Related papers: Go-ICP: A Globally Optimal Solution to 3D ICP Poin…

A novel minutia-based fingerprint matching algorithm is proposed that employs iterative global alignment on two minutia sets. The matcher considers all possible minutia pairings and iteratively aligns the two sets until the number of…

In this paper we present a novel joint approach for optimising surface curvature and pose alignment. We present two implementations of this joint optimisation strategy, including a fast implementation that uses two frames and an offline…

We present a novel, effective method for global point cloud registration problems by geometric topology. Based on many point cloud pairwise registration methods (e.g ICP), we focus on the problem of accumulated error for the composition of…

We prove the existence of an algorithm $A$ for computing 2-d or 3-d convex hulls that is optimal for every point set in the following sense: for every sequence $\sigma$ of $n$ points and for every algorithm $A'$ in a certain class…

In this paper, we propose a novel minimum gravitational potential energy (MPE)-based algorithm for global point set registration. The feature descriptors extraction algorithms have emerged as the standard approach to align point sets in the…

In this paper we present a novel numerical method for computing local minimizers of twice smooth differentiable non-linear programming (NLP) problems. So far all algorithms for NLP are based on either of the following three principles:…

The Continuous p-Dispersion Problem (CpDP) with boundary constraints asks for the placement of a fixed number of points in a compact subset of Euclidean space such that the minimum distance between any two points, as well as the points and…

This study presents a novel workflow designed to efficiently and accurately register large-scale mobile laser scanning (MLS) point clouds to a target model point cloud in urban street scenarios. This workflow specifically targets the…

This paper presents a fault-tolerant 3D vision system for autonomous robotic operation. In particular, pose estimation of space objects is achieved using 3D vision data in an integrated Kalman filter (KF) and an Iterative Closest Point…

Many optimization algorithms converge to stationary points. When the underlying problem is nonconvex, they may get trapped at local minimizers and occasionally stagnate near saddle points. We propose the Run-and-Inspect Method, which adds…

As a fundamental yet challenging problem in intelligent transportation systems, point cloud registration attracts vast attention and has been attained with various deep learning-based algorithms. The unsupervised registration algorithms…

In this paper, a statistically optimal solution to the Perspective-n-Point (PnP) problem is presented. Many solutions to the PnP problem are geometrically optimal, but do not consider the uncertainties of the observations. In addition, it…

Estimating pose from given 3D correspondences, including point-to-point, point-to-line and point-to-plane correspondences, is a fundamental task in computer vision with many applications. We present a complete solution for this task,…

Point cloud registration plays a crucial role in various fields, including robotics, computer graphics, and medical imaging. This process involves determining spatial relationships between different sets of points, typically within a 3D…

For utilizing autonomous vehicle in urban areas a reliable localization is needed. Especially when HD maps are used, a precise and repeatable method has to be chosen. Therefore accurate map generation but also re-localization against these…

Robust point cloud registration in real-time is an important prerequisite for many mapping and localization algorithms. Traditional methods like ICP tend to fail without good initialization, insufficient overlap or in the presence of…

Grasping is essential in robotic manipulation, yet challenging due to object and gripper diversity and real-world complexities. Traditional analytic approaches often have long optimization times, while data-driven methods struggle with…

Recent robotic manipulation competitions have highlighted that sophisticated robots still struggle to achieve fast and reliable perception of task-relevant objects in complex, realistic scenarios. To improve these systems' perceptive speed…

This paper introduces a novel Differential Dynamic Programming (DDP) algorithm for solving discrete-time finite-horizon optimal control problems with inequality constraints. Two variants, namely Feasible- and Infeasible-IPDDP algorithms,…

In this article, a novel approach for merging 3D point cloud maps in the context of egocentric multi-robot exploration is presented. Unlike traditional methods, the proposed approach leverages state-of-the-art place recognition and learned…