• Publications
  • Influence
Fast Approximate Nearest-Neighbor Search with k-Nearest Neighbor Graph
We introduce a new nearest neighbor search algorithm. The algorithm builds a nearest neighbor graph in an offline phase and when queried with a new point, performs hill-climbing starting from aExpand
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M2DP: A novel 3D point cloud descriptor and its application in loop closure detection
TLDR
We present a novel global descriptor M2DP for 3D point clouds, and apply it to the problem of loop closure detection. Expand
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COROLA: A Sequential Solution to Moving Object Detection Using Low-rank Approximation
TLDR
In this paper, we present an online sequential framework, namely contiguous outliers representation via online low-rank approximation (COROLA), to detect moving objects and learn the background model at the same time. Expand
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Two-dimensional optimal sensor placement
  • H. Zhang
  • Computer Science
  • IEEE Trans. Syst. Man Cybern.
  • 1 May 1995
TLDR
A method for determining the optimal two-dimensional spatial placement of multiple sensors participating in a robot perception task is introduced in this paper. Expand
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Collective Robotics: From Social Insects to Robots
TLDR
Achieving tasks with multiple robots will require a control system that is both simple and scalable as the number of robots increases. Expand
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Benchmarking of image features for content-based retrieval
  • W. Ma, H. Zhang
  • Computer Science
  • Conference Record of Thirty-Second Asilomar…
  • 1 November 1998
TLDR
A very fundamental issue in designing a content-based image retrieval system is to select the image features that best represent the image contents in a database. Expand
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Convolutional neural network-based image representation for visual loop closure detection
TLDR
Deep convolutional neural networks (CNN) have recently been shown in many computer vision and pattern recognition applications to outperform by a significant margin state-of-the-art solutions that use traditional hand-crafted features. Expand
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Cooperative Decision-Making in Decentralized Multiple-Robot Systems: The Best-of-N Problem
Multiple-robot systems (MRS) that are decentrally organized have many benefits over centralized systems. Decentralized systems are less affected by computational and communicative bottlenecks, andExpand
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PETSc/TS: A Modern Scalable ODE/DAE Solver Library
High-quality ordinary differential equation (ODE) solver libraries have a long history, going back to the 1970s. Over the past several years we have implemented, on top of the PETSc linear andExpand
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A multistage adaptive thresholding method
TLDR
We present a multistage adaptive thresholding method based on both the global intensity distribution and local image statistics within a variable neighborhood. Expand
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