相关论文: UMERegRobust - Universal Manifold Embedding Compat…

We present the Procrustes measure, a novel measure based on Procrustes rotation that enables quantitative comparison of the output of manifold-based embedding algorithms (such as LLE (Roweis and Saul, 2000) and Isomap (Tenenbaum et al,…

Point cloud registration is a crucial problem in computer vision and robotics. Existing methods either rely on matching local geometric features, which are sensitive to the pose differences, or leverage global shapes, which leads to…

Robotic manipulation systems benefit from complementary sensing modalities, where each provides unique environmental information. Point clouds capture detailed geometric structure, while RGB images provide rich semantic context. Current…

Uniform Manifold Approximation and Projection (UMAP) is a widely used manifold learning technique for dimensionality reduction. This paper studies UMAP, supervised UMAP, and several competing dimensionality reduction methods, including…

We propose RPSRNet - a novel end-to-end trainable deep neural network for rigid point set registration. For this task, we use a novel $2^D$-tree representation for the input point sets and a hierarchical deep feature embedding in the neural…

Point cloud registration is a task to estimate the rigid transformation between two unaligned scans, which plays an important role in many computer vision applications. Previous learning-based works commonly focus on supervised…

Although point cloud registration has achieved remarkable advances in object-level and indoor scenes, large-scale registration methods are rarely explored. Challenges mainly arise from the huge point number, complex distribution, and…

The Finite element method (FEM) has long served as the computational backbone for topology optimization (TO). However, for designing structures undergoing large deformations, conventional FEM-based TO often exhibits numerical instabilities…

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…

Representation learning on multi-omics data is challenging due to extreme dimensionality, modality heterogeneity, and cohort-specific batch effects. While pre-trained transformer backbones have shown broad generalization capabilities in…

Aiming at drastic speedup for point-feature embeddings at test time, we propose a new framework that uses a pair of multi-layer perceptrons (MLP) and a lookup table (LUT) to transform point-coordinate inputs into high-dimensional features.…

Online mapping and end-to-end (E2E) planning in autonomous driving remain largely sensor-centric, leaving rich map priors, including HD/SD vector maps, rasterized SD maps, and satellite imagery, underused because of heterogeneity, pose…

Recent advancements in scaling up models have significantly improved performance in Automatic Speech Recognition (ASR) tasks. However, training large ASR models from scratch remains costly. To address this issue, we introduce UME, a novel…

Robotic perception in unstructured environments remains challenging despite the zero-shot capabilities of foundation models such as SAM. This work attributes performance degradation to non-uniform representation shifts across transformer…

Point cloud registration refers to the problem of finding the rigid transformation that aligns two given point clouds, and is crucial for many applications in robotics and computer vision. The main insight of this paper is that we can…

Point cloud registration is the task of estimating the rigid transformation that aligns a pair of point cloud fragments. We present an efficient and robust framework for pairwise registration of real-world 3D scans, leveraging Hough voting…

To measure system states and local environment directly with high precision, expensive sensors are required. However, highly accurate system states and environmental perception can also be achieved using data fusion techniques and digital…

We introduce UFO, a modular aerial robotic platform for transforming a rigid object into a multirotor robot. To achieve this, we develop flight modules, in the form of a control module and propelling modules, that can be affixed to an…

Registration of multi-view point sets is a prerequisite for 3D model reconstruction. To solve this problem, most of previous approaches either partially explore available information or blindly utilize unnecessary information to align each…

Point cloud registration is a fundamental and challenging problem for autonomous robots interacting in unstructured environments for applications such as object pose estimation, simultaneous localization and mapping, robot-sensor…