相关论文: Multiview point cloud registration with anisotropi…

Boundary information plays a significant role in 2D image segmentation, while usually being ignored in 3D point cloud segmentation where ambiguous features might be generated in feature extraction, leading to misclassification in the…

The unstructured and irregular nature of points poses a significant challenge for accurate point cloud quality assessment (PCQA), particularly in establishing accurate perceptual feature correspondence. To tackle this, we propose the…

We propose DeepMapping, a novel registration framework using deep neural networks (DNNs) as auxiliary functions to align multiple point clouds from scratch to a globally consistent frame. We use DNNs to model the highly non-convex mapping…

Characterising the noise of an airborne electromagnetic (AEM) system is critical in correctly imaging the earth's subsurface conductivity. Deterministic and probabilistic geophysical inversion algorithms require foreknowledge of the system…

We propose a dense neural simultaneous localization and mapping (SLAM) approach for monocular RGBD input which anchors the features of a neural scene representation in a point cloud that is iteratively generated in an input-dependent…

We introduce Rectified Point Flow, a unified parameterization that formulates pairwise point cloud registration and multi-part shape assembly as a single conditional generative problem. Given unposed point clouds, our method learns a…

High-quality point cloud data is a critical foundation for tasks such as autonomous driving and 3D reconstruction. However, LiDAR-based point cloud acquisition is often affected by various disturbances, resulting in a large number of noise…

Multiview pedestrian detection typically involves two stages: human modeling and pedestrian localization. Human modeling represents pedestrians in 3D space by fusing multiview information, making its quality crucial for detection accuracy.…

In this letter, we employ and design the expectation--conditional maximization either (ECME) algorithm, a generalisation of the EM algorithm, for solving the maximum likelihood direction finding problem of stochastic sources, which may be…

Point cloud registration is a central theme in computer vision, with alignment algorithms continuously improving for greater robustness. Commonly used methods evaluate Euclidean distances between point clouds and minimize an objective…

We consider the problem of inferring an unknown number of clusters in replicated multinomial data. Under a model based clustering point of view, this task can be treated by estimating finite mixtures of multinomial distributions with or…

Point cloud segmentation is a fundamental task in 3D. Despite recent progress on point cloud segmentation with the power of deep networks, current learning methods based on the clean label assumptions may fail with noisy labels. Yet, class…

This paper addresses the issue of matching rigid and articulated shapes through probabilistic point registration. The problem is recast into a missing data framework where unknown correspondences are handled via mixture models. Adopting a…

Robotic manipulation systems benefit from complementary sensing modalities, where each provides unique environmental information. Point clouds capture detailed geometric structure, while RGB images provide rich semantic context. Current…

Although noisy-label learning is often approached with discriminative methods for simplicity and speed, generative modeling offers a principled alternative by capturing the joint mechanism that produces features, clean labels, and corrupted…

Expectation Maximization (EM) is the standard method to learn Gaussian mixtures. Yet its classic, centralized form is often infeasible, due to privacy concerns and computational and communication bottlenecks. Prior work dealt with data…

We present SyNoRiM, a novel way to jointly register multiple non-rigid shapes by synchronizing the maps relating learned functions defined on the point clouds. Even though the ability to process non-rigid shapes is critical in various…

Diffusion models have demonstrated exceptional ability in modeling complex image distributions, making them versatile plug-and-play priors for solving imaging inverse problems. However, their reliance on large-scale clean datasets for…

Real world datasets often contain noisy labels, and learning from such datasets using standard classification approaches may not produce the desired performance. In this paper, we propose a Gaussian Mixture Discriminant Analysis (GMDA) with…

In array processing, a common problem is to estimate the angles of arrival of $K$ deterministic sources impinging on an array of $M$ antennas, from $N$ observations of the source signal, corrupted by gaussian noise. The problem reduces to…