DeepAI
Log In Sign Up

Unsupervised Learning for Subterranean Junction Recognition Based on 2D Point Cloud

06/07/2020
by   Sina Sharif Mansouri, et al.
0

This article proposes a novel unsupervised learning framework for detecting the number of tunnel junctions in subterranean environments based on acquired 2D point clouds. The implementation of the framework provides valuable information for high level mission planners to navigate an aerial platform in unknown areas or robot homing missions. The framework utilizes spectral clustering, which is capable of uncovering hidden structures from connected data points lying on non-linear manifolds. The spectral clustering algorithm computes a spectral embedding of the original 2D point cloud by utilizing the eigen decomposition of a matrix that is derived from the pairwise similarities of these points. We validate the developed framework using multiple data-sets, collected from multiple realistic simulations, as well as from real flights in underground environments, demonstrating the performance and merits of the proposed methodology.

READ FULL TEXT

page 2

page 5

07/04/2012

Unsupervised spectral learning

In spectral clustering and spectral image segmentation, the data is part...
03/01/2021

The Mathematics Behind Spectral Clustering And The Equivalence To PCA

Spectral clustering is a popular algorithm that clusters points using th...
04/07/2017

Fast Spectral Clustering Using Autoencoders and Landmarks

In this paper, we introduce an algorithm for performing spectral cluster...
08/08/2015

A variational approach to the consistency of spectral clustering

This paper establishes the consistency of spectral approaches to data cl...
10/06/2022

Data Augmentation-free Unsupervised Learning for 3D Point Cloud Understanding

Unsupervised learning on 3D point clouds has undergone a rapid evolution...
06/01/2016

Finding Singular Features

We present a method for finding high density, low-dimensional structures...
01/29/2019

Approximating Spectral Clustering via Sampling: a Review

Spectral clustering refers to a family of unsupervised learning algorith...