We present two algorithms for the Group Mutual Exclusion (GME) Problem that satisfy the properties of Mutual Exclusion, Starvation Freedom, Bounded Exit, Concurrent Entry and First Come First Served. Both our algorithms use only simple read and write instructions, have O(N) Shared Space complexity and O(N) Remote Memory Reference (RMR) complexity in the Cache Coherency (CC) model. Our first algorithm is developed by generalizing the well-known Lamport's Bakery Algorithm for the classical mutual exclusion problem, while preserving its simplicity and elegance. However, it uses unbounded shared registers. Our second algorithm uses only bounded registers and is developed by generalizing Taubenfeld's Black and White Bakery Algorithm to solve the classical mutual exclusion problem using only bounded shared registers. We show that contrary to common perception our algorithms are the first to achieve these properties with these combination of complexities.
Joung's original algorithm for the GME problem satisfies the four basic properties. It does not satisfy the FCFS property. Moreover, it has unbounded RMR complexity. Hadzilacos (see @cite_6 ) gave the first solution for the GME problem that has the FCFS property. His algorithm can be thought of as a modular composition of two independent algorithms, one, the FCFS algorithm'' provides FCFS property (but not necessarily guarantee mutual exclusion) and the other, the ME algorithm'' provides mutual exclusion property (but not necessarily FCFS). This algorithm has shared space complexity of @math . It was (mistakenly in hindsight) claimed that the algorithm has RMR complexity of @math in the CC model. The algorithm was using only bounded shared variables and simple read and write operations. It was left as an open problem to develop a solution (satisfying P1 through P5) for the GME problem that runs in linear time and space using only bounded shared variables.
@cite_6
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In the group mutual exclusion problem [6], which generalizes mutual exclusion [2], a process chooses a session when it requests entry to the Critical Section. A group mutual exclusion algorithm must ensure that the mutual exclusion property holds: If two processes are in the Critical Section at the same time, then they request the same session. In addition to mutual exclusion, lockout freedom, bounded exit and concurrent entering are basic properties that are desirable in any group mutual exclusion algorithm.Hadzilacos in [4] first introduced a fairness condition, called first-come-first-served (FCFS), for group mutual exclusion. The only known FCFS group mutual exclusion algorithm is due to Hadzilacos [4], and requires Θ(N2) bounded shared registers, where N is the number of processes. We present a FCFS group mutual exclusion algorithm that uses only Θ(N) bounded shared registers. (The existence of such an algorithm was posed as an open problem by Hadzilacos.)Next, we demonstrate that the FCFS property does not fully capture our intuitive notion of fairness. We therefore propose an additional fairness property, called first-in-first-enabled (FIFE). Finally, we present a reduction that transforms any "abortable" FCFS mutual exclusion algorithm M into a group mutual exclusion algorithm G. Thus, different group mutual exclusion algorithms can be obtained by instantiating M with different abortable FCFS mutual exclusion algorithms. The group mutual exclusion algorithms so obtained satisfy all of the properties mentioned above: mutual exclusion, lockout freedom, bounded exit, concurrent entering, FCFS, and FIFE. Group mutual exclusion is an interesting generalization of the mutual exclusion problem. This problem was introduced by Joung, and some algorithms for the problem have been proposed by incorporating mutual exclusion algorithms. Group mutual exclusion occurs naturally in a situation where a resource can be shared by processes of the same group, but not by processes of different groups. It is also called the congenial talking philosophers problem. In this paper we propose three algorithms based on ticket orders for the group mutual exclusion problem in the asynchronous shared memory model. The first algorithm is a simple modification of the Bakery algorithm. It satisfies group mutual exclusion, but does not satisfy lockout freedom. The second and the third algorithms are further modifications from the first one in order to satisfy lockout freedom and to improve the concurrency performance. They use single-writer shared variables, together with two multi-writer shared variables that are never concurrently written. The third algorithm has another desirable property, called smooth admission. By this property, during the period that the resource is occupied by the leader, a process wishing to join the same group as the leader's group can be granted use of the resource in constant time. Group mutual exclusion is a natural problem, formulated by Joung in 1998, that generalises the classical mutual exclusion problem. In group mutual exclusion a process requests a “session” before entering its critical section; processes are allowed to be in the critical section simultaneously provided they have requested the same session. To rule out solutions that cause processes to delay each other even when they all request the same session, group mutual exclusion algorithms must satisfy a property called “concurrent entering”. Joung stated this property only informally. Keane and Moir later gave a precise statement of this property and devised a simple group mutual exclusion algorithm that satisfies it. We argue that Keane and Moir's formulation is not quite as strong as the property Joung described informally. We propose a new precise and simple formulation of concurrent entering that is stronger than Keane and Moir's and properly captures Joung's intention. Keane and Moir's algorithm does not satisfy this stronger property, while Joung's original algorithm does. We present another algorithm that satisfies this stronger property and has some advantages over Joung's. This paper concerns the worst-case complexity of Gauss-Seidel method for solving a positive semi-definite linear system; or equivalently, that of cyclic coordinate descent (C-CD) for minimizing a convex quadratic function. The known provable complexity of C-CD can be @math times slower than gradient descent (GD) and @math times slower than randomized coordinate descent (R-CD). However, these gaps seem rather puzzling since so far they have not been observed in practice; in fact, C-CD usually converges much faster than GD and sometimes comparable to R-CD. Thus some researchers believe the gaps are due to the weakness of the proof, but not that of the C-CD algorithm itself. In this paper we show that the gaps indeed exist. We prove that there exists an example for which C-CD takes at least @math or @math operations, where @math is the condition number, @math is a well-studied quantity that determines the convergence rate of R-CD, and @math hides the dependency on @math . This implies that C-CD can indeed be @math times slower than GD, and @math times slower than R-CD in the worst case. Our result establishes one of the few examples in continuous optimization that demonstrates a large gap between a deterministic algorithm and its randomized counterpart. Based on the example, we establish several almost tight complexity bounds of C-CD for quadratic problems. One difficulty with the analysis of the constructed example is that the spectral radius of a non-symmetric iteration matrix does not necessarily constitutes a lower bound for the convergence rate. We present a Fourier continuation (FC) algorithm for the solution of the fully nonlinear compressible Navier-Stokes equations in general spatial domains. The new scheme is based on the recently introduced accelerated FC method, which enables use of highly accurate Fourier expansions as the main building block of general-domain PDE solvers. Previous FC-based PDE solvers are restricted to linear scalar equations with constant coefficients. The FC methodology presented in this text thus constitutes a significant generalization of the previous FC schemes, as it yields general-domain FC solvers for nonlinear systems of PDEs. While not restricted to periodic boundary conditions and therefore applicable to general boundary value problems on arbitrary domains, the proposed algorithm inherits many of the highly desirable properties arising from rapidly convergent Fourier expansions, including high-order convergence, essentially spectrally accurate dispersion relations, and much milder CFL constraints than those imposed by polynomial-based spectral methods-since, for example, the spectral radius of the FC first derivative grows linearly with the number of spatial discretization points. We demonstrate the accuracy and optimal parallel efficiency of the algorithm in a variety of scientific and engineering contexts relevant to fluid-dynamics and nonlinear acoustics. Graph matching (GM) is a fundamental problem in computer science, and it has been successfully applied to many problems in computer vision. Although widely used, existing GM algorithms cannot incorporate global consistence among nodes, which is a natural constraint in computer vision problems. This paper proposes deformable graph matching (DGM), an extension of GM for matching graphs subject to global rigid and non-rigid geometric constraints. The key idea of this work is a new factorization of the pair-wise affinity matrix. This factorization decouples the affinity matrix into the local structure of each graph and the pair-wise affinity edges. Besides the ability to incorporate global geometric transformations, this factorization offers three more benefits. First, there is no need to compute the costly (in space and time) pair-wise affinity matrix. Second, it provides a unified view of many GM methods and extends the standard iterative closest point algorithm. Third, it allows to use the path-following optimization algorithm that leads to improved optimization strategies and matching performance. Experimental results on synthetic and real databases illustrate how DGM outperforms state-of-the-art algorithms for GM. The code is available at http: humansensing.cs.cmu.edu fgm. The problem of graph matching (GM) in general is nondeterministic polynomial-complete and many approximate pairwise matching techniques have been proposed. For a general setting in real applications, it typically requires to find the consistent matching across a batch of graphs. Sequentially performing pairwise matching is prone to error propagation along the pairwise matching sequence, and the sequences generated in different pairwise matching orders can lead to contradictory solutions. Motivated by devising a robust and consistent multiple-GM model, we propose a unified alternating optimization framework for multi-GM. In addition, we define and use two metrics related to graphwise and pairwise consistencies. The former is used to find an appropriate reference graph, which induces a set of basis variables and launches the iteration procedure. The latter defines the order in which the considered graphs in the iterations are manipulated. We show two embodiments under the proposed framework that can cope with the nonfactorized and factorized affinity matrix, respectively. Our multi-GM model has two major characters: 1) the affinity information across multiple graphs are explored in each iteration by fixing part of the matching variables via a consistency-driven mechanism and 2) the framework is flexible to incorporate various existing pairwise GM solvers in an out-of-box fashion, and also can proceed with the output of other multi-GM methods. The experimental results on both synthetic data and real images empirically show that the proposed framework performs competitively with the state-of-the-art. In this paper we present a novel probabilistic sampling-based motion planning algorithm called the Fast Marching Tree algorithm FMT*. The algorithm is specifically aimed at solving complex motion planning problems in high-dimensional configuration spaces. This algorithm is proven to be asymptotically optimal and is shown to converge to an optimal solution faster than its state-of-the-art counterparts, chiefly PRM* and RRT*. The FMT* algorithm performs a 'lazy' dynamic programming recursion on a predetermined number of probabilistically drawn samples to grow a tree of paths, which moves steadily outward in cost-to-arrive space. As such, this algorithm combines features of both single-query algorithms chiefly RRT and multiple-query algorithms chiefly PRM, and is reminiscent of the Fast Marching Method for the solution of Eikonal equations. As a departure from previous analysis approaches that are based on the notion of almost sure convergence, the FMT* algorithm is analyzed under the notion of convergence in probability: the extra mathematical flexibility of this approach allows for convergence rate bounds-the first in the field of optimal sampling-based motion planning. Specifically, for a certain selection of tuning parameters and configuration spaces, we obtain a convergence rate bound of order On −1 d+? , where n is the number of sampled points, d is the dimension of the configuration space, and ? is an arbitrarily small constant. We go on to demonstrate asymptotic optimality for a number of variations on FMT*, namely when the configuration space is sampled non-uniformly, when the cost is not arc length, and when connections are made based on the number of nearest neighbors instead of a fixed connection radius. Numerical experiments over a range of dimensions and obstacle configurations confirm our theoretical and heuristic arguments by showing that FMT*, for a given execution time, returns substantially better solutions than either PRM* or RRT*, especially in high-dimensional configuration spaces and in scenarios where collision-checking is expensive. In 1999 Kannan, Tet ali and Vempala proposed a MCMC method to uniformly sample all possible realizations of a given graphical degree sequence and conjectured its rapidly mixing nature. Recently their conjecture was proved affirmative for regular graphs (by Cooper, Dyer and Greenhill, 2007), for regular directed graphs (by Greenhill, 2011) and for half-regular bipartite graphs (by Miklos, Erdős and Soukup, 2013). Several heuristics on counting the number of possible realizations exist (via sampling processes), and while they work well in practice, so far no approximation guarantees exist for such an approach. This paper is the first to develop a method for counting realizations with provable approximation guarantee. In fact, we solve a slightly more general problem; besides the graphical degree sequence a small set of forbidden edges is also given. We show that for the general problem (which contains the Greenhill problem and the Miklos, Erdős and Soukup problem as special cases) the derived MCMC process is rapidly mixing. Further, we show that this new problem is self-reducible therefore it provides a fully polynomial randomized approximation scheme (a.k.a. FPRAS) for counting of all realizations. A hierarchical Bayes Gaussian Mixture Model (HBGMM) with adaptive sparsity is proposed.We impose our hierarchical Bayes prior on the entries of precision matrices in GMM to encourage sparsity.Our adaptive sparsity can reduce the dimensionality of the parameters in GMM to be estimated.Our HBGMM method does not involve any hyperparameters to be estimated, i.e., it is hyperparameter-free. Gaussian Mixture Model (GMM) has been widely used in statistics for its great flexibility. However, parameter estimation for GMM with high dimensionality is a challenge because of the large number of parameters and the lack of observation data. In this paper, we propose an effective method named hierarchical Bayes based Adaptive Sparsity in Gaussian Mixture Model (ASGMM) to estimate the parameters in a GMM by incorporating a two-layer hierarchical Bayes based adaptive sparsity prior. The prior we impose on the precision matrices can encourage sparsity and hence reduce the dimensionality of the parameters to be estimated. In contrast to the l 1 -norm penalty or Laplace prior, our approach does not involve any hyperparameters that must be tuned, and the sparsity adapts to the observation data. The proposed method is achieved by three steps: first, we formulate an adaptive hierarchical Bayes model of the precision matrices in the GMM with a Jeffrey's noninformative hyperprior, which expresses scale-invariance and, more importantly, is hyperparameter-free and unbiased. Second, we perform a Cholesky decomposition on the precision matrices to impose the positive definite property. Finally, we exploit the expectation maximization (EM) algorithm to obtain the final estimated parameters in the GMM. Experimental results on synthetic and real-world datasets demonstrate that ASGMM cannot only adapt the sparsity of high-dimensional data with small estimated error, but also achieve better clustering performance comparing with several classical methods. Recovering low-rank and sparse matrices from incomplete or corrupted observations is an important problem in statistics, machine learning, computer vision, as well as signal and image processing. In theory, this problem can be solved by the natural convex joint mixed relaxations (i.e., l 1 -norm and trace norm) under certain conditions. However, all current provable algorithms suffer from superlinear per-iteration cost, which severely limits their applicability to large-scale problems. In this paper, we propose a scalable, provable and structured robust bilinear factorization (RBF) method to recover low-rank and sparse matrices from missing and grossly corrupted data, i.e., robust matrix completion (RMC), or incomplete and grossly corrupted measurements, i.e., compressive principal component pursuit (CPCP). Specifically, we first present two small-scale matrix trace norm regularized bilinear factorization models for RMC and CPCP problems, in which repetitively calculating SVD of a large-scale matrix is replaced by updating two much smaller factor matrices. Then, we apply the alternating direction method of multipliers (ADMM) to efficiently solve the RMC problems. Finally, we provide the convergence analysis of our algorithm, and extend it to address general CPCP problems. Experimental results verified both the efficiency and effectiveness of our method compared with the state-of-the-art methods. The multi-armed bandit (MAB) problem features the classical tradeoff between exploration and exploitation. The input specifies several stochastic arms which evolve with each pull, and the goal is to maximize the expected reward after a fixed budget of pulls. The celebrated work of , surveyed in [8], presumes a condition on the arms called the martingale assumption. In [9], A. obtained an LP-based 1 48-approximation for the problem with the martingale assumption removed. We improve the algorithm to a 4 27-approximation, with simpler analysis. Our algorithm also generalizes to the case of MAB superprocesses with (stochastic) multi-period actions. This generalization captures the framework introduced by Guha and Munagala in [11], and yields new results for their budgeted learning problems. Also, we obtain a (1 2 -- e)-approximation for the variant of MAB where preemption (playing an arm, switching to another arm, then coming back to the first arm) is not allowed. This contains the stochastic knapsack problem of Dean, Goemans, and Vondrak in [6] with correlated rewards, where we are given a knapsack of fixed size, and a set of jobs each with a joint distribution for its size and reward. The actual size and reward of a job can only be discovered in real-time as it is being scheduled, and the objective is to maximize expected reward before the knapsack size is exhausted. Our (1 2 -- e)-approximation improves the 1 16 and 1 8 approximations in [9] for correlated stochastic knapsack with cancellation and no cancellation, respectively, providing to our knowledge the first tight algorithm for these problems that matches the integrality gap of 2. We sample probabilities from an exponential-sized dynamic programming solution, whose existence is guaranteed by an LP projection argument. We hope this technique can also be applied to other dynamic programming problems which can be projected down onto a small LP. We study the problem of fair allocation for indivisible goods. We use the the maxmin share paradigm introduced by Budish as a measure for fairness. Procacciafirst (EC'14) were first to investigate this fundamental problem in the additive setting. In contrast to what real-world experiments suggest, they show that a maxmin guarantee (1- @math allocation) is not always possible even when the number of agents is limited to 3. While the existence of an approximation solution (e.g. a @math - @math allocation) is quite straightforward, improving the guarantee becomes subtler for larger constants. Procaccia provide a proof for existence of a @math - @math allocation and leave the question open for better guarantees. Our main contribution is an answer to the above question. We improve the result of ! to a @math factor in the additive setting. The main idea for our @math - @math allocation method is clustering the agents. To this end, we introduce three notions and techniques, namely reducibility, matching allocation, and cycle-envy-freeness, and prove the approximation guarantee of our algorithm via non-trivial applications of these techniques. Our analysis involves coloring and double counting arguments that might be of independent interest. One major shortcoming of the current studies on fair allocation is the additivity assumption on the valuations. We alleviate this by extending our results to the case of submodular, fractionally subadditive, and subadditive settings. More precisely, we give constant approximation guarantees for submodular and XOS agents, and a logarithmic approximation for the case of subadditive agents. Furthermore, we complement our results by providing close upper bounds for each class of valuation functions. Finally, we present algorithms to find such allocations for additive, submodular, and XOS settings in polynomial time. Generative moment matching network (GMMN) is a deep generative model that differs from Generative Adversarial Network (GAN) by replacing the discriminator in GAN with a two-sample test based on kernel maximum mean discrepancy (MMD). Although some theoretical guarantees of MMD have been studied, the empirical performance of GMMN is still not as competitive as that of GAN on challenging and large benchmark datasets. The computational efficiency of GMMN is also less desirable in comparison with GAN, partially due to its requirement for a rather large batch size during the training. In this paper, we propose to improve both the model expressiveness of GMMN and its computational efficiency by introducing adversarial kernel learning techniques, as the replacement of a fixed Gaussian kernel in the original GMMN. The new approach combines the key ideas in both GMMN and GAN, hence we name it MMD-GAN. The new distance measure in MMD-GAN is a meaningful loss that enjoys the advantage of weak @math topology and can be optimized via gradient descent with relatively small batch sizes. In our evaluation on multiple benchmark datasets, including MNIST, CIFAR-10, CelebA and LSUN, the performance of MMD-GAN significantly outperforms GMMN, and is competitive with other representative GAN works. The paper introduces the sweeping preconditioner, which is highly efficient for iterative solutions of the variable-coefficient Helmholtz equation including very-high-frequency problems. The first central idea of this novel approach is to construct an approximate factorization of the discretized Helmholtz equation by sweeping the domain layer by layer, starting from an absorbing layer or boundary condition. Given this specific order of factorization, the second central idea is to represent the intermediate matrices in the hierarchical matrix framework. In two dimensions, both the construction and the application of the preconditioners are of linear complexity. The generalized minimal residual method (GMRES) solver with the resulting preconditioner converges in an amazingly small number of iterations, which is essentially independent of the number of unknowns. This approach is also extended to the three-dimensional case with some success. Numerical results are provided in both two and three dimensions to demonstrate the efficiency of this new approach. We consider the problem of optimizing multilabel MRFs, which is in general NP-hard and ubiquitous in low-level computer vision. One approach for its solution is to formulate it as an integer linear programming and relax the integrality constraints. The approach we consider in this paper is to first convert the multi-label MRF into an equivalent binary-label MRF and then to relax it. The resulting relaxation can be efficiently solved using a maximum flow algorithm. Its solution provides us with a partially optimal labelling of the binary variables. This partial labelling is then easily transferred to the multi-label problem. We study the theoretical properties of the new relaxation and compare it with the standard one. Specifically, we compare tightness, and characterize a subclass of problems where the two relaxations coincide. We propose several combined algorithms based on the technique and demonstrate their performance on challenging computer vision problems. We present a simple distributed @math -approximation algorithm for maximum weight independent set (MaxIS) in the @math model which completes in @math rounds, where @math is the maximum degree, @math is the number of rounds needed to compute a maximal independent set (MIS) on @math , and @math is the maximum weight of a node. Whether our algorithm is randomized or deterministic depends on the MIS algorithm used as a black-box. Plugging in the best known algorithm for MIS gives a randomized solution in @math rounds, where @math is the number of nodes. We also present a deterministic @math -round algorithm based on coloring. We then show how to use our MaxIS approximation algorithms to compute a @math -approximation for maximum weight matching without incurring any additional round penalty in the @math model. We use a known reduction for simulating algorithms on the line graph while incurring congestion, but we show our algorithm is part of a broad family of for which we describe a mechanism that allows the simulation to run in the @math model without an additional overhead. Next, we show that for maximum weight matching, relaxing the approximation factor to ( @math ) allows us to devise a distributed algorithm requiring @math rounds for any constant @math . For the unweighted case, we can even obtain a @math -approximation in this number of rounds. These algorithms are the first to achieve the provably optimal round complexity with respect to dependency on @math . This paper introduces a parallel and distributed algorithm for solving the following minimization problem with linear constraints: @math minimizef1(x1)+ź+fN(xN)subject toA1x1+ź+ANxN=c,x1źX1,ź,xNźXN,where @math Nź2, @math fi are convex functions, @math Ai are matrices, and @math Xi are feasible sets for variable @math xi. Our algorithm extends the alternating direction method of multipliers (ADMM) and decomposes the original problem into N smaller subproblems and solves them in parallel at each iteration. This paper shows that the classic ADMM can be extended to the N-block Jacobi fashion and preserve convergence in the following two cases: (i) matrices @math Ai are mutually near-orthogonal and have full column-rank, or (ii) proximal terms are added to the N subproblems (but without any assumption on matrices @math Ai). In the latter case, certain proximal terms can let the subproblem be solved in more flexible and efficient ways. We show that @math źxk+1-xkźM2 converges at a rate of o(1 k) where M is a symmetric positive semi-definte matrix. Since the parameters used in the convergence analysis are conservative, we introduce a strategy for automatically tuning the parameters to substantially accelerate our algorithm in practice. We implemented our algorithm (for the case ii above) on Amazon EC2 and tested it on basis pursuit problems with >300 GB of distributed data. This is the first time that successfully solving a compressive sensing problem of such a large scale is reported. The thesis describes a new method for obtaining minimizers for optimal control problems whose minima serve as control policies for guiding nonlinear dynamical systems to achieve prescribed goals under imposed trajectory and actuator constraints. One of the major contributions of the present work resides in the approximation of such minimizers by piecewise polynomial functions expressed in terms of a linear combination of non-uniform rational B-spline (NURBS) basis functions and the judicious exploitation of the properties of the resulting NURBS curves to improve the computational effort often associated with solving optimal control problems for constrained dynamical systems. In particular, by exploiting the two structures combined in a NURBS curve, NURBS basis functions and an associated union of overlapping polytopes constructed from the coefficients of the linear combination, we are able to separate an optimal control problem into two subproblems | guidance and obstacle avoidance, making the original problem tractable. This is accomplished by laying out the union of overlapping polytopes in such a way that they delineate a section of space that avoids all obstacles and then manipulating the NURBS basis functions to obtain trajectories that are guaranteed to remain bounded by this section of space without explicitly including the conjunction of disjunctions naturally induced from obstacles into the guidance problem. In addition, we show how one can construct systematically a feasible region that corresponds to a NURBS parameterization starting from an ordered union of pairwise adjacently overlapping nonempty compact convex sets. Specifically, we show how to setup a nonlinear programming problem to solve for the feasible region in terms of an ordered union of pairwise adjacently overlapping polytopes with nonempty interiors by maximizing the sum of their volumes and starting from a feasible region described by an ordered union of pairwise adjacently overlapping nonempty convex compact simi-algebraic sets. Finally, we show how this strategy can be implemented practically for an autonomous system traversing an urban environment. Finally, this work culminated in the filing of patent US20070179685 on behalf of Northrop Grumman for the Space Technology sector and in the development of the NURBS-based OTG software package. This C++ package contains the theoretical results of this thesis in the form of an object-oriented implementation optimized for real-time trajectory generation. This paper describes a probabilistic generative model and its associated algorithm to jointly register multiple point sets. The vast majority of state-of-the-art registration techniques select one of the sets as the “model” and perform pairwise alignments between the other sets and this set. The main drawback of this mode of operation is that there is no guarantee that the model-set is free of noise and outliers, which contaminates the estimation of the registration parameters. Unlike previous work, the proposed method treats all the point sets on an equal footing: they are realizations of a Gaussian mixture (GMM) and the registration is cast into a clustering problem. We formally derive an EM algorithm that estimates both the GMM parameters and the rotations and translations that map each individual set onto the “central” model. The mixture means play the role of the registered set of points while the variances provide rich information about the quality of the registration. We thoroughly validate the proposed method with challenging datasets, we compare it with several state-of-the-art methods, and we show its potential for fusing real depth data.