相关论文: MegaParticles: Range-based 6-DoF Monte Carlo Local…

This paper presents an efficient method for updating particles in a particle filter (PF) to address the position estimation problem when dealing with sharp-peaked likelihood functions derived from multiple observations. Sharp-peaked…

Particle Markov Chain Monte Carlo methods are used to carry out inference in non-linear and non-Gaussian state space models, where the posterior density of the states is approximated using particles. Current approaches usually perform…

Mini-batch stochastic gradient methods (SGD) are state of the art for distributed training of deep neural networks. Drastic increases in the mini-batch sizes have lead to key efficiency and scalability gains in recent years. However,…

Accurate and fast localization is vital for safe autonomous navigation in GPS-denied areas. Fine-Grained Cross-View Geolocalization (FG-CVG) aims to estimate the precise 2-Degree-of-Freedom (2-DoF) location of a ground image relative to a…

The optimization of the size and location of Photovoltaic (PV) Distributed Generation (DG) is a method for reducing distribution networks loss, cutting costs for utilities, and integrating renewable energy into the power grid. However, this…

Variational particle-based Bayesian learning methods have the advantage of not being limited by the bias affecting more conventional parametric techniques. This paper proposes to leverage the flexibility of non-parametric Bayesian…

We propose a method for 6DoF pose estimation of rigid objects that uses a state-of-the-art deep learning based instance detector to segment object instances in an RGB image, followed by a point-pair based voting method to recover the…

We introduce FastGraph, a novel GPU-optimized k-nearest neighbor algorithm specifically designed to accelerate graph construction in low-dimensional spaces (2-10 dimensions), critical for high-performance graph neural networks. Our method…

Recent and future generation observatories will enable the study of variable astronomical phenomena through their time-domain capabilities. High temporal fidelity will allow for unprecedented investigations into the nature of variable…

This study proposes a centimeter-accurate positioning method that utilizes a Rao-Blackwellized particle filter (RBPF) without requiring integer ambiguity resolution in global navigation satellite system (GNSS) carrier phase measurements.…

This paper presents a novel system designed for 3D mapping and visual relocalization using 3D Gaussian Splatting. Our proposed method uses LiDAR and camera data to create accurate and visually plausible representations of the environment.…

We propose a unified approach for bottom-up hierarchical image segmentation and object proposal generation for recognition, called Multiscale Combinatorial Grouping (MCG). For this purpose, we first develop a fast normalized cuts algorithm.…

Neighbor search is of fundamental important to many engineering and science fields such as physics simulation and computer graphics. This paper proposes to formulate neighbor search as a ray tracing problem and leverage the dedicated ray…

Relative Nearest Neighbor Descent (RNN-Descent) is a state-of-the-art algorithm for constructing sparse approximate nearest neighbor (ANN) graphs by combining the iterative refinement of NN-Descent with the edge-pruning rules of the…

3D Gaussian Splatting (3DGS) has emerged as a promising approach for 3D scene representation, offering a reduction in computational overhead compared to Neural Radiance Fields (NeRF). However, 3DGS is susceptible to high-frequency artifacts…

Sequential Monte Carlo algorithms, or Particle Filters, are Bayesian filtering algorithms which propagate in time a discrete and random approximation of the a posteriori distribution of interest. Such algorithms are based on Importance…

Bilevel optimization has been widely used in many machine learning applications such as hyperparameter optimization and meta learning. Recently, many simple stochastic gradient descent(SGD) type algorithms(without using momentum and…

Readability criteria, such as distance or neighborhood preservation, are often used to optimize node-link representations of graphs to enable the comprehension of the underlying data. With few exceptions, graph drawing algorithms typically…

This paper studies the optimization of the KL functional on the Wasserstein space of probability measures, and develops a sampling framework based on Wasserstein gradient descent (WGD). We identify two important subclasses of the…

Singular Value Decomposition (SVD) is a fundamental matrix factorization technique in linear algebra, widely applied in numerous matrix-related problems. However, traditional SVD approaches are hindered by slow panel factorization and…