point cloud registration is a cornerstone in geometric computer vision, robotics perception, photogrammetry and remote sensing, which seeks to estimate the best rigid transformation between two point clouds from the…

Point clouds registration is a fundamental step of many point clouds processing pipelines; however, most algorithms are tested on data that are collected ad-hoc and not shared with the research community. These data often cover only a very…

In multi-view clustering, different views may have different confidence levels when learning a consensus representation. Existing methods usually address this by assigning distinctive weights to different views. However, due to noisy nature…

In a data matrix, we may distinguish between cases, each represented by a row vector for a statistical unit, and cells, which correspond to single entries of the data matrix. Recent developments in Robust Statistics have introduced the…

Unsupervised disentangled representation learning is a long-standing problem in computer vision. This work proposes a novel framework for performing image clustering from deep embeddings by combining instance-level contrastive learning with…

Outliers are ubiquitous in modern data sets. Distance-based techniques are a popular non-parametric approach to outlier detection as they require no prior assumptions on the data generating distribution and are simple to implement. Scaling…

Low-latency instance segmentation of LiDAR point clouds is crucial in real-world applications because it serves as an initial and frequently-used building block in a robot's perception pipeline, where every task adds further delay.…

Performance of clustering algorithms is evaluated with the help of accuracy metrics. There is a great diversity of clustering algorithms, which are key components of many data analysis and exploration systems. However, there exist only few…

In this thesis, we study two problems based on clustering algorithms. In the first problem, we study the role of visual attributes using an agglomerative clustering algorithm to whittle down the search area where the number of classes is…

Recommendation algorithms perform differently if the users, recommendation contexts, applications, and user interfaces vary even slightly. It is similarly observed in other fields, such as combinatorial problem solving, that algorithms…

Place recognition is a fundamental component of robotics, and has seen tremendous improvements through the use of deep learning models in recent years. Networks can experience significant drops in performance when deployed in unseen or…

This paper studies the 3D instance segmentation problem, which has a variety of real-world applications such as robotics and augmented reality. Since the surroundings of 3D objects are of high complexity, the separating of different objects…

Using 3D point clouds in odometry estimation in robotics often requires finding a set of correspondences between points in subsequent scans. While there are established methods for point clouds of sufficient quality, state-of-the-art still…

Traditional point cloud registration (PCR) methods for feature matching often employ the nearest neighbor policy. This leads to many-to-one matches and numerous potential inliers without any corresponding point. Recently, some approaches…

Notwithstanding the popularity of conventional clustering algorithms such as K-means and probabilistic clustering, their clustering results are sensitive to the presence of outliers in the data. Even a few outliers can compromise the…

Diffusion models are a powerful framework for tackling ill-posed problems, with recent advancements extending their use to point cloud upsampling. Despite their potential, existing diffusion models struggle with inefficiencies as they map…

Estimating the rigid transformation with 6 degrees of freedom based on a putative 3D correspondence set is a crucial procedure in point cloud registration. Existing correspondence identification methods usually lead to large outlier ratios…

Many clustering methods, including k-means, require the user to specify the number of clusters as an input parameter. A variety of methods have been devised to choose the number of clusters automatically, but they often rely on strong…

This paper presents Segregator, a global point cloud registration framework that exploits both semantic information and geometric distribution to efficiently build up outlier-robust correspondences and search for inliers. Current…