相关论文: BO-ICP: Initialization of Iterative Closest Point …

A new class of stochastic processes called independent and periodically identically distributed (i.p.i.d.) processes is defined to capture periodically varying statistical behavior. A novel Bayesian theory is developed for detecting a…

Point cloud registration plays a crucial role in various fields, including robotics, computer graphics, and medical imaging. This process involves determining spatial relationships between different sets of points, typically within a 3D…

We introduce a LiDAR inertial odometry (LIO) framework, called LiPO, that enables direct comparisons of different iterative closest point (ICP) point cloud registration methods. The two common ICP methods we compare are point-to-point (P2P)…

Controller tuning and parameter optimization are crucial in system design to improve closed-loop system performance. Bayesian optimization has been established as an efficient model-free controller tuning and adaptation method. However,…

With the advent of big data applications, which tends to have longer execution time, choosing the right cloud VM to run these applications has significant performance as well as economic implications. For example, in our large-scale…

We present a progressive 3D registration framework that is a highly-efficient variant of classical non-rigid Iterative Closest Points (N-ICP). Since it uses the Laplace-Beltrami operator for deformation regularisation, we view the overall…

Probabilistic 3D point cloud registration methods have shown competitive performance in overcoming noise, outliers, and density variations. However, registering point cloud pairs in the case of partial overlap is still a challenge. This…

3D motion estimation including scene flow and point cloud registration has drawn increasing interest. Inspired by 2D flow estimation, recent methods employ deep neural networks to construct the cost volume for estimating accurate 3D flow.…

This paper deals with the following problem: modify a Bayesian network to satisfy a given set of probability constraints by only change its conditional probability tables, and the probability distribution of the resulting network should be…

Minimizing both the worst-case and average execution times of optimization algorithms is equally critical in real-time optimization-based control applications such as model predictive control (MPC). Most MPC solvers have to trade off…

Modern cosmological data demand modern data analysis techniques. We introduce BayOp, a new likelihood sampling and maximisation method which is based on the Bayesian Optimisation algorithm and learns a function instead of randomly sampling…

We present a novel, end-to-end learnable, multiview 3D point cloud registration algorithm. Registration of multiple scans typically follows a two-stage pipeline: the initial pairwise alignment and the globally consistent refinement. The…

Rapid robot motion generation is critical in Human-Robot Collaboration (HRC) systems, as robots need to respond to dynamic environments in real time by continuously observing their surroundings and replanning their motions to ensure both…

K-means is undoubtedly the most widely used partitional clustering algorithm. Unfortunately, due to its gradient descent nature, this algorithm is highly sensitive to the initial placement of the cluster centers. Numerous initialization…

Adaptive Informative Path Planning with Multimodal Sensing (AIPPMS) considers the problem of an agent equipped with multiple sensors, each with different sensing accuracy and energy costs. The agent's goal is to explore the environment and…

This paper presents novel mixed-type Bayesian optimization (BO) algorithms to accelerate the optimization of a target objective function by exploiting correlated auxiliary information of binary type that can be more cheaply obtained, such…

In computational inverse problems, it is common that a detailed and accurate forward model is approximated by a computationally less challenging substitute. The model reduction may be necessary to meet constraints in computing time when…

This article presents the guided Bayesian optimization algorithm as an efficient data-driven method for iteratively tuning closed-loop controller parameters using an event-triggered digital twin of the system based on available closed-loop…

In this paper, we present IRON (Invariant-based global Robust estimation and OptimizatioN), a non-minimal and highly robust solution for point cloud registration with a great number of outliers among the correspondences. To realize this, we…

In recent years, terrestrial laser scanning technology has been widely used to collect tree point cloud data, aiding in measurements of diameter at breast height, biomass, and other forestry survey data. Since a single scan from terrestrial…