相关论文: TurboReg: TurboClique for Robust and Efficient Poi…

Global point cloud registration is essential in many robotics tasks like loop closing and relocalization. Unfortunately, the registration often suffers from the low overlap between point clouds, a frequent occurrence in practical…

Point cloud registration is a classical topic in the field of 3D Vision and Computer Graphics. Generally, the implementation of registration is typically sensitive to similarity transformations (translation, scaling, and rotation), noisy…

The automotive industry's pursuit of enhanced fuel economy and performance necessitates efficient aerodynamic design. However, traditional evaluation methods such as computational fluid dynamics (CFD) and wind tunnel testing are resource…

While global point cloud registration systems have advanced significantly in all aspects, many studies have focused on specific components, such as feature extraction, graph-theoretic pruning, or pose solvers. In this paper, we take a…

This paper presents constant-time and near-constant-time distributed algorithms for a variety of problems in the congested clique model. We show how to compute a 3-ruling set in expected $O(\log \log \log n)$ rounds and using this, we…

Image-based 3D scene reconstruction, which transforms multi-view images into a structured 3D representation of the surrounding environment, is a common task across many modern applications. 3D Gaussian Splatting (3DGS) is a new paradigm to…

We propose a novel M-estimate conjugate gradient (CG) algorithm, termed Tukey's biweight M-estimate CG (TbMCG), for system identification in impulsive noise environments. In particular, the TbMCG algorithm can achieve a faster convergence…

The convergence speed of machine learning models trained with Federated Learning is significantly affected by heterogeneous data partitions, even more so in a fully decentralized setting without a central server. In this paper, we show that…

The growing demand for efficient and lightweight Retrieval-Augmented Generation (RAG) systems has highlighted significant challenges when deploying Small Language Models (SLMs) in existing RAG frameworks. Current approaches face severe…

This work investigates the use of robust optimal transport (OT) for shape matching. Specifically, we show that recent OT solvers improve both optimization-based and deep learning methods for point cloud registration, boosting accuracy at an…

Graph Retrieval-Augmented Generation (Graph-RAG) enhances multihop question answering by organizing corpora into knowledge graphs and routing evidence through relational structure. However, practical deployments face two persistent…

Kriging or Gaussian Process Regression is applied in many fields as a non-linear regression model as well as a surrogate model in the field of evolutionary computation. However, the computational and space complexity of Kriging, that is…

Interpreting objects with basic geometric primitives has long been studied in computer vision. Among geometric primitives, superquadrics are well known for their ability to represent a wide range of shapes with few parameters. However, as…

4D generation, or dynamic 3D content generation, integrates spatial, temporal, and view dimensions to model realistic dynamic scenes, playing a foundational role in advancing world models and physical AI. However, maintaining long-chain…

Point-cloud registration (PCR) is an important task in various applications such as robotic manipulation, augmented and virtual reality, SLAM, etc. PCR is an optimization problem involving minimization over two different types of…

Retrieval-Augmented Generation (RAG) pipelines enhance Large Language Models (LLMs) by retrieving relevant documents, but they face scalability issues due to high inference costs and limited context size. Document compression is a practical…

Efficient analysis of point clouds holds paramount significance in real-world 3D applications. Currently, prevailing point-based models adhere to the PointNet++ methodology, which involves embedding and abstracting point features within a…

Point cloud registration serves as a basis for vision and robotic applications including 3D reconstruction and mapping. Despite significant improvements on the quality of results, recent deep learning approaches are computationally…

Retrieval-Augmented Generation (RAG) has been used in question answering (QA) systems to improve performance when relevant information is in one (single-hop) or multiple (multi-hop) passages. However, many real life scenarios (e.g. dealing…

Clique and near-clique counts are important graph properties with applications in graph generation, graph modeling, graph analytics, community detection among others. They are the archetypal examples of dense subgraphs. While there are…