Related papers: Robust Structure from Motion in the Presence of Ou…
Low-frequency long-range errors (drift) are an endemic problem in 3D structure from motion, and can often hamper reasonable reconstructions of the scene. In this paper, we present a method to dramatically reduce scale and positional drift…
Imperfect data (noise, outliers and partial overlap) and high degrees of freedom make non-rigid registration a classical challenging problem in computer vision. Existing methods typically adopt the $\ell_{p}$ type robust estimator to…
Reconstructing a complete object from its parts is a fundamental problem in many scientific domains. The purpose of this article is to provide a systematic survey on this topic. The reassembly problem requires understanding the attributes…
Recovering 3D structure and camera motion from images has been a long-standing focus of computer vision research and is known as Structure-from-Motion (SfM). Solutions to this problem are categorized into incremental and global approaches.…
This paper is concerned with possibility of recovery of motion and structure parameters from multiframes under perspective projection when only points on a rigid body are traced. Free (unrestricted and uncontrolled) pattern of motion…
$3$D structure recovery from a collection of $2$D images requires the estimation of the camera locations and orientations, i.e. the camera motion. For large, irregular collections of images, existing methods for the location estimation…
Spatial perception is the backbone of many robotics applications, and spans a broad range of research problems, including localization and mapping, point cloud alignment, and relative pose estimation from camera images. Robust spatial…
A primary interest in dynamic inverse problems is to identify the underlying temporal behaviour of the system from outside measurements. In this work we consider the case, where the target can be represented by a decomposition of spatial…
Nonnegative Tucker Factorization (NTF) minimizes the euclidean distance or Kullback-Leibler divergence between the original data and its low-rank approximation which often suffers from grossly corruptions or outliers and the neglect of…
Outliers widely occur in big-data applications and may severely affect statistical estimation and inference. In this paper, a framework of outlier-resistant estimation is introduced to robustify an arbitrarily given loss function. It has a…
This work establishes a solution to the problem of assessing the capacity of multi-object assemblies to withstand external forces without becoming unstable. Our physically-grounded approach handles arbitrary structures made from rigid…
Functional logistic regression is a popular model to capture a linear relationship between binary response and functional predictor variables. However, many methods used for parameter estimation in functional logistic regression are…
Structure-from-Motion -- the process of simultaneously estimating camera poses and 3D scene structure from a collection of images -- remains a central challenge in computer vision, with many open problems yet to be solved. Recent advances…
We present a novel non-rigid reconstruction method using a moving RGB-D camera. Current approaches use only non-rigid part of the scene and completely ignore the rigid background. Non-rigid parts often lack sufficient geometric and…
In general, the problem of non-rigid registration is about matching two different scans of a dynamic object taken at two different points in time. These scans can undergo both rigid motions and non-rigid deformations. Since new parts of the…
In this paper, we present a robust and efficient Structure from Motion pipeline for accurate 3D reconstruction under challenging environments by leveraging the camera pose information from a visual-inertial odometry. Specifically, we…
Structure from Motion or the sparse 3D reconstruction out of individual photos is a long studied topic in computer vision. Yet none of the existing reconstruction pipelines fully addresses a progressive scenario where images are only…
Structure-from-Motion (SfM) aims to recover 3D scene structures and camera poses based on the correspondences between input images, and thus the ambiguity caused by duplicate structures (i.e., different structures with strong visual…
Motion planning and obstacle avoidance is a key challenge in robotics applications. While previous work succeeds to provide excellent solutions for known environments, sensor-based motion planning in new and dynamic environments remains…
Non-rigid structure-from-motion (NRSfM) has so far been mostly studied for recovering 3D structure of a single non-rigid/deforming object. To handle the real world challenging multiple deforming objects scenarios, existing methods either…