Knowledge Commons of Institute of Automation,CAS
Self-Supervised Local Topology Representation for Random Cluster Matching | |
Chang WK(常文凯)![]() | |
发表期刊 | IEEE Robotics and Automation Letters
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2023 | |
页码 | 1303 - 1310 |
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. |
收录类别 | SCIE |
语种 | 英语 |
是否为代表性论文 | 是 |
七大方向——子方向分类 | 机器学习 |
国重实验室规划方向分类 | 实体人工智能系统(软、硬件) |
是否有论文关联数据集需要存交 | 否 |
文献类型 | 期刊论文 |
条目标识符 | 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. |
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