scholarly journals Globally Optimal Point Set Registration by Joint Symmetry Plane Fitting

2021 ◽  
Author(s):  
Lan Hu ◽  
Laurent Kneip
Keyword(s):  
State Of The Art ◽  
Symmetry Plane ◽  
Point Sets ◽  
Optimal Point ◽  
Point Set Registration ◽  
Registration Process ◽  
Current State ◽  
Plane Fitting ◽  
Point Set ◽  
Dense 3D Reconstruction

AbstractThe present work proposes a solution to the challenging problem of registering two partial point sets of the same object with very limited overlap. We leverage the fact that most objects found in man-made environments contain a plane of symmetry. By reflecting the points of each set with respect to the plane of symmetry, we can largely increase the overlap between the sets and therefore boost the registration process. However, prior knowledge about the plane of symmetry is generally unavailable or at least very hard to find, especially with limited partial views. Finding this plane could strongly benefit from a prior alignment of the partial point sets. We solve this chicken-and-egg problem by jointly optimizing the relative pose and symmetry plane parameters. We present a globally optimal solver by employing the branch-and-bound paradigm and thereby demonstrate that joint symmetry plane fitting leads to a great improvement over the current state of the art in globally optimal point set registration for common objects. We conclude with an interesting application of our method to dense 3D reconstruction of scenes with repetitive objects.

scholarly journals Point Set Registration for Unsupervised Bilingual Lexicon Induction

2018 ◽  
Author(s):  
Hailong Cao ◽  
Tiejun Zhao
Keyword(s):  
State Of The Art ◽  
Semantic Structure ◽  
Word Embeddings ◽  
Point Set Registration ◽  
Bilingual Lexicon ◽  
Point Set ◽  
Novel Method ◽  
Cross Lingual ◽  
Isomorphic Structure ◽  
Target Data

Inspired by the observation that word embeddings exhibit isomorphic structure across languages, we propose a novel method to induce a bilingual lexicon from only two sets of word embeddings, which are trained on monolingual source and target data respectively. This is achieved by formulating the task as point set registration which is a more general problem. We show that a transformation from the source to the target embedding space can be learned automatically without any form of cross-lingual supervision. By properly adapting a traditional point set registration model to make it be suitable for processing word embeddings, we achieved state-of-the-art performance on the unsupervised bilingual lexicon induction task. The point set registration problem has been well-studied and can be solved by many elegant models, we thus opened up a new opportunity to capture the universal lexical semantic structure across languages.

scholarly journals Nonrigid Points Alignment with Soft-weighted Selection

2018 ◽  
Author(s):  
Xuelong Li ◽  
Jian Yang ◽  
Qi Wang
Keyword(s):  
Reproducing Kernel ◽  
State Of The Art ◽  
Reproducing Kernel Hilbert Space ◽  
Low Rank ◽  
Gaussian Fields ◽  
Registration Accuracy ◽  
Point Matching ◽  
Point Set Registration ◽  
Crucial Problem ◽  
Point Set

Point set registration (PSR) is a crucial problem in computer vision and pattern recognition. Existing PSR methods cannot align point sets robustly due to degradations, such as deformation, noise, occlusion, outlier, and multi-view changes. In this paper, we present a self-selected regularized Gaussian fields criterion for nonrigid point matching. Unlike most existing methods, we formulate the registration problem as a sparse approximation task with low rank constraint in reproducing kernel Hilbert space (RKHS). A self-selected mechanism is used to dynamically assign real-valued label for each point in an accuracy-aware weighting manner, which makes the model focus more on the reliable points in position. Based on the label, an equivalent matching number optimization is embedded into the non-rigid criterion to enhance the reliability of the approximation. Experimental results show that the proposed method can achieve a better result in both registration accuracy and correct matches compared to state-of-the-art approaches.

scholarly journals Point Set Registration Based on Improved KL Divergence

2021 ◽  
Vol 2021 ◽  
pp. 1-8
Author(s):  
Guangfu Qu ◽  
Won Hyung Lee
Keyword(s):  
Gaussian Distribution ◽  
State Of The Art ◽  
Gaussian Mixture ◽  
Registration Accuracy ◽  
Position Information ◽  
Point Set Registration ◽  
Kl Divergence ◽  
Registration Algorithm ◽  
Robustness To Noise ◽  
Point Set

A point set registration algorithm based on improved Kullback–Leibler (KL) divergence is proposed. Each point in the point set is represented as a Gaussian distribution. The Gaussian distribution contains the position information of the candidate point and surrounding ones. In this way, the entire point set can be modeled as a Gaussian mixture model (GMM). The registration problem of two point sets is further converted as a minimization problem of the improved KL divergence between two GMMs, and the genetic algorithm is used to optimize the solution. Experimental results show that the proposed algorithm has strong robustness to noise, outliers, and missing points, which achieves better registration accuracy than some state-of-the-art methods.

Integration of affine ICP into the precise localization problem of smart-AGVs: Procedures, enhancements and challenges

2020 ◽  
pp. 014233122093343
Author(s):  
Abdurrahman Yilmaz ◽  
Hakan Temeltas
Keyword(s):  
Indoor Environments ◽  
Precise Localization ◽  
Localization Problem ◽  
Point Sets ◽  
Registration Method ◽  
Point Set Registration ◽  
Rotation Plane ◽  
Point Set ◽  
Localization Performance ◽  
Industrial Standards

The localization problem in robotics has been widely studied both for indoor and outdoor applications, but is still open for improvements. In indoor environments, GPS-based methods are not preferred due to reflections, and the pose of the robot is determined according to the measurements taken around with its sensors. One of them is iterative closest point (ICP)-based localization method. ICP is a point set registration method, the essence of which is to iteratively compute the transformation between two point sets. However, it is also utilized to solve the localization problem thanks to its high precision in registration. Precise localization is important for applications that require highly accurate pose estimation, such as for smart-AGVs to be used in smart factories to reach a station at industrial standards. Traditional ICP finds transformation in terms of a rotation and translation, and thus can be directly applied to the localization problem. On the other hand, the affine variant of ICP is not adapted to solve the localization problem. In this study, the necessary arrangements to make affine ICP suitable for precise localization are given as a procedure such that the transformation between point sets is found by affine ICP, the resulting transformation is projected to rotation plane by polar decomposition and then the pose is estimated. The enhancements achieved with the usage of affine ICP in precise localization problems are demonstrated in simulation by comparing localization performance of affine ICP with that of traditional ICP. For this purpose, in a factory environment, a scenario where a smart-AGV approaching the target autonomously to carry out an operation has been prepared. The performances of the algorithms have been evaluated for five different docking stations with 30 separate experiments. Moreover, the challenges related to the affine ICP-based fine localization, in particular about finding projection of affine transformation to rotation plane, are highlighted in this study.

Behavioral Genetics: Concepts for Research and Practice in Language Development and Disorders

1995 ◽  
Vol 38 (5) ◽  
pp. 1126-1142 ◽  
Author(s):  
Jeffrey W. Gilger
Keyword(s):  
Language Development ◽  
Behavioral Genetics ◽  
State Of The Art ◽  
Genetic Research ◽  
Great Promise ◽  
Behavioral Genetic ◽  
Fine Grained ◽  
Future Goals ◽  
Current State ◽  
Research Designs

This paper is an introduction to behavioral genetics for researchers and practioners in language development and disorders. The specific aims are to illustrate some essential concepts and to show how behavioral genetic research can be applied to the language sciences. Past genetic research on language-related traits has tended to focus on simple etiology (i.e., the heritability or familiality of language skills). The current state of the art, however, suggests that great promise lies in addressing more complex questions through behavioral genetic paradigms. In terms of future goals it is suggested that: (a) more behavioral genetic work of all types should be done—including replications and expansions of preliminary studies already in print; (b) work should focus on fine-grained, theory-based phenotypes with research designs that can address complex questions in language development; and (c) work in this area should utilize a variety of samples and methods (e.g., twin and family samples, heritability and segregation analyses, linkage and association tests, etc.).

Schizophrenia Research: Current State of the Art

1976 ◽  
Vol 21 (7) ◽  
pp. 497-498
Author(s):  
STANLEY GRAND
Keyword(s):  
State Of The Art ◽  
Current State

Almost empty polygons

2003 ◽  
Vol 40 (3) ◽  
pp. 269-286 ◽  
Author(s):  
H. Nyklová
Keyword(s):  
Exact Results ◽  
Point Sets ◽  
Planar Point ◽  
Convex Position ◽  
Vertex Set ◽  
Point Set ◽  
Empty Polygons

In this paper we study a problem related to the classical Erdos--Szekeres Theorem on finding points in convex position in planar point sets. We study for which n and k there exists a number h(n,k) such that in every planar point set X of size h(n,k) or larger, no three points on a line, we can find n points forming a vertex set of a convex n-gon with at most k points of X in its interior. Recall that h(n,0) does not exist for n = 7 by a result of Horton. In this paper we prove the following results. First, using Horton's construction with no empty 7-gon we obtain that h(n,k) does not exist for k = 2(n+6)/4-n-3. Then we give some exact results for convex hexagons: every point set containing a convex hexagon contains a convex hexagon with at most seven points inside it, and any such set of at least 19 points contains a convex hexagon with at most five points inside it.

Umbral Calculus

10.37236/24 ◽  
2002 ◽  
Vol 1000 ◽  
Author(s):  
A. Di Bucchianico ◽  
D. Loeb
Keyword(s):  
19Th Century ◽  
Finite Differences ◽  
State Of The Art ◽  
Umbral Calculus ◽  
Current State ◽  
Logical Foundation ◽  
Complete Bibliography ◽  
The 19Th Century ◽  
Mathematical Literature

We survey the mathematical literature on umbral calculus (otherwise known as the calculus of finite differences) from its roots in the 19th century (and earlier) as a set of “magic rules” for lowering and raising indices, through its rebirth in the 1970’s as Rota’s school set it on a firm logical foundation using operator methods, to the current state of the art with numerous generalizations and applications. The survey itself is complemented by a fairly complete bibliography (over 500 references) which we expect to update regularly.

The Receptor-Dependent QSAR Paradigm: An Overview of the Current State of the Art

2009 ◽  
Vol 5 (4) ◽  
pp. 359-366 ◽  
Author(s):  
Osvaldo Santos-Filho ◽  
Anton Hopfinger ◽  
Artem Cherkasov ◽  
Ricardo de Alencastro
Keyword(s):  
State Of The Art ◽  
Current State
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