相关论文: Belief Propagation-based Rotation and Translation …

Recent years have seen a growing interest in the use of belief propagation - an algorithm originally introduced for performing statistical inference on graphical models - for approximate, but highly efficient, tensor network contraction.…

Distributed integrated sensing and communication (DISAC) systems are key enablers for 6G networks, offering the capability to jointly track multiple targets using spatially distributed base stations (BSs). A fundamental challenge in DISAC…

In this paper, relaxed belief propagation (RBP) based detectors are proposed for multiple-input multiple-out (MIMO) system. The factor graph is leveraged to represent the MIMO channels, and based on which our algorithms are developed.…

We study the performance of different message passing algorithms in the two dimensional Edwards Anderson model. We show that the standard Belief Propagation (BP) algorithm converges only at high temperature to a paramagnetic solution. Then,…

Inter-agent relative localization is critical for many multi-robot systems operating in the absence of external positioning infrastructure or prior environmental knowledge. We propose a novel inter-agent relative 3D pose estimation system…

In modern wireless communication systems, radio propagation modeling to estimate pathloss has always been a fundamental task in system design and optimization. The state-of-the-art empirical propagation models are based on measurements in…

We consider the problem of maximum likelihood estimation in linear models represented by factor graphs and solved via the Gaussian belief propagation algorithm. Motivated by massive internet of things (IoT) networks and edge computing, we…

Belief propagation is a well-studied algorithm for approximating local marginals of multivariate probability distribution over complex networks, while tensor network states are powerful tools for quantum and classical many-body problems.…

We consider the acoustic-n-point (AnP) problem, which estimates the pose of a 2D forward-looking sonar (FLS) according to n 3D-2D point correspondences. We explore the nature of the measured partial spherical coordinates and reveal their…

Dynamic grasping of moving objects in complex, continuous motion scenarios remains challenging. Reinforcement Learning (RL) has been applied in various robotic manipulation tasks, benefiting from its closed-loop property. However, existing…

Inference for probabilistic graphical models is still very much a practical challenge in large domains. The commonly used and effective belief propagation (BP) algorithm and its generalizations often do not converge when applied to hard,…

This paper considers a discrete-valued signal estimation scheme based on a low-complexity Bayesian optimal message passing algorithm (MPA) for solving massive linear inverse problems under highly correlated measurements. Gaussian belief…

Motion capture is facing some new possibilities brought by the inertial sensing technologies which do not suffer from occlusion or wide-range recordings as vision-based solutions do. However, as the recorded signals are sparse and quite…

We propose a novel method for estimating the global rotations of the cameras independently of their positions and the scene structure. When two calibrated cameras observe five or more of the same points, their relative rotation can be…

We propose a method for estimating the 6DoF pose of a rigid object with an available 3D model from a single RGB image. Unlike classical correspondence-based methods which predict 3D object coordinates at pixels of the input image, the…

In this article, we present a visual introduction to Gaussian Belief Propagation (GBP), an approximate probabilistic inference algorithm that operates by passing messages between the nodes of arbitrarily structured factor graphs. A special…

We consider the reconstruction of a two-dimensional discrete image from a set of tomographic measurements corresponding to the Radon projection. Assuming that the image has a structure where neighbouring pixels have a larger probability to…

In this thesis, we address the problem of estimating the 6D pose of rigid objects from a single RGB or RGB-D input image, assuming that 3D models of the objects are available. This problem is of great importance to many application fields…

Belief Propagation (BP) is a message-passing algorithm for approximate inference over Probabilistic Graphical Models (PGMs), finding many applications such as computer vision, error-correcting codes, and protein-folding. While general, the…

In oriented object detection, current representations of oriented bounding boxes (OBBs) often suffer from boundary discontinuity problem. Methods of designing continuous regression losses do not essentially solve this problem. Although…