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

In large-scale metric localization, an incorrect result during retrieval will lead to an incorrect pose estimate or loop closure. Re-ranking methods propose to take into account all the top retrieval candidates and re-order them to increase…

We propose improved exact and heuristic algorithms for solving the maximum weight clique problem, a well-known problem in graph theory with many applications. Our algorithms interleave successful techniques from related work with novel data…

Point cloud registration (PCR) is crucial for many downstream tasks, such as simultaneous localization and mapping (SLAM) and object tracking. This makes detecting and quantifying registration misalignment, i.e., PCR quality validation, an…

We consider the problem of partitioning the set of vertices of a given unit disk graph (UDG) into a minimum number of cliques. The problem is NP-hard and various constant factor approximations are known, with the current best ratio of 3.…

Rigid registration of point clouds is a fundamental problem in computer vision with many applications from 3D scene reconstruction to geometry capture and robotics. If a suitable initial registration is available, conventional methods like…

3D perception in point clouds is transforming the perception ability of future intelligent machines. Point cloud algorithms, however, are plagued by irregular memory accesses, leading to massive inefficiencies in the memory sub-system,…

Given a user-specified minimum degree threshold $\gamma$, a $\gamma$-quasi-clique is a subgraph $g=(V_g,E_g)$ where each vertex $v\in V_g$ connects to at least $\gamma$ fraction of the other vertices (i.e., $\lceil…

Accurate Point Cloud Registration (PCR) is an important task in 3D data processing, involving the estimation of a rigid transformation between two point clouds. While deep-learning methods have addressed key limitations of traditional…

3D point cloud registration ranks among the most fundamental problems in remote sensing, photogrammetry, robotics and geometric computer vision. Due to the limited accuracy of 3D feature matching techniques, outliers may exist, sometimes…

Sampling-based motion planning algorithms, like the Rapidly-Exploring Random Tree (RRT) and its widely used variant, RRT-Connect, provide efficient solutions for high-dimensional planning problems faced by real-world robots. However, these…

Advancements in tools like Shapely 2.0 and Triton can significantly improve the efficiency of spatial similarity computations by enabling faster and more scalable geometric operations. However, for extremely large datasets, these…

ROCKET (RandOm Convolutional KErnel Transform) is a feature extraction algorithm created for Time Series Classification (TSC), published in 2019. It applies convolution with randomly generated kernels on a time series, producing features…

3D point cloud registration is a fundamental problem in computer vision and robotics. There has been extensive research in this area, but existing methods meet great challenges in situations with a large proportion of outliers and time…

A new parallel algorithm utilizing partitioned global address space (PGAS) programming model to achieve high scalability is reported for particle tracking in direct numerical simulations of turbulent flow. The work is motivated by the…

Point cloud registration is the basis for many robotic applications such as odometry and Simultaneous Localization And Mapping (SLAM), which are increasingly important for autonomous mobile robots. Computational resources and power budgets…

Generating a set of high-quality correspondences or matches is one of the most critical steps in point cloud registration. This paper proposes a learning framework COTReg by jointly considering the pointwise and structural matchings to…

Gaussian Process Regression (GPR) is an important type of supervised machine learning model with inherent uncertainty measure in its predictions. We propose a new framework, nuGPR, to address the well-known challenge of high computation…

Retrieval-Augmented Generation (RAG) has emerged as a powerful approach to mitigate large language model (LLM) hallucinations by incorporating external knowledge retrieval. However, existing RAG frameworks often apply retrieval…

Point cloud-based object/place recognition remains a problem of interest in applications such as autonomous driving, scene reconstruction, and localization. Extracting a meaningful global descriptor from a query point cloud that can be…

Retrieval-augmented generation (RAG) extends large language models (LLMs) with external data sources to enhance factual correctness and domain coverage. Modern RAG pipelines rely on large datastores, creating a significant system challenge:…