From tree matching to sparse graph alignment

In this paper we consider alignment of sparse graphs, for which we introduce the Neighborhood Tree Matching Algorithm (NTMA). For correlated Erd\H{o}s-R\'{e}nyi random graphs, we prove that the algorithm returns -- in polynomial time -- a positive fraction of correctly matched vertices, and a vanishing fraction of mismatches. This result holds with average degree of the graphs in $O(1)$ and correlation parameter $s$ that can be bounded away from 1, conditions under which random graph alignment is particularly challenging. As a byproduct of the analysis we introduce a matching metric between trees and characterize it for several models of correlated random trees. These results may be of independent interest, yielding for instance efficient tests for determining whether two random trees are correlated or independent.Comment: 33 pages, 10 figures, accepted at COLT 2020. Typos corrected, some new figures, some remarks and explanations detailed, minor changes in proof of Th. 1.

From tree matching to sparse graph alignment

33 pages. Typos corrected, some new figures, some remarks and explanations detailed, minor changes in proof of Th. 1.2International audienceIn this paper we consider alignment of sparse graphs, for which we introduce the Neighborhood Tree Matching Algorithm (NTMA). For correlated Erd\H{o}s-R\'{e}nyi random graphs, we prove that the algorithm returns -- in polynomial time -- a positive fraction of correctly matched vertices, and a vanishing fraction of mismatches. This result holds with average degree of the graphs in $O(1)$ and correlation parameter $s$ that can be bounded away from 1, conditions under which random graph alignment is particularly challenging. As a byproduct of the analysis we introduce a matching metric between trees and characterize it for several models of correlated random trees. These results may be of independent interest, yielding for instance efficient tests for determining whether two random trees are correlated or independent

Keyframe-based monocular SLAM: design, survey, and future directions

Extensive research in the field of monocular SLAM for the past fifteen years has yielded workable systems that found their way into various applications in robotics and augmented reality. Although filter-based monocular SLAM systems were common at some time, the more efficient keyframe-based solutions are becoming the de facto methodology for building a monocular SLAM system. The objective of this paper is threefold: first, the paper serves as a guideline for people seeking to design their own monocular SLAM according to specific environmental constraints. Second, it presents a survey that covers the various keyframe-based monocular SLAM systems in the literature, detailing the components of their implementation, and critically assessing the specific strategies made in each proposed solution. Third, the paper provides insight into the direction of future research in this field, to address the major limitations still facing monocular SLAM; namely, in the issues of illumination changes, initialization, highly dynamic motion, poorly textured scenes, repetitive textures, map maintenance, and failure recovery

Data-Driven Shape Analysis and Processing

Data-driven methods play an increasingly important role in discovering geometric, structural, and semantic relationships between 3D shapes in collections, and applying this analysis to support intelligent modeling, editing, and visualization of geometric data. In contrast to traditional approaches, a key feature of data-driven approaches is that they aggregate information from a collection of shapes to improve the analysis and processing of individual shapes. In addition, they are able to learn models that reason about properties and relationships of shapes without relying on hard-coded rules or explicitly programmed instructions. We provide an overview of the main concepts and components of these techniques, and discuss their application to shape classification, segmentation, matching, reconstruction, modeling and exploration, as well as scene analysis and synthesis, through reviewing the literature and relating the existing works with both qualitative and numerical comparisons. We conclude our report with ideas that can inspire future research in data-driven shape analysis and processing.Comment: 10 pages, 19 figure