相关论文: Long-term Visual Map Sparsification with Heterogen…

Localization in a pre-built map is a basic technique for robot autonomous navigation. Existing mapping and localization methods commonly work well in small-scale environments. As a map grows larger, however, more memory is required and…

Graph sparsification is a powerful tool to approximate an arbitrary graph and has been used in machine learning over homogeneous graphs. In heterogeneous graphs such as knowledge graphs, however, sparsification has not been systematically…

When adapting Simultaneous Mapping and Localization (SLAM) to real-world applications, such as autonomous vehicles, drones, and augmented reality devices, its memory footprint and computing cost are the two main factors limiting the…

We propose SGS-GNN, a novel supervised graph sparsifier that learns the sampling probability distribution of edges and samples sparse subgraphs of a user-specified size to reduce the computational costs required by GNNs for inference tasks…

As graphs scale to billions of nodes and edges, graph Machine Learning workloads are constrained by the cost of multi-hop traversals over exponentially growing neighborhoods. While various system-level and algorithmic optimizations have…

Long-term visual localization is the problem of estimating the camera pose of a given query image in a scene whose appearance changes over time. It is an important problem in practice, for example, encountered in autonomous driving. In…

Simultaneous localisation and mapping (SLAM) play a vital role in autonomous robotics. Robotic platforms are often resource-constrained, and this limitation motivates resource-efficient SLAM implementations. While sparse visual SLAM…

Robust cross-seasonal localization is one of the major challenges in long-term visual navigation of autonomous vehicles. In this paper, we exploit recent advances in semantic segmentation of images, i.e., where each pixel is assigned a…

Graph Neural Networks (GNNs) are widely used to perform different machine learning tasks on graphs. As the size of the graphs grows, and the GNNs get deeper, training and inference time become costly in addition to the memory requirement.…

This paper explores sparsification methods as a form of regularization in Graph Neural Networks (GNNs) to address high memory usage and computational costs in large-scale graph applications. Using techniques from Network Science and Machine…

In practical domains, high-dimensional data are usually associated with diverse semantic labels, whereas traditional feature selection methods are designed for single-label data. Moreover, existing multi-label methods encounter two main…

Graph Neural Networks (GNNs) have emerged as highly successful tools for graph-related tasks. However, real-world problems involve very large graphs, and the compute resources needed to fit GNNs to those problems grow rapidly. Moreover, the…

To operate effectively in the real world, agents should be able to act from high-dimensional raw sensory input such as images and achieve diverse goals across long time-horizons. Current deep reinforcement and imitation learning methods can…

Graph neural networks (GNNs) are popular to use for classifying structured data in the context of machine learning. But surprisingly, they are rarely applied to regression problems. In this work, we adopt GNN for a classic but challenging…

Graph Neural Networks (GNNs) play a pivotal role in graph-based tasks for their proficiency in representation learning. Among the various GNN methods, spectral GNNs employing polynomial filters have shown promising performance on tasks…

For high-level geo-spatial applications and intelligent robotics, accurate global pose information is of crucial importance. Map-aided localization is a universal approach to overcome the limitations of global navigation satellite system…

Graph sparsification is a technique that approximates a given graph by a sparse graph with a subset of vertices and/or edges. The goal of an effective sparsification algorithm is to maintain specific graph properties relevant to the…

Graph Neural Networks (GNN) exhibit superior performance in graph representation learning, but their inference cost can be high, due to an aggregation operation that can require a memory fetch for a very large number of nodes. This…

Spatial-temporal graph models are prevailing for abstracting and modelling spatial and temporal dependencies. In this work, we ask the following question: whether and to what extent can we localise spatial-temporal graph models? We limit…

Graph Neural Networks (GNNs) are powerful models for graph-structured data, with broad applications. However, the interplay between GNN parameter optimization, expressivity, and generalization remains poorly understood. We address this by…