86,031 research outputs found
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
An MDL framework for sparse coding and dictionary learning
The power of sparse signal modeling with learned over-complete dictionaries
has been demonstrated in a variety of applications and fields, from signal
processing to statistical inference and machine learning. However, the
statistical properties of these models, such as under-fitting or over-fitting
given sets of data, are still not well characterized in the literature. As a
result, the success of sparse modeling depends on hand-tuning critical
parameters for each data and application. This work aims at addressing this by
providing a practical and objective characterization of sparse models by means
of the Minimum Description Length (MDL) principle -- a well established
information-theoretic approach to model selection in statistical inference. The
resulting framework derives a family of efficient sparse coding and dictionary
learning algorithms which, by virtue of the MDL principle, are completely
parameter free. Furthermore, such framework allows to incorporate additional
prior information to existing models, such as Markovian dependencies, or to
define completely new problem formulations, including in the matrix analysis
area, in a natural way. These virtues will be demonstrated with parameter-free
algorithms for the classic image denoising and classification problems, and for
low-rank matrix recovery in video applications
Hypergraph Modelling for Geometric Model Fitting
In this paper, we propose a novel hypergraph based method (called HF) to fit
and segment multi-structural data. The proposed HF formulates the geometric
model fitting problem as a hypergraph partition problem based on a novel
hypergraph model. In the hypergraph model, vertices represent data points and
hyperedges denote model hypotheses. The hypergraph, with large and
"data-determined" degrees of hyperedges, can express the complex relationships
between model hypotheses and data points. In addition, we develop a robust
hypergraph partition algorithm to detect sub-hypergraphs for model fitting. HF
can effectively and efficiently estimate the number of, and the parameters of,
model instances in multi-structural data heavily corrupted with outliers
simultaneously. Experimental results show the advantages of the proposed method
over previous methods on both synthetic data and real images.Comment: Pattern Recognition, 201
Randomized benchmarking with gate-dependent noise
We analyze randomized benchmarking for arbitrary gate-dependent noise and
prove that the exact impact of gate-dependent noise can be described by a
single perturbation term that decays exponentially with the sequence length.
That is, the exact behavior of randomized benchmarking under general
gate-dependent noise converges exponentially to a true exponential decay of
exactly the same form as that predicted by previous analysis for
gate-independent noise. Moreover, we show that the operational meaning of the
decay parameter for gate-dependent noise is essentially unchanged, that is, we
show that it quantifies the average fidelity of the noise between ideal gates.
We numerically demonstrate that our analysis is valid for strongly
gate-dependent noise models. We also show why alternative analyses do not
provide a rigorous justification for the empirical success of randomized
benchmarking with gate-dependent noise.Comment: It measures what you expect. Comments welcome. v2: removed an
inconsistent assumption from theorem 3 and clarified discussion of prior
work. Results unchanged. v3: further clarified discussion of prior work,
numerics now available at https://github.com/jjwallman/numerics. v4: licence
change as required by Quantu
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