相关论文: Efficient and Robust Point Cloud Registration via …

While point-based neural architectures have demonstrated their efficacy, the time-consuming sampler currently prevents them from performing real-time reasoning on scene-level point clouds. Existing methods attempt to overcome this issue by…

This paper develops and evaluates a novel method that allows for the detection of affordances in a scalable and multiple-instance manner on visually recovered pointclouds. Our approach has many advantages over alternative methods, as it is…

By Emerging huge databases and the need to efficient learning algorithms on these datasets, new problems have appeared and some methods have been proposed to solve these problems by selecting efficient features. Feature selection is a…

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 recent advances in 3D sensing technology have made possible the capture of point clouds in significantly high resolution. However, increased detail usually comes at the expense of high storage, as well as computational costs in terms of…

A grid search, at the cost of training and testing a large number of models, is an effective way to optimize the prediction performance of deep learning models. A challenging task concerning grid search is the time management. Without a…

Recent advances in computer vision and deep learning have shown promising performance in estimating rigid/similarity transformation between unregistered point clouds of complex objects and scenes. However, their performances are mostly…

We present a method to apply heuristic search algorithms to solve rearrangement planning by pushing problems. In these problems, a robot must push an object through clutter to achieve a goal. To do this, we exploit the fact that contact…

Edge computing hosts applications close to the end users and enables low-latency real-time applications. Modern applications inturn have adopted the microservices architecture which composes applications as loosely coupled smaller…

A ubiquitous feature of data of our era is their extra-large sizes and dimensions. Analyzing such high-dimensional data poses significant challenges, since the feature dimension is often much larger than the sample size. This thesis…

In feature-learning based point cloud registration, the correct correspondence construction is vital for the subsequent transformation estimation. However, it is still a challenge to extract discriminative features from point cloud,…

For the registration of partially overlapping point clouds, this paper proposes an effective approach based on both the hard and soft assignments. Given two initially posed clouds, it firstly establishes the forward correspondence for each…

We present 3DRegNet, a novel deep learning architecture for the registration of 3D scans. Given a set of 3D point correspondences, we build a deep neural network to address the following two challenges: (i) classification of the point…

Most cloud services and distributed applications rely on hashing algorithms that allow dynamic scaling of a robust and efficient hash table. Examples include AWS, Google Cloud and BitTorrent. Consistent and rendezvous hashing are algorithms…

Many emerging use cases of data mining and machine learning operate on large datasets with data from heterogeneous sources, specifically with both sparse and dense components. For example, dense deep neural network embedding vectors are…

Hardware-Software Co-Design is a highly successful strategy for improving performance of domain-specific computing systems. We argue for the application of the same methodology to deep learning; specifically, we propose to extend neural…

3D correspondence, i.e., a pair of 3D points, is a fundamental concept in computer vision. A set of 3D correspondences, when equipped with compatibility edges, forms a correspondence graph. This graph is a critical component in several…

We propose a robust inferential procedure for assessing uncertainties of parameter estimation in high-dimensional linear models, where the dimension $p$ can grow exponentially fast with the sample size $n$. Our method combines the…

Addressing the challenges posed by the substantial gap in point cloud data collected from diverse sensors, achieving robust cross-source point cloud registration becomes a formidable task. In response, we present a novel framework for point…

Large Language Models (LLMs) have advanced Automated Heuristic Design (AHD) in combinatorial optimization (CO) in the past few years. However, existing discovery pipelines often require extensive manual trial-and-error or reliance on domain…