221,441 research outputs found
LO-Net: Deep Real-time Lidar Odometry
We present a novel deep convolutional network pipeline, LO-Net, for real-time
lidar odometry estimation. Unlike most existing lidar odometry (LO) estimations
that go through individually designed feature selection, feature matching, and
pose estimation pipeline, LO-Net can be trained in an end-to-end manner. With a
new mask-weighted geometric constraint loss, LO-Net can effectively learn
feature representation for LO estimation, and can implicitly exploit the
sequential dependencies and dynamics in the data. We also design a scan-to-map
module, which uses the geometric and semantic information learned in LO-Net, to
improve the estimation accuracy. Experiments on benchmark datasets demonstrate
that LO-Net outperforms existing learning based approaches and has similar
accuracy with the state-of-the-art geometry-based approach, LOAM
Sketch-based Human Motion Retrieval via 2D Geometric Posture Descriptor.
AbstractSketch-based human motion retrieval is a hot topic in computer animation in recent years. In this paper, we present a novel sketch-based human motion retrieval method via selected 2-dimensional (2D) Geometric Posture Descriptor (2GPD). Specially, we firstly propose a rich 2D pose feature call 2D Geometric Posture Descriptor (2GPD), which is effective in encoding the 2D posture similarity by exploiting the geometric relationships among different human body parts. Since the original 2GPD is of high dimension and redundant, a semi-supervised feature selection algorithm derived from Laplacian Score is then adopted to select the most discriminative feature component of 2GPD as feature representation, and we call it as selected 2GPD. Finally, a posture-by-posture motion retrieval algorithm is used to retrieve a motion sequence by sketching several key postures. Experimental results on CMU human motion database demonstrate the effectiveness of our proposed approach
LDSO: Direct Sparse Odometry with Loop Closure
In this paper we present an extension of Direct Sparse Odometry (DSO) to a
monocular visual SLAM system with loop closure detection and pose-graph
optimization (LDSO). As a direct technique, DSO can utilize any image pixel
with sufficient intensity gradient, which makes it robust even in featureless
areas. LDSO retains this robustness, while at the same time ensuring
repeatability of some of these points by favoring corner features in the
tracking frontend. This repeatability allows to reliably detect loop closure
candidates with a conventional feature-based bag-of-words (BoW) approach. Loop
closure candidates are verified geometrically and Sim(3) relative pose
constraints are estimated by jointly minimizing 2D and 3D geometric error
terms. These constraints are fused with a co-visibility graph of relative poses
extracted from DSO's sliding window optimization. Our evaluation on publicly
available datasets demonstrates that the modified point selection strategy
retains the tracking accuracy and robustness, and the integrated pose-graph
optimization significantly reduces the accumulated rotation-, translation- and
scale-drift, resulting in an overall performance comparable to state-of-the-art
feature-based systems, even without global bundle adjustment
Improved Feature Extraction, Feature Selection, and Identification Techniques That Create a Fast Unsupervised Hyperspectral Target Detection Algorithm
This research extends the emerging field of hyperspectral image (HSI) target detectors that assume a global linear mixture model (LMM) of HSI and employ independent component analysis (ICA) to unmix HSI images. Via new techniques to fully automate feature extraction, feature selection, and target pixel identification, an autonomous global anomaly detector, AutoGAD, has been developed for potential employment in an operational environment for real-time processing of HSI targets. For dimensionality reduction (initial feature extraction prior to ICA), a geometric solution that effectively approximates the number of distinct spectral signals is presented. The solution is based on the theory of the shape of the eigenvalue curve of the covariance matrix of spectral data containing noise. For feature selection, previously a subjective definition called significant kurtosis change was used to denote the separation between targets classes and non-target classes. This research presents two new measures, potential target signal to noise ratio (PT SNR) and max pixel score which computed for each of the ICA features to create a new two dimensional feature space where the overlap between target and non-target classes is reduced compared to the one dimensional kurtosis value feature space. Finally, after target feature selection, adaptive noise filtering, but with an iterative approach, is applied to the signals. The effect is a reduction in the power of the noise while preserving the power of the target signal prior to target identification to reduce false positive detections. A zero-detection histogram method is applied to the smoothed signals to identify target locations to the user. MATLAB code for the AutoGAD algorithm is provided
Decision Stream: Cultivating Deep Decision Trees
Various modifications of decision trees have been extensively used during the
past years due to their high efficiency and interpretability. Tree node
splitting based on relevant feature selection is a key step of decision tree
learning, at the same time being their major shortcoming: the recursive nodes
partitioning leads to geometric reduction of data quantity in the leaf nodes,
which causes an excessive model complexity and data overfitting. In this paper,
we present a novel architecture - a Decision Stream, - aimed to overcome this
problem. Instead of building a tree structure during the learning process, we
propose merging nodes from different branches based on their similarity that is
estimated with two-sample test statistics, which leads to generation of a deep
directed acyclic graph of decision rules that can consist of hundreds of
levels. To evaluate the proposed solution, we test it on several common machine
learning problems - credit scoring, twitter sentiment analysis, aircraft flight
control, MNIST and CIFAR image classification, synthetic data classification
and regression. Our experimental results reveal that the proposed approach
significantly outperforms the standard decision tree learning methods on both
regression and classification tasks, yielding a prediction error decrease up to
35%
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