相关论文: Multiview point cloud registration with anisotropi…

We study the supervised clustering problem under the two-component anisotropic Gaussian mixture model in high dimensions and in the non-asymptotic setting. We first derive a lower and a matching upper bound for the minimax risk of…

We develop here a semiparametric Gaussian mixture model (SGMM) for unsupervised learning with valuable spatial information taken into consideration. Specifically, we assume for each instance a random location. Then, conditional on this…

In multi-target tracking (MTT), non-Gaussian measurement noise from sensors can diminish the performance of the Gaussian-assumed Gaussian mixture probability hypothesis density (GM-PHD) filter. In this paper, an approach that transforms the…

We present an approach for efficiently training Gaussian Mixture Model (GMM) by Stochastic Gradient Descent (SGD) with non-stationary, high-dimensional streaming data. Our training scheme does not require data-driven parameter…

We present a new subspace-based method to construct probabilistic models for high-dimensional data and highlight its use in anomaly detection. The approach is based on a statistical estimation of probability density using densities of…

Point cloud registration aligns multiple unposed point clouds into a common reference frame and is a core step for 3D reconstruction and robot localization without initial guess. In this work, we cast registration as conditional generation:…

The Gaussian kernel and its traditional normalizations (e.g., row-stochastic) are popular approaches for assessing similarities between data points. Yet, they can be inaccurate under high-dimensional noise, especially if the noise magnitude…

Localization and navigation are basic robotic tasks requiring an accurate and up-to-date map to finish these tasks, with crowdsourced data to detect map changes posing an appealing solution. Collecting and processing crowdsourced data…

Quantifying predictive uncertainty is essential for real world machine learning applications, especially in scenarios requiring reliable and interpretable predictions. Many common parametric approaches rely on neural networks to estimate…

This paper represents a preliminary (pre-reviewing) version of a sublinear variational algorithm for isotropic Gaussian mixture models (GMMs). Further developments of the algorithm for GMMs with diagonal covariance matrices (instead of…

A multifidelity method for the nonlinear propagation of uncertainties in the presence of stochastic accelerations is presented. The proposed algorithm treats the uncertainty propagation (UP) problem by separating the propagation of the…

Unlike loose coupling approaches and the EKF-based approaches in the literature, we propose an optimization-based visual-inertial SLAM tightly coupled with raw Global Navigation Satellite System (GNSS) measurements, a first attempt of this…

Motivated by the goal of achieving long-term drift-free camera pose estimation in complex scenarios, we propose a global positioning framework fusing visual, inertial and Global Navigation Satellite System (GNSS) measurements in multiple…

In this work, we propose a generalized multiscale inversion algorithm for heterogeneous problems that aims at solving an inverse problem on a computational coarse grid. Previous inversion techniques for multiscale problems seek a…

We consider the problem of identifying multiway block structure from a large noisy tensor. Such problems arise frequently in applications such as genomics, recommendation system, topic modeling, and sensor network localization. We propose a…

We present a novel end-to-end partially supervised deep learning approach for video anomaly detection and localization using only normal samples. The insight that motivates this study is that the normal samples can be associated with at…

We investigate a Gaussian mixture model (GMM) with component means constrained in a pre-selected subspace. Applications to classification and clustering are explored. An EM-type estimation algorithm is derived. We prove that the subspace…

Missing data is a recurrent problem in remote sensing, mainly due to cloud coverage for multispectral images and acquisition problems. This can be a critical issue for crop monitoring, especially for applications relying on machine learning…

Multi-traversal scene reconstruction is important for high-fidelity autonomous driving simulation and digital twin construction. This task involves integrating multiple sequences captured from the same geographical area at different times.…

Multi-view clustering has wide applications in many image processing scenarios. In these scenarios, original image data often contain missing instances and noises, which is ignored by most multi-view clustering methods. However, missing…