相关论文: A Generalization of CLAP from 3D Localization to I…

This work presents an extension of graph-based SLAM methods to exploit the potential of 3D laser scans for loop detection. Every high-dimensional point cloud is replaced by a compact global descriptor, whereby a trained detector decides…

Hierarchical Agglomerative Clustering (HAC) is one of the oldest but still most widely used clustering methods. However, HAC is notoriously hard to scale to large data sets as the underlying complexity is at least quadratic in the number of…

The mitigation of clutter is an important research branch in Integrated Sensing and Communication (ISAC), one of the emerging technologies of future cellular networks. In this work, we extend our previously introduced method Clutter Removal…

Traffic scenario categorisation is an essential component of automated driving, for e.\,g., in motion planning algorithms and their validation. Finding new relevant scenarios without handcrafted steps reduce the required resources for the…

Clustering algorithms are one of the main analytical methods to detect patterns in unlabeled data. Existing clustering methods typically treat samples in a dataset as points in a metric space and compute distances to group together similar…

In this paper, we propose an unsupervised face clustering algorithm called "Proximity-Aware Hierarchical Clustering" (PAHC) that exploits the local structure of deep representations. In the proposed method, a similarity measure between deep…

We study supervised learning problems using clustering constraints to impose structure on either features or samples, seeking to help both prediction and interpretation. The problem of clustering features arises naturally in text…

We propose a new deep learning based approach for camera relocalization. Our approach localizes a given query image by using a convolutional neural network (CNN) for first retrieving similar database images and then predicting the relative…

Clustering performs an essential role in many real world applications, such as market research, pattern recognition, data analysis, and image processing. However, due to the high dimensionality of the input feature values, the data being…

Clustering aims to group unlabelled samples based on their similarities. It has become a significant tool for the analysis of high-dimensional data. However, most of the clustering methods merely generate pseudo labels and thus are unable…

Decentralized Collaborative Simultaneous Localization And Mapping (C-SLAM) techniques often struggle to identify map overlaps due to significant viewpoint variations among robots. Motivated by recent advancements in 3D foundation models,…

We propose a new algorithm for finding an unknown number of geometric models, e.g., homographies. The problem is formalized as finding dominant model instances progressively without forming crisp point-to-model assignments. Dominant…

Recognizing already explored places (a.k.a. place recognition) is a fundamental task in Simultaneous Localization and Mapping (SLAM) to enable robot relocalization and loop closure detection. In topological SLAM the recognition takes place…

In this paper, we explore a critical yet under-investigated issue: how to learn robust and well-generalized 3D representation from pre-trained vision language models such as CLIP. Previous works have demonstrated that cross-modal…

Simultaneous localization and mapping (SLAM) is a fundamental capability required by most autonomous systems. In this paper, we address the problem of loop closing for SLAM based on 3D laser scans recorded by autonomous cars. Our approach…

This paper studies the problem of graph-level clustering, which is a novel yet challenging task. This problem is critical in a variety of real-world applications such as protein clustering and genome analysis in bioinformatics. Recent years…

Several advances have been made recently towards handling overlapping speech for speaker diarization. Since speech and natural language tasks often benefit from ensemble techniques, we propose an algorithm for combining outputs from such…

We present a CLIP-based, multi-modal, multi-label classifier for predicting geographical context tags from landscape photos in the Geograph dataset--a crowdsourced image archive spanning the British Isles, including remote regions lacking…

For the past decades we have experienced an enormous expansion of the accumulated data that humanity produces. Daily a numerous number of smart devices, usually interconnected over internet, produce vast, real-values datasets. Time series…

Simultaneous localization and Planning (SLAP) is a crucial ability for an autonomous robot operating under uncertainty. In its most general form, SLAP induces a continuous POMDP (partially-observable Markov decision process), which needs to…