Self-Supervised Local Topology Representation for Random Cluster Matching
文献类型:期刊论文
作者 | Chang WK(常文凯)![]() |
刊名 | IEEE Robotics and Automation Letters
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出版日期 | 2023 |
页码 | 1303 - 1310 |
英文摘要 | This letter aims to learn a global representation for each point in a random cluster using only purely local geometric or topological information. Based on this, distributed tags for indoor positioning break the atomicity of tags and make deployment more arbitrary. It also allows NP-hard matches to be quickly estimated with only one local observation. The novel self-supervised topological representation learning method only takes local point clusters as input and utilizes the proposed cluster-based sampling, training, and loss functions to form global self-comparison. The training samples are generated in real-time virtually, and there are few matching errors after being transferred to practice. The compact backbone network directly processes the coordinates of points and abandons the iterative optimization commonly used in matching. Moreover, it uses the representation to measure similarity directly, and the inference speed reaches the millisecond level. In the actual and virtual experiments, the local point clusters are surprisingly accurately matched to the random global ones. The localization based on this is also verified, and the relevant results prove the effectiveness of the proposed method. |
语种 | 英语 |
源URL | [http://ir.ia.ac.cn/handle/173211/51517] ![]() |
专题 | 复杂系统认知与决策实验室 |
作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Chang WK. Self-Supervised Local Topology Representation for Random Cluster Matching[J]. IEEE Robotics and Automation Letters,2023:1303 - 1310. |
APA | Chang WK.(2023).Self-Supervised Local Topology Representation for Random Cluster Matching.IEEE Robotics and Automation Letters,1303 - 1310. |
MLA | Chang WK."Self-Supervised Local Topology Representation for Random Cluster Matching".IEEE Robotics and Automation Letters (2023):1303 - 1310. |
入库方式: OAI收割
来源:自动化研究所
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