arXiv subjects

Lei Han

Publications and source records attributed to Lei Han.

129 records · Page 8Linked to original sources

arXiv2017

MILD: Multi-Index hashing for Loop closure Detection

Loop Closure Detection (LCD) has been proved to be extremely useful in global consistent visual Simultaneously Localization and Mapping (SLAM) and appearance-based robot relocalization. Methods exploiting binary features in bag of words representation have recently gained a lot of popularity for their efficiency, but suffer from low recall due to the inherent drawback that high dimensional binary feature descriptors lack well-defined centroids. In this paper, we propose a realtime LCD approach called MILD (Multi-Index Hashing for Loop closure Detection), in which image similarity is measured by feature matching directly to achieve high recall without introducing extra computational complexity with the aid of Multi-Index Hashing (MIH). A theoretical analysis of the approximate image similarity measurement using MIH is presented, which reveals the trade-off between efficiency and accuracy from a probabilistic perspective. Extensive comparisons with state-of-the-art LCD methods demonstrate the superiority of MILD in both efficiency and accuracy.

cs.CV↗

arXiv2016

Action2Activity: Recognizing Complex Activities from Sensor Data

As compared to simple actions, activities are much more complex, but semantically consistent with a human's real life. Techniques for action recognition from sensor generated data are mature. However, there has been relatively little work on bridging the gap between actions and activities. To this end, this paper presents a novel approach for complex activity recognition comprising of two components. The first component is temporal pattern mining, which provides a mid-level feature representation for activities, encodes temporal relatedness among actions, and captures the intrinsic properties of activities. The second component is adaptive Multi-Task Learning, which captures relatedness among activities and selects discriminant features. Extensive experiments on a real-world dataset demonstrate the effectiveness of our work.

cs.CV↗

arXiv2015

Structure Group and Fermion-Mass-Term in General Nonlocality

In our previous work [J. Math. Phys. 49, 033513 (2008)] two problems remain to be resolved. One is that we lack a minimal group to replace GL(4,C), the other is that the Equation of Motion (EoM) for fermion has no mass term. After careful investigation we find these two problems are linked by conformal group, a subgroup of GL(4,C) group. The Weyl group, a subgroup of conformal group, can bring about the running of mass, charge etc. while making it responsible for the transformation of interaction vertex. However, once concerning the generation of the mass term in EoM, we have to resort to the whole conformal group, in which the generators $K_μ$ play a crucial role in making vacuum vary from space-like (or light-cone-like)to time-like. Physically the starting points are our previous conclusion, $\vec E^2-\vec B^2\neq 0$ for massive bosons, and the two-photon process yielding $e^+ e^-$ pair. Finally we get to the conclusion that the mass term of strong interaction is linearly relevant to (chromo-)magnetic flux as well as angular momentum.

physics.gen-ph↗