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arXiv 2023年

作者： Zhang, Xinyu Wang, Li Chen, Jian Fang, Cheng Yang, Lei Song, Ziying Yang, Guangqi Wang, Yichen Zhang, Xiaofei Li, Jun Li, Zhiwei Yang, Qingshan Zhang, Zhenlin Ge, Shuzhi Sam State Key Laboratory of Automotive Safety and Energy the School of Vehicle and Mobility Ts-inghua University Beijing100084 China School of Mechanical and Electrical Engineering China University of Mining and Technology-Beijing Beijing100083 China School of Artificial Intelligence China University of Mining and Technology-Beijing Beijing100083 China College of Information Science and Technology Beijing University of Chemical Technology Beijing100029 China Beijing Jingwei Hirain Technologies Co. Inc. Beijing100191 China China Automotive Innovation Cooperation Nanjing211113 China Department of Electrical and Computer Engineering Interactive Digital Media Institute Social Robotics Laboratory National University of Singapore Singapore

Radar has stronger adaptability in adverse scenarios for autonomous driving environmental perception compared to widely adopted cameras and LiDARs. Compared with commonly used 3D radars, latest 4D radars have precise vertical resolution and higher point cloud density, making it a highly promising sensor for autonomous driving in complex environmental perception. However, due to the much higher noise than LiDAR, manufacturers choose different filtering strategies, resulting in a direct ratio between point cloud density and noise level. There is still a lack of comparative analysis on which method is beneficial for deep learning-based perception algorithms in autonomous driving. One of the main reasons is that current datasets only adopt one type of 4D radar, making it difficult to compare different 4D radars in the same scene. Therefore, in this paper, we introduce a novel large-scale multi-modal dataset featuring, for the first time, two types of 4D radars captured simultaneously. This dataset enables further research into effective 4D radar perception algorithms. Our dataset consists of 151 consecutive series, most of which last 20 seconds and contain 10,007 meticulously synchronized and annotated frames. Moreover, our dataset captures a variety of challenging driving scenarios, including many road conditions, weather conditions, nighttime and daytime with different lighting intensities and periods. Our dataset annotates consecutive frames, which can be applied to 3D object detection and tracking, and also supports the study of multi-modal tasks. We experimentally validate our dataset, providing valuable results for studying different types of 4D radars. This dataset is released on https://***/adeptthu/Dual-Radar. Copyright © 2023, The Authors. All rights reserved.

关键词： Autonomous vehicles

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Depth-Awareness in a System for Mixed-Reality Aided Surgical Procedures 15th

Depth-Awareness in a System for Mixed-Reality Aided Surgical...

引用

15th International Conference on Intelligent Computing, ICIC 2019

作者： Sylos Labini, Mauro Gsaxner, Christina Pepe, Antonio Wallner, Juergen Egger, Jan Bevilacqua, Vitoantonio Institute for Computer Graphics and Vision Faculty of Computer Science and Biomedical Engineering Graz University of Technology Graz Austria Computer Algorithms for Medicine Laboratory Graz Austria Department of Electrical and Information Engineering Polytechnic University of Bari Bari Italy Department of Oral and Maxillofacial Surgery Medical University of Graz Graz Austria

ISBN: (纸本)9783030267650

computer-assisted surgery is a trending topic in research, with many different approaches which aim at supporting surgeons in the operating room. Existing surgical planning and navigation solutions are often considered to be distracting, unintuitive or hard to interpret. In this work, we address this issue with an approach based on mixed reality devices like Microsoft HoloLens. We assess the depth sensing capabilities of Microsoft HoloLens, and the potential benefit they could bring to computer-assisted surgery applications. © 2019, Springer Nature Switzerland AG.

关键词： Mixed reality

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An incremental turn-taking model for task-oriented dialog systems

arXiv

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arXiv 2019年

作者： Coman, Andrei C. Yoshino, Koichiro Murase, Yukitoshi Nakamura, Satoshi Riccardi, Giuseppe Signals and Interactive Systems Lab Department of Information Engineering and Computer Science University of Trento Italy Augmented Human Communication Laboratory Graduate School of Information Science Nara Institute of Science and Technology Japan

In a human-machine dialog scenario, deciding the appropriate time for the machine to take the turn is an open research problem. In contrast, humans engaged in conversations are able to timely decide when to interrupt the speaker for competitive or non-competitive reasons. In state-of-the-art turn-by-turn dialog systems the decision on the next dialog action is taken at the end of the utterance. In this paper, we propose a token-by-token prediction of the dialog state from incremental transcriptions of the user utterance. To identify the point of maximal understanding in an ongoing utterance, we a) implement an incremental Dialog State Tracker which is updated on a token basis (iDST) b) re-label the Dialog State Tracking Challenge 2 (DSTC2) dataset and c) adapt it to the incremental turn-taking experimental scenario. The re-labeling consists of assigning a binary value to each token in the user utterance that allows to identify the appropriate point for taking the turn. Finally, we implement an incremental Turn Taking Decider (iTTD) that is trained on these new labels for the turn-taking decision. We show that the proposed model can achieve a better performance compared to a deterministic handcrafted turn-taking algorithm. Copyright © 2019, The Authors. All rights reserved.

关键词： Recurrent neural networks

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NTIRE 2023 Quality Assessment of Video Enhancement Challenge

arXiv

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arXiv 2023年

作者： Liu, Xiaohong Min, Xiongkuo Sun, Wei Zhang, Yulun Zhang, Kai Timofte, Radu Zhai, Guangtao Gao, Yixuan Cao, Yuqin Kou, Tengchuan Dong, Yunlong Jia, Ziheng Li, Yilin Wu, Wei Hu, Shuming Deng, Sibin Xiao, Pengxiang Chen, Ying Li, Kai Zhao, Kai Yuan, Kun Sun, Ming Cong, Heng Wang, Hao Fu, Lingzhi Zhang, Yusheng Zhang, Rongyu Shi, Hang Xu, Qihang Xiao, Longan Ma, Zhiliang Agarla, Mirko Celona, Luigi Rota, Claudio Schettini, Raimondo Huang, Zhiwei Li, Yanan Wang, Xiaotao Lei, Lei Liu, Hongye Hong, Wei Chuang, Ironhead Lin, Allen Guan, Drake Chen, Iris Lou, Kae Huang, Willy Tasi, Yachun Kao, Yvonne Fan, Haotian Kong, Fangyuan Zhou, Shiqi Liu, Hao Lai, Yu Chen, Shanshan Wang, Wenqi Wu, Haoning Chen, Chaofeng Zhu, Chunzheng Guo, Zekun Zhao, Shiling Yin, Haibing Wang, Hongkui Meftah, Hanene Brachemi Fezza, Sid Ahmed Hamidouche, Wassim Déforges, Olivier Shi, Tengfei Mansouri, Azadeh Motamednia, Hossein Bakhtiari, Amir Hossein Aznaveh, Ahmad Mahmoudi Shanghai Jiao Tong University China ETH Zürich Switzerland University of Würzburg Germany Department of Tao Technology Alibaba Group China Kuaishou Technology China Interactive Entertainment Group of Netease Inc Guangzhou China Transsion China Vrobotit Lab Beijing University of Posts and Telecommunications China Hefei University of Technology China Department of Informatics Systems and Communication University of Milano - Bicocca Italy Xiaomi Inc. China China Ji Liang University China FreeTech China Advanced Research Center KKCompany Taiwan ByteDance China MGTV China Fuzhou University China Shopee Information Technology Co. Ltd. China S-Lab Nanyang Technological University Singapore Hunan University China Hangzhou Dianzi University China INSA Rennes CNRS IETR - UMR 6164 Rennes France National Higher School of Telecommunications and ICT Oran Algeria BUAA China Department of Electrical and Computer Engineering Faculty of Engineering Kharazmi University Tehran Iran High Performance Computing Laboratory School of Computer Science Institute for Research in Fundamental Sciences Tehran Iran Cyberspace Research Institute Shahid Beheshti University Tehran Iran

This paper reports on the NTIRE 2023 Quality Assessment of Video Enhancement Challenge, which will be held in conjunction with the New Trends in Image Restoration and Enhancement Workshop (NTIRE) at CVPR 2023. This challenge is to address a major challenge in the field of video processing, namely, video quality assessment (VQA) for enhanced videos. The challenge uses the VQA Dataset for Perceptual Video Enhancement (VDPVE), which has a total of 1211 enhanced videos, including 600 videos with color, brightness, and contrast enhancements, 310 videos with deblurring, and 301 deshaked videos. The challenge has a total of 167 registered participants. 61 participating teams submitted their prediction results during the development phase, with a total of 3168 submissions. A total of 176 submissions were submitted by 37 participating teams during the final testing phase. Finally, 19 participating teams submitted their models and fact sheets, and detailed the methods they used. Some methods have achieved better results than baseline methods, and the winning methods have demonstrated superior prediction performance. Copyright © 2023, The Authors. All rights reserved.

关键词： Image enhancement

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Graph-based parallel large scale structure from motion

arXiv

引用

arXiv 2019年

作者： Chen, Yu Shen, Shuhan Chen, Yisong Wang, Guoping Graphics and Interactive Lab Department of Computer Science and Technology School of Electronic Engineering and Computer Science Peking University National Laboratory of Pattern Recognition Institute of Automation Chinese Academy of Sciences Beijing100190 China University of Chinese Academy of Sciences Beijing100049 China

While Structure from Motion (SfM) achieves great success in 3D reconstruction, it still meets challenges on large scale scenes. In this work, large scale SfM is deemed as a graph problem, and we tackle it in a divide-and-conquer manner. Firstly, the images clustering algorithm divides images into clusters with strong connectivity, leading to robust local reconstructions. Then followed with an image expansion step, the connection and completeness of scenes are enhanced by expanding along with a maximum spanning tree. After local reconstructions, we construct a minimum spanning tree (MST) to find accurate similarity transformations. Then the MST is transformed into a Minimum Height Tree (MHT) to find a proper anchor node and is further utilized to prevent error accumulation. When evaluated on different kinds of datasets, our approach shows superiority over the state-of-the-art in accuracy and efficiency. Our algorithm is open-sourced in https://***/AIBluefisher/GraphSfM. Copyright © 2019, The Authors. All rights reserved.

关键词： Clustering algorithms

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Deep learning - A first meta-survey of selected reviews across scientific disciplines, their commonalities, challenges and research impact

arXiv

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arXiv 2020年

作者： Egger, Jan Pepe, Antonio Gsaxner, Christina Jin, Yuan Li, Jianning Kern, Roman Institute of Computer Graphics and Vision Faculty of Computer Science and Biomedical Engineering Graz University of Technology Graz Austria Computer Algorithms for Medicine Laboratory Graz Austria Department of Oral and Maxillofacial Surgery Medical University of Graz Graz Austria University Medicine Essen Essen Germany Research Center for Connected Healthcare Big Data Zhejiang Lab Zhejiang Hangzhou China Research Unit Experimental Neurotraumatology Department of Neurosurgery Medical University of Graz Graz Austria Knowledge Discovery Know-Center Graz Austria Institute of Interactive Systems and Data Science Graz University of Technology Graz Austria

Deep learning belongs to the field of artificial intelligence, where machines perform tasks that typically require some kind of human intelligence. Deep learning tries to achieve this by drawing inspiration from the learning of a human brain. Similar to the basic structure of a brain, which consists of (billions of) neurons and connections between them, a deep learning algorithm consists of an artificial neural network, which resembles the biological brain structure. Mimicking the learning process of humans with their senses, deep learning networks are fed with (sensory) data, like texts, images, videos or sounds. These networks outperform the state-of-the-art methods in different tasks and, because of this, the whole field saw an exponential growth during the last years. This growth resulted in way over 10,000 publications per year in the last years. For example, the search engine PubMed alone, which covers only a sub-set of all publications in the medical field, provides already over 11,000 results in Q3 2020 for the search term 'deep learning', and around 90% of these results are from the last three years. Consequently, a complete overview over the field of deep learning is already impossible to obtain and, in the near future, it will potentially become difficult to obtain an overview over a subfield. However, there are several review articles about deep learning, which are focused on specific scientific fields or applications, for example deep learning advances in computer vision or in specific tasks like object detection. With these surveys as a foundation, the aim of this contribution is to provide a first high-level, categorized meta-survey of selected reviews on deep learning across different scientific disciplines and outline the research impact that they already have during a short period of time. The categories (computer vision, language processing, medical informatics and additional works) have been chosen according to the underlying data sources (image,

关键词： Surveys

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Why is the Winner the Best?

Why is the Winner the Best?

引用

Conference on computer Vision and Pattern Recognition (CVPR)

作者： M. Eisenmann A. Reinke V. Weru M. D. Tizabi F. Isensee T. J. Adler S. Ali V. Andrearczyk M. Aubreville U. Baid S. Bakas N. Balu S. Bano J. Bernal S. Bodenstedt A. Casella V. Cheplygina M. Daum M. De Bruijne A. Depeursinge R. Dorent J. Egger D. G. Ellis S. Engelhardt M. Ganz N. Ghatwary G. Girard P. Godau A. Gupta L. Hansen K. Harada M. Heinrich N. Heller A. Hering A. Huaulmé P. Jannin A. E. Kavur O. Kodym M. Kozubek J. Li H. Li J. Ma C. Martín-Isla B. Menze A. Noble V. Oreiller N. Padoy S. Pati K. Payette T. Rädsch J. Rafael-Patiño V. Singh Bawa S. Speidel C. H. Sudre K. Van Wijnen M. Wagner D. Wei A. Yamlahi M. H. Yap C. Yuan M. Zenk A. Zia D. Zimmerer D. Aydogan B. Bhattarai L. Bloch R. Brüngel J. Cho C. Choi Q. Dou I. Ezhov C. M. Friedrich C. Fuller R. R. Gaire A. Galdran Á. García Faura M. Grammatikopoulou S. Hong M. Jahanifar I. Jang A. Kadkhodamohammadi I. Kang F. Kofler S. Kondo H. Kuijf M. Li M. Luu T. Martinčič P. Morais M. A. Naser B. Oliveira D. Owen S. Pang J. Park S. Park S. Płotka E. Puybareau N. Rajpoot K. Ryu N. Saeed A. Shephard P. Shi D. Štepec R. Subedi G. Tochon H. R. Torres H. Urien J. L. Vilaça K. A. Wahid H. Wang J. Wang L. Wang X. Wang B. Wiestler M. Wodzinski F. Xia J. Xie Z. Xiong S. Yang Y. Yang Z. Zhao K. Maier-Hein P. F. Jäger A. Kopp-Schneider L. Maier-Hein Division of Intelligent Medical Systems German Cancer Research Center (DKFZ) Heidelberg Germany Helmholtz Imaging German Cancer Research Center (DKFZ) Heidelberg Germany Faculty of Mathematics and Computer Science Heidelberg University Heidelberg Germany Division of Biostatistics German Cancer Research Center (DKFZ) Heidelberg Germany Division of Medical Image Computing German Cancer Research Center (DKFZ) Heidelberg Germany Faculty of Engineering and Physical Sciences School of Computing University of Leeds Leeds UK Institute of Informatics School of Management HES-SO Valais-Wallis University of Applied Sciences and Arts Western Switzerland Sierre Switzerland Department of Nuclear Medicine and Molecular Imaging Lausanne University Hospital Lausanne Switzerland Technische Hochschule Ingolstadt Ingolstadt Germany Center for Artificial Intelligence and Data Science for Integrated Diagnostics (AI2D) and Center for Biomedical Image Computing and Analytics (CBICA) University of Pennsylvania Philadelphia PA USA Department of Pathology and Laboratory Medicine Perelman School of Medicine University of Pennsylvania Philadelphia PA USA Department of Radiology Perelman School of Medicine University of Pennsylvania Philadelphia PA USA Department of Radiology University of Washington Seattle WA USA Department of Computer Science Wellcome/EPSRC Centre for Interventional and Surgical Sciences (WEISS) University College London London UK Universitat Autònoma de Barcelona & Computer Vision Center Barcelona Spain Division of Translational Surgical Oncology National Center for Tumor Diseases (NCT/UCC) Dresden Dresden Germany Department of Advanced Robotics Istituto Italiano di Tecnologia Italy Department of Electronics Information and Bioengineering Politecnico di Milano Milan Italy IT University of Copenhagen Copenhagen Denmark Department of General Visceral and Transplantation Surgery Heidelberg University Hospital Heidelberg Germany Department of Radiology and Nuc

International benchmarking competitions have become fundamental for the comparative performance assessment of image analysis methods. However, little attention has been given to investigating what can be learnt from these competitions. Do they really generate scientific progress? What are common and successful participation strategies? What makes a solution superior to a competing method? To address this gap in the literature, we performed a multicenter study with all 80 competitions that were conducted in the scope of IEEE ISBI 2021 and MICCAI 2021. Statistical analyses performed based on comprehensive descriptions of the submitted algorithms linked to their rank as well as the underlying participation strategies revealed common characteristics of winning solutions. These typically include the use of multi-task learning (63%) and/or multi-stage pipelines (61%), and a focus on augmentation (100%), image preprocessing (97%), data curation (79%), and post-processing (66%). The “typical” lead of a winning team is a computer scientist with a doctoral degree, five years of experience in biomedical image analysis, and four years of experience in deep learning. Two core general development strategies stood out for highly-ranked teams: the reflection of the metrics in the method design and the focus on analyzing and handling failure cases. According to the organizers, 43% of the winning algorithms exceeded the state of the art but only 11% completely solved the respective domain problem. The insights of our study could help researchers (1) improve algorithm development strategies when approaching new problems, and (2) focus on open research questions revealed by this work.

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A Temporally and Spatially Explicit, Mechanistic Estimation of Ragweed Pollen Concentrations Across Europe

SSRN

引用

SSRN 2023年

作者： Makra, László Matyasovszky, István Tusnády, Gábor Ziska, Lewis H. Hess, Jeremy J. Nyúl, László G. Chapman, Daniel S. Coviello, Luca Gobbi, Andrea Jurman, Giuseppe Furlanello, Cesare Brunato, Mauro Damialis, Athanasios Charalampopoulos, Athanasios Müller-Schärer, Heinz Schneider, Norbert Szabó, Bence Sümeghy, Zoltán Páldy, Anna Magyar, Donát Bergmann, Karl-Christian Deák, Áron József Mikó, Edit Thibaudon, Michel Oliver, Gilles Albertini, Roberto Bonini, Maira Šikoparija, Branko Radišić, Predrag Mitrović Josipović, Mirjana Gehrig, Regula Severova, Elena Rodinkova, Victoria Palamarchuk, Olena Stjepanović, Barbara Ianovici, Nicoleta Berger, Uwe Kofol Seliger, Andreja Rybníček, Ondřej Myszkowska, Dorota Dąbrowska-Zapart, Katarzyna Majkowska-Wojciechowska, Barbara Weryszko-Chmielewska, Elzbieta Grewling, Lukasz Rapiejko, Piotr Malkiewicz, Malgorzata Šaulienė, Ingrida Shalaboda, Valentina Prykhodo, Olexander Maleeva, Anna Ščevková, Jana Bullock, James M. Institute of Economics and Rural Development Faculty of Agriculture University of Szeged Andrássy út 15 Hódmezővásárhely6800 Hungary Department of Meteorology Eötvös Loránd University P.O.B. 32 Budapest1518 Hungary Alfréd Rényi Institute of Mathematics P.O.B 127 Budapest1364 Hungary Mailman School of Public Health Columbia University New YorkNY10032 United States Department of Global Health University of Washington SeattleWA98105 United States Department of Image Processing and Computer Graphics University of Szeged P.O.B. 652 Szeged6701 Hungary Biological and Environmental Sciences Faculty of Natural Sciences University of Stirling Scotland StirlingFK9 4LA United Kingdom University of Trento Enogis s.r.l. Trento Italy Bruno Kessler Foundation Trento Italy HK3 Lab Orobix Life Srl Rovereto Bergamo Italy Department of Information Engineering and Computer Science University of Trento Trento Italy Terrestrial Ecology and Climate Change Department of Ecology School of Biology Aristotle University of Thessaloniki ThessalonikiGR-54124 Greece Departement of Biology Unit of Ecology and Evolution University of Fribourg FribourgCH-1700 Switzerland National Institute of Environmental Health Albert Flórián út 2-6 Budapest1097 Hungary Institute of Allergology Charité Hindenburgdamm 30 Berlin12203 Germany Institute of Animal Science and Wildlife Management Faculty of Agriculture University of Szeged Andrássy út 15 Hódmezővásárhely6800 Hungary Réseau National de Surveillance Aérobiologique 11 chemin de la Creuzille Le Plat du Pin Brussieu696905 France Laboratory of Hygiene and Aerobiology Department of Medicine and Surgery University of Parma U.O. Medicina Interna di Continuità Azienda Ospedaliero-Universitaria di Parma Via Gramsci 14 Parma43126 Italy Hygiene and Public Health Service via Spagliardi 19 Parabiago Milan20015 Italy BioSensе Institute Research Institute for Information Technologies in Biosystems University of Novi Sad Dr

Ongoing and future climate change driven expansion of aeroallergen-producing plant species comprise a major human health problem across Europe and elsewhere. There is an urgent need to produce accurate, temporally dynamic maps at the continental level, especially in the context of climate uncertainty. This study aimed to restore missing daily ragweed pollen data sets for Europe, to produce phenological maps of ragweed pollen, resulting in the most complete and detailed high-resolution ragweed pollen concentration maps to date. To achieve this, we developed two statistical procedures, a Gaussian method (GM) and deep learning (DL) for restoring missing daily ragweed pollen data sets, based on the plant’s reproductive and growth (phenological, pollen production and frost-related) characteristics. DL model performances were consistently better for estimating annual total pollen concentrations than those of the GM approach. These are the first published modeled maps using altitude correction and phenology to recover missing pollen information. We created a web page (http://***/), including daily ragweed pollen concentration data sets of the stations examined and their restored daily data, allowing one to upload newly measured or recovered daily data. Generation of these maps provides a means to track pollen impacts in the context of climatic shifts, identify geographical regions with high pollen exposure, determine areas of future vulnerability, apply spatially-explicit mitigation measures and prioritize management interventions. © 2023, The Authors. All rights reserved.

关键词： Climate change

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Multicast routing algorithm for ad hoc networks based on cognitive radio 4

Multicast routing algorithm for ad hoc networks based on cog...

引用

4th International Conference on Fuzzy Systems and Data Mining, FSDM 2018

作者： Zhang, Fan Xu, Xinyan Xie, Liguo Yuan, Qi Postdoctoral Innovation Practice Base Shandong Cable Interactive Service Ltd Jinan250014 China Department of Computer Science and Technology Shandong College of Electronic Technology Jinan250200 China School of Information Science and Engineering Shandong University Qingdao226237 China Shandong Province Key Laboratory of Medical Physics and Image Processing Technology School of Physics and Electronics Shandong Normal University Jinan250014 China No.32 Jing 11 Road Jinan China

ISBN: (纸本)9781614999270

Mobile Ad hoc networks (MANETs) have the characteristics of distribution, self-organization and mobility. PUMA, as a mesh-based multicast routing protocol for MANET, has been proved to perform better than other comparable multicast algorithms because of its effectiveness and robustness. Recently, cognitive radio technology has been applied to solve the scarcity problem of radio spectrum resources. In this paper, we combine PUMA with cognitive radio technology and propose a novel multicast routing algorithm, which is named as CR-PUMA for MANET. In CR-PUMA, node detects the available channels and selects a suitable one to send data packets to its next-hop neighbor. A cross-layer approach, which goes across the physical layer, link layer and network layer, is employed in our algorithm. Simulation experiments show that CR-PUMA attains a superior performance in terms of packet delivery ratio and throughput. © 2018 The authors and IOS Press. All rights reserved.

关键词： Mobile ad hoc networks

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Solid model edit distance: a multi-application and multi-level schema for CAD model retrieval

引用

computer Aided Drafting,Design and Manufacturing 2017年第1期27卷 22-38页

作者： Wang Bin Hu Kaimo Li Dong Zhang Hui School of Software Tsinghua University Tsinghua National Laboratory for Information Science and Technology Department of Computer Graphics Technology Purdue University

We present the solid model edit distance(SMED),a powerful and flexible paradigm for exploiting shape similarities amongst CAD *** is designed to measure the magnitude of distortions between two CAD models in boundary representation(B-rep).We give the formal definition by analogy with graph edit distance,one of the most popular graph matching *** avoid the expensive computational cost potentially caused by exact computation,an approximate procedure based on the alignment of local structure sets is provided in *** order to verify the flexibility,we make intensive investigations on three typical applications in manufacturing industry,and describe how our method can be adapted to meet the various ***,a multilevel method is proposed to make further improvements of the presented algorithm on both effectiveness and efficiency,in which the models are hierarchically segmented into the configurations of *** results show that SMED serves as a reasonable measurement of shape similarity for CAD models,and the proposed approach provides remarkable performance on a real-world CAD model database.

关键词： CAD model retrieval solid model edit distance graph edit distance boundary representation

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