Point set registration, crucial in computer vision and robotics applications, encounters challenges, such as noise, outliers, and misalignment. Current methods often struggle with these issues, leading to suboptimal r...
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Point set registration, crucial in computer vision and robotics applications, encounters challenges, such as noise, outliers, and misalignment. Current methods often struggle with these issues, leading to suboptimal registration accuracy. This article proposes a novel graph correspondence-based algorithm to address these challenges in rigid point set registration. We model point sets as graphs, transforming the registration problem into a graph isomorphism problem. This approach is enhanced with probabilistic linear programming heuristics to efficiently establish correspondences between point sets. Our method significantly improves robustness against common registration errors and does not require initial pose estimation, a notable advantage over existing algorithms. Extensive experiments on various datasets, including applications in intelligent vehicle mapping and localization, demonstrate superior performance in correspondence establishment and registration accuracy compared to state-of-the-art methods, particularly under conditions of noise, outliers, and misalignment.
This paper proposes a novel circuit framework of zeroing neural network for time-varying equality constrained quadratic programming problems (TEQPPs). It is proved that the designed circuit can not only parallel solve...
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ISBN:
(纸本)9789819743988;9789819743995
This paper proposes a novel circuit framework of zeroing neural network for time-varying equality constrained quadratic programming problems (TEQPPs). It is proved that the designed circuit can not only parallel solve TEQPPs in a fixed time, but also cost less hardware resources to be implemented by virtue of its simple structure. Rigorous analysis derives the convergence time upper bound of this novel circuit framework in noiseless and bounded noise polluted condition respectively. Moreover, this circuit can also avoid calculating the pseudoinverse of coefficient matrix when solving TEQPPs. Several circuit experiments are simulated to validate those conclusions.
More and more introductory programming courses are being held online, using Automated programming Assessment Systems (APASs). Some APASs provide online editors where students can solve and submit their exercises, beca...
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We introduce and study a two-stage stochastic stable matching problem between students and schools. A decision maker chooses a stable matching in a marriage instance;then, after some agents enter or leave the market f...
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ISBN:
(纸本)9783031598340;9783031598357
We introduce and study a two-stage stochastic stable matching problem between students and schools. A decision maker chooses a stable matching in a marriage instance;then, after some agents enter or leave the market following a probability distribution D, chooses a stable matching in the new instance. The goal is, roughly speaking, to maximize the expected quality of the matchings across the two stages and minimize the expected students' discontent for being downgraded to a less preferred school in the second-stage. We consider both the case when D is given explicitly and when it is accessed via a sampling oracle. In the former case, we give a polynomial time algorithm. In the latter case, we show that, unless P = NP, no algorithm can find the optimal value or the optimal solution of the problem in polynomial-time. On the positive side, we give a pseudopolynomial algorithm that computes a solution of arbitrarily small additive error. Our techniques include the use of a newly defined poset of stable pairs, which may be of independent interest.
Game design is often considered a motivational approach to get young children interested in programming and computational thinking. However, while the idea of game programming may be compelling from an educational poi...
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ISBN:
(纸本)9798400710056
Game design is often considered a motivational approach to get young children interested in programming and computational thinking. However, while the idea of game programming may be compelling from an educational point of view, creating games with interesting interactions that are actually fun to play remains challenging. Modern tools aimed at novice programmers should empower their users to create games, such as Pac-Man, that approach or even exceed the gameplay of 1980's arcade games. By adding a high-level AI pathfinding block to the *** tool, 13 students in grades 1-4 attempted to build Pac-Man-like games. The findings suggest that all students were able to create Pac-Man-like games with compelling gameplay interactions, including ghosts finding the shortest path through complex mazes to Pac-Man, multiple ghosts collaborating with each other, and sophisticated game world topologies featuring toroidal portals.
Real-time stereo matching with high accuracy is a dynamic research topic;it is attractive in diverse computer vision applications. This paper presents a stereo-matching algorithm that produces high-quality disparity m...
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Real-time stereo matching with high accuracy is a dynamic research topic;it is attractive in diverse computer vision applications. This paper presents a stereo-matching algorithm that produces high-quality disparity map while maintaining real-time performance. The proposed stereo-matching method is based on three per-pixel difference measurements with adjustment elements. The absolute differences and the gradient matching are combined with a colour-weighted extension of complete rank transform to reduce the effect of radiometric distortion. The disparity calculation is realized using improved dynamic programming that optimizes along and across all scanlines. It solves the inter-scanline inconsistency problem and increases the matching accuracy. The proposed algorithm is implemented on parallel high-performance graphic hardware using the Compute Unified Device Architecture to reach over 240 million disparity evaluations per second. The processing speed of our algorithm reaches 98 frames per second on 240 x 320-pixel images and 32 disparity levels. Our method ranks fourth in terms of accuracy and runtime for quarter-resolution images in the Middlebury stereo benchmark.
The rise of Large Language Models (LLMs) has sparked discussion in computerscience Education (CSE) due to their ability to generate code from text prompts. Students may rely on these tools, neglecting core skills lik...
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ISBN:
(纸本)9798400710384
The rise of Large Language Models (LLMs) has sparked discussion in computerscience Education (CSE) due to their ability to generate code from text prompts. Students may rely on these tools, neglecting core skills like computational thinking and program design. Thus, it's crucial to responsibly integrate them into computerscience courses. To address this, we integrated an open-source Automatic Assessment Tool with GPT, enabling students to receive LLM assistance on their programming assignments. This tool can be adopted and improved by educators, promoting more responsible integration of LLMs in CSE.
Despite the rapid expansion of the ICT sector, there's a disconnect with STEM subjects, leading to high dropout rates in computerscience and engineering programs. This contributes to many unfilled positions in th...
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Introducing component-based programming to high school students can stimulate their interest in pursuing computerscience studies at the university level. In this contribution, we explore the potential of using mobile...
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We study a general class of single-machine scheduling problems with setup time/cost and no idle time in the schedule. It includes a variety of other scheduling and routing problems as special cases. Apolynomial size m...
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ISBN:
(数字)9783031629228
ISBN:
(纸本)9783031629211;9783031629228
We study a general class of single-machine scheduling problems with setup time/cost and no idle time in the schedule. It includes a variety of other scheduling and routing problems as special cases. Apolynomial size mixed-integer linear programming (MILP) formulation is presented. A tabu search (TS) algorithm, built upon a novel composite-move neighborhood structure, is developed for solving the addressed problem effectively and efficiently.
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