17,011 research outputs found

    A Bayesian Approach to Manifold Topology Reconstruction

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    In this paper, we investigate the problem of statistical reconstruction of piecewise linear manifold topology. Given a noisy, probably undersampled point cloud from a one- or two-manifold, the algorithm reconstructs an approximated most likely mesh in a Bayesian sense from which the sample might have been taken. We incorporate statistical priors on the object geometry to improve the reconstruction quality if additional knowledge about the class of original shapes is available. The priors can be formulated analytically or learned from example geometry with known manifold tessellation. The statistical objective function is approximated by a linear programming / integer programming problem, for which a globally optimal solution is found. We apply the algorithm to a set of 2D and 3D reconstruction examples, demon-strating that a statistics-based manifold reconstruction is feasible, and still yields plausible results in situations where sampling conditions are violated

    The Denoised, Deconvolved, and Decomposed Fermi γ\gamma-ray sky - An application of the D3^3PO algorithm

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    We analyze the 6.5yr all-sky data from the Fermi LAT restricted to gamma-ray photons with energies between 0.6-307.2GeV. Raw count maps show a superposition of diffuse and point-like emission structures and are subject to shot noise and instrumental artifacts. Using the D3PO inference algorithm, we model the observed photon counts as the sum of a diffuse and a point-like photon flux, convolved with the instrumental beam and subject to Poissonian shot noise. D3PO performs a Bayesian inference in this setting without the use of spatial or spectral templates;i.e., it removes the shot noise, deconvolves the instrumental response, and yields estimates for the two flux components separately. The non-parametric reconstruction uncovers the morphology of the diffuse photon flux up to several hundred GeV. We present an all-sky spectral index map for the diffuse component. We show that the diffuse gamma-ray flux can be described phenomenologically by only two distinct components: a soft component, presumably dominated by hadronic processes, tracing the dense, cold interstellar medium and a hard component, presumably dominated by leptonic interactions, following the hot and dilute medium and outflows such as the Fermi bubbles. A comparison of the soft component with the Galactic dust emission indicates that the dust-to-soft-gamma ratio in the interstellar medium decreases with latitude. The spectrally hard component exists in a thick Galactic disk and tends to flow out of the Galaxy at some locations. Furthermore, we find the angular power spectrum of the diffuse flux to roughly follow a power law with an index of 2.47 on large scales, independent of energy. Our first catalog of source candidates includes 3106 candidates of which we associate 1381(1897) with known sources from the 2nd(3rd) Fermi catalog. We observe gamma-ray emission in the direction of a few galaxy clusters hosting radio halos.Comment: re-submission after referee report (A&A); 17 pages, many colorful figures, 4 tables; bug fixed, flux scale now consistent with Fermi, even lower residual level, pDF -> 1DF source catalog, tentative detection of a few clusters of galaxies, online material http://www.mpa-garching.mpg.de/ift/fermi

    Probabilistic Global Scale Estimation for MonoSLAM Based on Generic Object Detection

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    This paper proposes a novel method to estimate the global scale of a 3D reconstructed model within a Kalman filtering-based monocular SLAM algorithm. Our Bayesian framework integrates height priors over the detected objects belonging to a set of broad predefined classes, based on recent advances in fast generic object detection. Each observation is produced on single frames, so that we do not need a data association process along video frames. This is because we associate the height priors with the image region sizes at image places where map features projections fall within the object detection regions. We present very promising results of this approach obtained on several experiments with different object classes.Comment: Int. Workshop on Visual Odometry, CVPR, (July 2017

    A Bayesian Approach to Manifold Topology Reconstruction

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    In this paper, we investigate the problem of statistical reconstruction of piecewise linear manifold topology. Given a noisy, probably undersampled point cloud from a one- or two-manifold, the algorithm reconstructs an approximated most likely mesh in a Bayesian sense from which the sample might have been taken. We incorporate statistical priors on the object geometry to improve the reconstruction quality if additional knowledge about the class of original shapes is available. The priors can be formulated analytically or learned from example geometry with known manifold tessellation. The statistical objective function is approximated by a linear programming / integer programming problem, for which a globally optimal solution is found. We apply the algorithm to a set of 2D and 3D reconstruction examples, demon-strating that a statistics-based manifold reconstruction is feasible, and still yields plausible results in situations where sampling conditions are violated

    Consistent ICP for the registration of sparse and inhomogeneous point clouds

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    In this paper, we derive a novel iterative closest point (ICP) technique that performs point cloud alignment in a robust and consistent way. Traditional ICP techniques minimize the point-to-point distances, which are successful when point clouds contain no noise or clutter and moreover are dense and more or less uniformly sampled. In the other case, it is better to employ point-to-plane or other metrics to locally approximate the surface of the objects. However, the point-to-plane metric does not yield a symmetric solution, i.e. the estimated transformation of point cloud p to point cloud q is not necessarily equal to the inverse transformation of point cloud q to point cloud p. In order to improve ICP, we will enforce such symmetry constraints as prior knowledge and make it also robust to noise and clutter. Experimental results show that our method is indeed much more consistent and accurate in presence of noise and clutter compared to existing ICP algorithms
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