High-Dimensional Generative Models for 3D Perception

Modern robotics and automation systems require high-level reasoning capability in representing, identifying, and interpreting the three-dimensional data of the real world. Understanding the world's geometric structure by visual data is known as 3D perception. The necessity of analyzing irregular and complex 3D data has led to the development of high-dimensional frameworks for data learning. Here, we design several sparse learning-based approaches for high-dimensional data that effectively tackle multiple perception problems, including data filtering, data recovery, and data retrieval. The frameworks offer generative solutions for analyzing complex and irregular data structures without prior knowledge of data. The first part of the dissertation proposes a novel method that simultaneously filters point cloud noise and outliers as well as completing missing data by utilizing a unified framework consisting of a novel tensor data representation, an adaptive feature encoder, and a generative Bayesian network. In the next section, a novel multi-level generative chaotic Recurrent Neural Network (RNN) has been proposed using a sparse tensor structure for image restoration. In the last part of the dissertation, we discuss the detection followed by localization, where we discuss extracting features from sparse tensors for data retrieval.

Name thesis:degree_name

Doctor of Philosophy

Level thesis:degree_level

doctoral

Discipline thesis:degree_discipline

Computer Engineering

Department dc:contributor.department

Electrical and Computer Engineering

Grantor dc:publisher

Virginia Tech

Year dc:date.issued

2021

Author dc:creator

• Chen, Cong

Chair dc:contributor.committeechair

• Abbott, A. Lynn

Committee members dc:contributor.committeemember

• Reed, Jeffrey H.
• Stilwell, Daniel J.
• Baker, Joseph Benjamin
• Karpatne, Anuj

• Point cloud recovery
• tensor completion
• tensor factorization
• sparse Bayesian learning (SBL)
• chaotic Recurrent Neural Networks

Statement dc:rights

• In Copyright

Licence dc:rights.uri

• http://rightsstatements.org/vocab/InC/1.0/

Dc Identifier Other

vt_gsexam:31303

OAI identifier oai:identifier

oai:vtechworks.lib.vt.edu:10919/103948