10,376 research outputs found
Local Causal States and Discrete Coherent Structures
Coherent structures form spontaneously in nonlinear spatiotemporal systems
and are found at all spatial scales in natural phenomena from laboratory
hydrodynamic flows and chemical reactions to ocean, atmosphere, and planetary
climate dynamics. Phenomenologically, they appear as key components that
organize the macroscopic behaviors in such systems. Despite a century of
effort, they have eluded rigorous analysis and empirical prediction, with
progress being made only recently. As a step in this, we present a formal
theory of coherent structures in fully-discrete dynamical field theories. It
builds on the notion of structure introduced by computational mechanics,
generalizing it to a local spatiotemporal setting. The analysis' main tool
employs the \localstates, which are used to uncover a system's hidden
spatiotemporal symmetries and which identify coherent structures as
spatially-localized deviations from those symmetries. The approach is
behavior-driven in the sense that it does not rely on directly analyzing
spatiotemporal equations of motion, rather it considers only the spatiotemporal
fields a system generates. As such, it offers an unsupervised approach to
discover and describe coherent structures. We illustrate the approach by
analyzing coherent structures generated by elementary cellular automata,
comparing the results with an earlier, dynamic-invariant-set approach that
decomposes fields into domains, particles, and particle interactions.Comment: 27 pages, 10 figures;
http://csc.ucdavis.edu/~cmg/compmech/pubs/dcs.ht
A Low-Dimensional Representation for Robust Partial Isometric Correspondences Computation
Intrinsic isometric shape matching has become the standard approach for pose
invariant correspondence estimation among deformable shapes. Most existing
approaches assume global consistency, i.e., the metric structure of the whole
manifold must not change significantly. While global isometric matching is well
understood, only a few heuristic solutions are known for partial matching.
Partial matching is particularly important for robustness to topological noise
(incomplete data and contacts), which is a common problem in real-world 3D
scanner data. In this paper, we introduce a new approach to partial, intrinsic
isometric matching. Our method is based on the observation that isometries are
fully determined by purely local information: a map of a single point and its
tangent space fixes an isometry for both global and the partial maps. From this
idea, we develop a new representation for partial isometric maps based on
equivalence classes of correspondences between pairs of points and their
tangent spaces. From this, we derive a local propagation algorithm that find
such mappings efficiently. In contrast to previous heuristics based on RANSAC
or expectation maximization, our method is based on a simple and sound
theoretical model and fully deterministic. We apply our approach to register
partial point clouds and compare it to the state-of-the-art methods, where we
obtain significant improvements over global methods for real-world data and
stronger guarantees than previous heuristic partial matching algorithms.Comment: 17 pages, 12 figure
Learning to Reconstruct Shapes from Unseen Classes
From a single image, humans are able to perceive the full 3D shape of an
object by exploiting learned shape priors from everyday life. Contemporary
single-image 3D reconstruction algorithms aim to solve this task in a similar
fashion, but often end up with priors that are highly biased by training
classes. Here we present an algorithm, Generalizable Reconstruction (GenRe),
designed to capture more generic, class-agnostic shape priors. We achieve this
with an inference network and training procedure that combine 2.5D
representations of visible surfaces (depth and silhouette), spherical shape
representations of both visible and non-visible surfaces, and 3D voxel-based
representations, in a principled manner that exploits the causal structure of
how 3D shapes give rise to 2D images. Experiments demonstrate that GenRe
performs well on single-view shape reconstruction, and generalizes to diverse
novel objects from categories not seen during training.Comment: NeurIPS 2018 (Oral). The first two authors contributed equally to
this paper. Project page: http://genre.csail.mit.edu
Calibration by correlation using metric embedding from non-metric similarities
This paper presents a new intrinsic calibration method that allows us to calibrate a generic single-view point camera just
by waving it around. From the video sequence obtained while the camera undergoes random motion, we compute the pairwise time
correlation of the luminance signal for a subset of the pixels. We show that, if the camera undergoes a random uniform motion, then
the pairwise correlation of any pixels pair is a function of the distance between the pixel directions on the visual sphere. This leads to
formalizing calibration as a problem of metric embedding from non-metric measurements: we want to find the disposition of pixels on
the visual sphere from similarities that are an unknown function of the distances. This problem is a generalization of multidimensional
scaling (MDS) that has so far resisted a comprehensive observability analysis (can we reconstruct a metrically accurate embedding?)
and a solid generic solution (how to do so?). We show that the observability depends both on the local geometric properties (curvature)
as well as on the global topological properties (connectedness) of the target manifold. We show that, in contrast to the Euclidean case,
on the sphere we can recover the scale of the points distribution, therefore obtaining a metrically accurate solution from non-metric
measurements. We describe an algorithm that is robust across manifolds and can recover a metrically accurate solution when the metric
information is observable. We demonstrate the performance of the algorithm for several cameras (pin-hole, fish-eye, omnidirectional),
and we obtain results comparable to calibration using classical methods. Additional synthetic benchmarks show that the algorithm
performs as theoretically predicted for all corner cases of the observability analysis
Reduction theory and the LagrangeâRouth equations
Reduction theory for mechanical systems with symmetry has its roots in the classical works in mechanics of Euler, Jacobi, Lagrange, Hamilton, Routh, PoincarĂŠ, and others. The modern vision of mechanics includes, besides the traditional mechanics of particles and rigid bodies, field theories such as electromagnetism, fluid mechanics, plasma physics, solid mechanics as well as quantum mechanics, and relativistic theories, including gravity. Symmetries in these theories vary from obvious translational and rotational symmetries to less obvious particle relabeling symmetries in fluids and plasmas, to subtle symmetries underlying integrable systems. Reduction theory concerns the removal of symmetries and their associated conservation laws. Variational principles, along with symplectic and Poisson geometry, provide fundamental tools for this endeavor. Reduction theory has been extremely useful in a wide variety of areas, from a deeper understanding of many physical theories, including new variational and Poisson structures, to stability theory, integrable systems, as well as geometric phases. This paper surveys progress in selected topics in reduction theory, especially those of the last few decades as well as presenting new results on non-Abelian Routh reduction. We develop the geometry of the associated LagrangeâRouth equations in some detail. The paper puts the new results in the general context of reduction theory and discusses some future directions
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