A locally-built, LLM-digested index of recent arXiv papers in quant finance, geometry/topology, and statistical ML — keyword search served straight from SQLite on this machine.
Proposes a new convolutional neural network for non-grid data.
Perception technologies in Autonomous Driving are experiencing their golden age due to the advances in Deep Learning. Yet, most of these systems rely on the semantically rich information of RGB images. Deep Learning solutions applied to the data of other sensors typically mounted on autonomous cars (e.g. lidars or rada…
Improved 3D LiDAR data classification using product coefficients.
We apply variational inference to learn vehicle trajectory parameters from noisy data.
Graph Neural Networks improve 3D object detection in LiDAR point clouds.
Federated LIDAR aided beam selection reduces mmWave beam search overhead.
A deep learning model improves pedestrian tracking accuracy.
Deep neural networks (DNNs) are found to be vulnerable against adversarial examples, which are carefully crafted inputs with a small magnitude of perturbation aiming to induce arbitrarily incorrect predictions. Recent studies show that adversarial examples can pose a threat to real-world security-critical applications:…
Improved road segmentation on low-res LIDAR data for autonomous vehicles.
The goal of this paper is to classify objects mapped by LiDAR sensor into different classes such as vehicles, pedestrians and bikers. Utilizing a LiDAR-based object detector and Neural Networks-based classifier, a novel real-time object detection is presented essentially with respect to aid self-driving vehicles in rec…
Expands sparse disparity cues from LiDAR to improve stereo matching performance.
We propose a technique to develop (and localize in) topological maps from light detection and ranging (Lidar) data. Localizing an autonomous vehicle with respect to a reference map in real-time is crucial for its safe operation. Owing to the rich information provided by Lidar sensors, these are emerging as a promising …
Study improves semantic segmentation of LiDAR point clouds for autonomous vehicles.
Collision avoidance is a critical task in many applications, such as ADAS (advanced driver-assistance systems), industrial automation and robotics. In an industrial automation setting, certain areas should be off limits to an automated vehicle for protection of people and high-valued assets. These areas can be quaranti…
We describe a method to infer dense depth from camera motion and sparse depth as estimated using a visual-inertial odometry system. Unlike other scenarios using point clouds from lidar or structured light sensors, we have few hundreds to few thousand points, insufficient to inform the topology of the scene. Our method …
DALES offers a large annotated aerial LiDAR dataset for 3D deep learning.
Camera and lidar are important sensor modalities for robotics in general and self-driving cars in particular. The sensors provide complementary information offering an opportunity for tight sensor-fusion. Surprisingly, lidar-only methods outperform fusion methods on the main benchmark datasets, suggesting a gap in the …
Study uses satellite and lidar data to map forest height and biomass in France.
In Autonomous Vehicles (AVs), one fundamental pillar is perception, which leverages sensors like cameras and LiDARs (Light Detection and Ranging) to understand the driving environment. Due to its direct impact on road safety, multiple prior efforts have been made to study its the security of perception systems. In cont…
This paper presents a novel CNN-based approach for synthesizing high-resolution LiDAR point cloud data. Our approach generates semantically and perceptually realistic results with guidance from specialized loss-functions. First, we utilize a modified per-point loss that addresses missing LiDAR point measurements. Secon…
In this contribution, we present a novel approach for segmenting laser radar (lidar) imagery into geometric time-height cloud locations with a fully convolutional network (FCN). We describe a semi-supervised learning method to train the FCN by: pre-training the classification layers of the FCN with image-level annotati…
CARML uses meta-learning to avoid obstacles in 2D vehicle navigation.
We provide a comprehensive review of classical algorithms for compressive sensing of images, focused on Total variation methods, with a view to application in LiDAR systems. Our primary focus is providing a full review for beginners in the field, as well as simulating the kind of noise found in real LiDAR systems. To t…
This paper solves the normalizability crisis in sequential inference by introducing bounded information geometry.
Robust detection and tracking of objects is crucial for the deployment of autonomous vehicle technology. Image based benchmark datasets have driven development in computer vision tasks such as object detection, tracking and segmentation of agents in the environment. Most autonomous vehicles, however, carry a combinatio…
The research community has increasing interest in autonomous driving research, despite the resource intensity of obtaining representative real world data. Existing self-driving datasets are limited in the scale and variation of the environments they capture, even though generalization within and between operating regio…
Improved vehicle motion prediction with uncertainty estimation.
3D object detection improved using energy-based models.
Estimates spectral gap for Brownian motion on sticky-reflecting domains.
The paper proposes estimators for bid-ask spreads with and without serial dependence.
Study radial processes in sub-Riemannian Brownian motions, proving stochastic completeness and eigenvalue estimates.
Diagnostic stroke imaging with C-arm cone-beam computed tomography (CBCT) enables reduction of time-to-therapy for endovascular procedures. However, the prolonged acquisition time compared to helical CT increases the likelihood of rigid patient motion. Rigid motion corrupts the geometry alignment assumed during reconst…
Paper introduces method to estimate animal motion on unknown submanifolds using Koopman operator.
Estimates on Einstein manifolds improve Brownian motion behavior and curvature limits.
We consider the task of learning to extract motion from videos. To this end, we show that the detection of spatial transformations can be viewed as the detection of synchrony between the image sequence and a sequence of features undergoing the motion we wish to detect. We show that learning about synchrony is possible …
MFM improves generative model interpolations by learning approximate geodesics on data manifolds.
The concept of a Point Cloud has played an increasingly important role in many areas of Engineering, Science, and Mathematics. Examples are: LIDAR, 3D-Printing, Data Analysis, Computer Graphics, Machine Learning, Mathematical Visualization, Numerical Analysis, and Monte Carlo Methods. Entering point cloud into Google r…
Survey on manifold complexities and motion planning in robotics.
Contributions of recent deep-neural-network (DNN) based techniques have been playing a significant role in human-computer interaction (HCI) and user interface (UI) domains. One of the commonly used DNNs is human pose estimation. This kind of technique is widely used for motion capturing of humans, and to generate or mo…
Neural networks outperform conventional filters in inertial sensor-based attitude estimation.
Second derivative pinching estimates are proved for a class of elliptic and parabolic equations, including motion of hypersurfaces by curvature functions such as quotients of elementary symmetric functions of curvature. The estimates imply convergence of convex hypersurfaces to spheres under these flows, improving earl…
Study Brownian motions and heat kernel bounds on Kähler and quaternion Kähler manifolds.
Motor control is a set of time-varying muscle excitations which generate desired motions for a biomechanical system. Muscle excitations cannot be directly measured from live subjects. An alternative approach is to estimate muscle activations using inverse motion-driven simulation. In this article, we propose a deep rei…
End-to-end learnable network for safer self-driving with interpretable intermediate representations.
Intravoxel incoherent motion (IVIM) imaging allows contrast-agent free in vivo perfusion quantification with magnetic resonance imaging (MRI). However, its use is limited by typically low accuracy due to low signal-to-noise ratio (SNR) at large gradient encoding magnitudes as well as dephasing artefacts caused by subje…
We present a model for the joint estimation of disparity and motion. The model is based on learning about the interrelations between images from multiple cameras, multiple frames in a video, or the combination of both. We show that learning depth and motion cues, as well as their combinations, from data is possible wit…
Estimates returns for dollar cost averaging using geometric Brownian motion.
In this paper we propose a novel accurate method for dead-reckoning of wheeled vehicles based only on an Inertial Measurement Unit (IMU). In the context of intelligent vehicles, robust and accurate dead-reckoning based on the IMU may prove useful to correlate feeds from imaging sensors, to safely navigate through obstr…