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1. SE3ET: SE(3)-Equivariant Transformer for Low-Overlap Point Cloud Registration

   https://doi.org/10.1109/LRA.2024.3436335  

   Lin, Chien Erh; Zhu, Minghan; Ghaffari, Maani (November 2024, IEEE Robotics and Automation Letters)

   Partial point cloud registration is a challenging problem in robotics, especially when the robot undergoes a large transformation, causing a significant initial pose error and a low overlap between measurements. This letter proposes exploiting equivariant learning from 3D point clouds to improve registration robustness. We propose SE3ET, an SE(3)-equivariant registration framework that employs equivariant point convolution and equivariant transformer designs to learn expressive and robust geometric features. We tested the proposed registration method on indoor and outdoor benchmarks where the point clouds are under arbitrary transformations and lowoverlapping ratios.We also provide generalization tests and run-time performance. 

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2. Scaling-Translation-Equivariant Networks with Decomposed Convolutional Filters

   Zhu, Wei; Qiu, Qiang; Calderbank, Robert; Sapiro, Guillermo; Cheng, Xiuyuan (April 2022, Journal of machine learning research)

   Encoding the scale information explicitly into the representation learned by a convolutional neural network (CNN) is beneficial for many computer vision tasks especially when dealing with multiscale inputs. We study, in this paper, a scaling-translation-equivariant (ST-equivariant) CNN with joint convolutions across the space and the scaling group, which is shown to be both sufficient and necessary to achieve equivariance for the regular representation of the scaling-translation group ST. To reduce the model complexity and computational burden, we decompose the convolutional filters under two pre-fixed separable bases and truncate the expansion to low-frequency components. A further benefit of the truncated filter expansion is the improved deformation robustness of the equivariant representation, a property which is theoretically analyzed and empirically verified. Numerical experiments demonstrate that the proposed scaling-translation-equivariant network with decomposed convolutional filters (ScDCFNet) achieves significantly improved performance in multiscale image classification and better interpretability than regular CNNs at a reduced model size. 

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3. Group Equivariant Sparse Coding

   Shewmake, Christian; Miolane, Nina; Olshausen, Bruno (March 2023, Springer, Proceedings of the conference on Geometric Science of Information)

   We describe a sparse coding model of visual cortex that encodes image transformations in an equivariant and hierarchical manner. The model consists of a group-equivariant convolutional layer with internal recurrent connections that implement sparse coding through neural population attractor dynamics, consistent with the architecture of visual cortex. The layers can be stacked hierarchically by introducing recurrent connections between them. The hierarchical structure enables rich bottom-up and top-down information flows, hypothesized to underlie the visual system’s ability for perceptual inference. The model’s equivariant representations are demonstrated on time-varying visual scenes. 

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4. Deformation Robust Roto-Scale-Translation Equivariant CNNs

   Mars Gao, L; Lin, Guang; Zhu, Wei (July 2022, Transactions on machine learning research)

   Incorporating group symmetry directly into the learning process has proved to be an effective guideline for model design. By producing features that are guaranteed to transform covariantly to the group actions on the inputs, group-equivariant convolutional neural networks (G-CNNs) achieve significantly improved generalization performance in learning tasks with intrinsic symmetry. General theory and practical implementation of G-CNNs have been studied for planar images under either rotation or scaling transformation, but only individually. We present, in this paper, a roto-scale-translation equivariant CNN (RST -CNN), that is guaranteed to achieve equivariance jointly over these three groups via coupled group convolutions. Moreover, as symmetry transformations in reality are rarely perfect and typically subject to input deformation, we provide a stability analysis of the equivariance of representation to input distortion, which motivates the truncated expansion of the convolutional filters under (pre-fixed) low-frequency spatial modes. The resulting model provably achieves deformation-robust RST equivariance, i.e., the RST symmetry is still “approximately” preserved when the transformation is “contaminated” by a nuisance data deformation, a property that is especially important for out-of-distribution generalization. Numerical experiments on MNIST, Fashion-MNIST, and STL-10 demonstrate that the proposed model yields remarkable gains over prior arts, especially in the small data regime where both rotation and scaling variations are present within the data. 

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5. Deformation Robust Roto-Scale-Translation Equivariant CNNs

   Gao, L.; Lin, G.; Zhu, W. (January 2022, Transactions on machine learning research)

   Incorporating group symmetry directly into the learning process has proved to be an effective guideline for model design. By producing features that are guaranteed to transform covariantly to the group actions on the inputs, group-equivariant convolutional neural net- works (G-CNNs) achieve significantly improved generalization performance in learning tasks with intrinsic symmetry. General theory and practical implementation of G-CNNs have been studied for planar images under either rotation or scaling transformation, but only individu- ally. We present, in this paper, a roto-scale-translation equivariant CNN (RST-CNN), that is guaranteed to achieve equivariance jointly over these three groups via coupled group con- volutions. Moreover, as symmetry transformations in reality are rarely perfect and typically subject to input deformation, we provide a stability analysis of the equivariance of representation to input distortion, which motivates the truncated expansion of the convolutional filters under (pre-fixed) low-frequency spatial modes. The resulting model provably achieves deformation-robust RS T equivariance, i.e., the RST symmetry is still “approximately” preserved when the transformation is “contaminated” by a nuisance data deformation, a property that is especially important for out-of-distribution generalization. Numerical experiments on MNIST, Fashion-MNIST, and STL-10 demonstrate that the proposed model yields remarkable gains over prior arts, especially in the small data regime where both rotation and scaling variations are present within the data. 

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