A Minimalist Approach to Type-Agnostic Detection of Quadrics in Point Clouds

This paper proposes a segmentation-free, automatic and efficient procedure to detect general geometric quadric forms in point clouds, where clutter and occlusions are inevitable. Our everyday world is dominated by man-made objects which are designed using 3D primitives (such as planes, cones, spheres, cylinders, etc.). These objects are also omnipresent in industrial environments. This gives rise to the possibility of abstracting 3D scenes through primitives, thereby positions these geometric forms as an integral part of perception and high level 3D scene understanding. As opposed to state-of-the-art, where a tailored algorithm treats each primitive type separately, we propose to encapsulate all types in a single robust detection procedure. At the center of our approach lies a closed form 3D quadric fit, operating in both primal & dual spaces and requiring as low as 4 oriented-points. Around this fit, we design a novel, local null-space voting strategy to reduce the 4-point case to 3. Voting is coupled with the famous RANSAC and makes our algorithm orders of magnitude faster than its conventional counterparts. This is the first method capable of performing a generic cross-type multi-object primitive detection in difficult scenes. Results on synthetic and real datasets support the validity of our method.Comment: Accepted for publication at CVPR 201

High-Rate Space-Time Coded Large MIMO Systems: Low-Complexity Detection and Channel Estimation

In this paper, we present a low-complexity algorithm for detection in high-rate, non-orthogonal space-time block coded (STBC) large-MIMO systems that achieve high spectral efficiencies of the order of tens of bps/Hz. We also present a training-based iterative detection/channel estimation scheme for such large STBC MIMO systems. Our simulation results show that excellent bit error rate and nearness-to-capacity performance are achieved by the proposed multistage likelihood ascent search (M-LAS) detector in conjunction with the proposed iterative detection/channel estimation scheme at low complexities. The fact that we could show such good results for large STBCs like 16x16 and 32x32 STBCs from Cyclic Division Algebras (CDA) operating at spectral efficiencies in excess of 20 bps/Hz (even after accounting for the overheads meant for pilot based training for channel estimation and turbo coding) establishes the effectiveness of the proposed detector and channel estimator. We decode perfect codes of large dimensions using the proposed detector. With the feasibility of such a low-complexity detection/channel estimation scheme, large-MIMO systems with tens of antennas operating at several tens of bps/Hz spectral efficiencies can become practical, enabling interesting high data rate wireless applications.Comment: v3: Performance/complexity comparison of the proposed scheme with other large-MIMO architectures/detectors has been added (Sec. IV-D). The paper has been accepted for publication in IEEE Journal of Selected Topics in Signal Processing (JSTSP): Spl. Iss. on Managing Complexity in Multiuser MIMO Systems. v2: Section V on Channel Estimation is update

Unified bit-based probabilistic data association aided MIMO detection for high-order QAM constellations

A unified Bit-based Probabilistic Data Association (B-PDA) detection approach is proposed for Multiple-Input Multiple-Output (MIMO) systems employing high-order rectangular Quadrature Amplitude Modulation (QAM). The new approach transforms the symbol detection process of QAM to a bit-based process by introducing a Unified Matrix Representation (UMR) of QAM. Both linear natural and nonlinear binary reflected Gray bit-to-symbol mappings are considered. With the aid of simulation results, we demonstrate that the linear natural mapping based B-PDA approach typically attained an improved detection performance (measured in terms of both Bit Error Ratio (BER) and Symbol Error Ratio (SER)) in comparison to the conventional symbol-based PDA aided MIMO detector, despite its dramatically reduced computational complexity. The only exception is that at low SNRs, the linear natural mapping based B-PDA is slightly inferior in terms of its BER to the conventional symbol-based PDA using binary reflected Gray mapping. Furthermore, the simulation results show that the linear natural mapping based B-PDA MIMO detector may approach the best-case performance provided by the nonlinear binary reflected Gray mapping based B-PDA MIMO detector under ideal conditions. Additionally, the implementation of the B-PDA MIMO detector is shown to be much simpler in the case of the linear natural mapping. Based on these two points, we conclude that in the context of the uncoded B-PDA MIMO detector it is preferable to use the linear natural bit-to-symbol mapping, rather than the nonlinear Gray mapping

Enabling Sphere Decoding for SCMA

In this paper, we propose a reduced-complexity optimal modified sphere decoding (MSD) detection scheme for SCMA. As SCMA systems are characterized by a number of resource elements (REs) that are less than the number of the supported users, the channel matrix is rank-deficient, and sphere decoding (SD) cannot be directly applied. Inspired by the Tikhonov regularization, we formulate a new full-rank detection problem that it is equivalent to the original rank-deficient detection problem for constellation points with constant modulus and an important subset of non-constant modulus constellations. By exploiting the SCMA structure, the computational complexity of MSD is reduced compared with the conventional SD. We also employ list MSD to facilitate channel coding. Simulation results demonstrate that in uncoded SCMA systems the proposed MSD achieves the performance of the optimal maximum likelihood (ML) detection. Additionally, the proposed MSD benefits from a lower average complexity compared with MPA.Comment: Accepted for publication in IEEE Communications Letter

Message Passing Algorithms for Compressed Sensing

Compressed sensing aims to undersample certain high-dimensional signals, yet accurately reconstruct them by exploiting signal characteristics. Accurate reconstruction is possible when the object to be recovered is sufficiently sparse in a known basis. Currently, the best known sparsity-undersampling tradeoff is achieved when reconstructing by convex optimization -- which is expensive in important large-scale applications. Fast iterative thresholding algorithms have been intensively studied as alternatives to convex optimization for large-scale problems. Unfortunately known fast algorithms offer substantially worse sparsity-undersampling tradeoffs than convex optimization. We introduce a simple costless modification to iterative thresholding making the sparsity-undersampling tradeoff of the new algorithms equivalent to that of the corresponding convex optimization procedures. The new iterative-thresholding algorithms are inspired by belief propagation in graphical models. Our empirical measurements of the sparsity-undersampling tradeoff for the new algorithms agree with theoretical calculations. We show that a state evolution formalism correctly derives the true sparsity-undersampling tradeoff. There is a surprising agreement between earlier calculations based on random convex polytopes and this new, apparently very different theoretical formalism.Comment: 6 pages paper + 9 pages supplementary information, 13 eps figure. Submitted to Proc. Natl. Acad. Sci. US

Decoding by Embedding: Correct Decoding Radius and DMT Optimality

The closest vector problem (CVP) and shortest (nonzero) vector problem (SVP) are the core algorithmic problems on Euclidean lattices. They are central to the applications of lattices in many problems of communications and cryptography. Kannan's \emph{embedding technique} is a powerful technique for solving the approximate CVP, yet its remarkable practical performance is not well understood. In this paper, the embedding technique is analyzed from a \emph{bounded distance decoding} (BDD) viewpoint. We present two complementary analyses of the embedding technique: We establish a reduction from BDD to Hermite SVP (via unique SVP), which can be used along with any Hermite SVP solver (including, among others, the Lenstra, Lenstra and Lov\'asz (LLL) algorithm), and show that, in the special case of LLL, it performs at least as well as Babai's nearest plane algorithm (LLL-aided SIC). The former analysis helps to explain the folklore practical observation that unique SVP is easier than standard approximate SVP. It is proven that when the LLL algorithm is employed, the embedding technique can solve the CVP provided that the noise norm is smaller than a decoding radius $\lambda_1/(2\gamma)$, where $\lambda_1$ is the minimum distance of the lattice, and $\gamma \approx O(2^{n/4})$. This substantially improves the previously best known correct decoding bound $\gamma \approx {O}(2^{n})$. Focusing on the applications of BDD to decoding of multiple-input multiple-output (MIMO) systems, we also prove that BDD of the regularized lattice is optimal in terms of the diversity-multiplexing gain tradeoff (DMT), and propose practical variants of embedding decoding which require no knowledge of the minimum distance of the lattice and/or further improve the error performance.Comment: To appear in IEEE Transactions on Information Theor