58,799 research outputs found
Efficient Algorithms for Geometric Partial Matching
Let A and B be two point sets in the plane of sizes r and n respectively (assume r <= n), and let k be a parameter. A matching between A and B is a family of pairs in A x B so that any point of A cup B appears in at most one pair. Given two positive integers p and q, we define the cost of matching M to be c(M) = sum_{(a, b) in M}||a-b||_p^q where ||*||_p is the L_p-norm. The geometric partial matching problem asks to find the minimum-cost size-k matching between A and B.
We present efficient algorithms for geometric partial matching problem that work for any powers of L_p-norm matching objective: An exact algorithm that runs in O((n + k^2)polylog n) time, and a (1 + epsilon)-approximation algorithm that runs in O((n + k sqrt{k})polylog n * log epsilon^{-1}) time. Both algorithms are based on the primal-dual flow augmentation scheme; the main improvements involve using dynamic data structures to achieve efficient flow augmentations. With similar techniques, we give an exact algorithm for the planar transportation problem running in O(min{n^2, rn^{3/2}}polylog n) time
Subsumption Algorithms for Three-Valued Geometric Resolution
In our implementation of geometric resolution, the most costly operation is
subsumption testing (or matching): One has to decide for a three-valued,
geometric formula, if this formula is false in a given interpretation. The
formula contains only atoms with variables, equality, and existential
quantifiers. The interpretation contains only atoms with constants. Because the
atoms have no term structure, matching for geometric resolution is hard. We
translate the matching problem into a generalized constraint satisfaction
problem, and discuss several approaches for solving it efficiently, one direct
algorithm and two translations to propositional SAT. After that, we study
filtering techniques based on local consistency checking. Such filtering
techniques can a priori refute a large percentage of generalized constraint
satisfaction problems. Finally, we adapt the matching algorithms in such a way
that they find solutions that use a minimal subset of the interpretation. The
adaptation can be combined with every matching algorithm. The techniques
presented in this paper may have applications in constraint solving independent
of geometric resolution.Comment: This version was revised on 18.05.201
Efficient Constellation-Based Map-Merging for Semantic SLAM
Data association in SLAM is fundamentally challenging, and handling ambiguity
well is crucial to achieve robust operation in real-world environments. When
ambiguous measurements arise, conservatism often mandates that the measurement
is discarded or a new landmark is initialized rather than risking an incorrect
association. To address the inevitable `duplicate' landmarks that arise, we
present an efficient map-merging framework to detect duplicate constellations
of landmarks, providing a high-confidence loop-closure mechanism well-suited
for object-level SLAM. This approach uses an incrementally-computable
approximation of landmark uncertainty that only depends on local information in
the SLAM graph, avoiding expensive recovery of the full system covariance
matrix. This enables a search based on geometric consistency (GC) (rather than
full joint compatibility (JC)) that inexpensively reduces the search space to a
handful of `best' hypotheses. Furthermore, we reformulate the commonly-used
interpretation tree to allow for more efficient integration of clique-based
pairwise compatibility, accelerating the branch-and-bound max-cardinality
search. Our method is demonstrated to match the performance of full JC methods
at significantly-reduced computational cost, facilitating robust object-based
loop-closure over large SLAM problems.Comment: Accepted to IEEE International Conference on Robotics and Automation
(ICRA) 201
Multi-Image Semantic Matching by Mining Consistent Features
This work proposes a multi-image matching method to estimate semantic
correspondences across multiple images. In contrast to the previous methods
that optimize all pairwise correspondences, the proposed method identifies and
matches only a sparse set of reliable features in the image collection. In this
way, the proposed method is able to prune nonrepeatable features and also
highly scalable to handle thousands of images. We additionally propose a
low-rank constraint to ensure the geometric consistency of feature
correspondences over the whole image collection. Besides the competitive
performance on multi-graph matching and semantic flow benchmarks, we also
demonstrate the applicability of the proposed method for reconstructing
object-class models and discovering object-class landmarks from images without
using any annotation.Comment: CVPR 201
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