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Self-Consistency improves reasoning reliability through multi-sample aggregation, but incurs substantial inference cost. Adaptive self-consistency methods mitigate this issue by adjusting the sampling budget; however, they rely on…

We propose a robust approach for the registration of two sets of 3D points in the presence of a large amount of outliers. Our first contribution is to reformulate the registration problem using a Truncated Least Squares (TLS) cost that…

The Residual Congruent Subset (RCS) is a new method for finding outliers in the linear regression setting. Like many other outlier detection procedures, RCS searches for a subset which minimizes a criterion. The difference is that the new…

This paper considers the generic problem of dense alignment between two images, whether they be two frames of a video, two widely different views of a scene, two paintings depicting similar content, etc. Whereas each such task is typically…

We present an approach to solving hard geometric optimization problems in the RANSAC framework. The hard minimal problems arise from relaxing the original geometric optimization problem into a minimal problem with many spurious solutions.…

Automatic calibration of multi-camera systems, namely the accurate estimation of spatial extrinsic parameters, is fundamental for 3D reconstruction, panoramic perception, and multi-view data fusion. Existing methods typically rely on…

Real-time magnetic resonance imaging (MRI) methods generally shorten the measuring time by acquiring less data than needed according to the sampling theorem. In order to obtain a proper image from such undersampled data, the reconstruction…

With the development of machine learning and Big Data, the concepts of linear and non-linear optimization techniques are becoming increasingly valuable for many quantitative disciplines. Problems of that nature are typically solved using…

We consider the estimation of some parameter $\mathbf{x}$ living in a cone from the nonlinear observations of the form $\{y_i=f_i(\langle\mathbf{a}_i,\mathbf{x}\rangle)\}_{i=1}^m$. We develop a unified approach that first constructs a…

Diffusion models can generate a variety of high-quality images by modeling complex data distributions. Trained diffusion models can also be very effective image priors for solving inverse problems. Most of the existing diffusion-based…

We address rotation averaging (RA) and its application to real-world 3D reconstruction. Local optimisation based approaches are the de facto choice, though they only guarantee a local optimum. Global optimisers ensure global optimality in…

We consider the problem of aggregating predictions or measurements from a set of human forecasters, models, sensors or other instruments which may be subject to bias or miscalibration and random heteroscedastic noise. We propose a Bayesian…

This paper deals with robust regression and subspace estimation and more precisely with the problem of minimizing a saturated loss function. In particular, we focus on computational complexity issues and show that an exact algorithm with…

Homography estimation is a basic image alignment method in many applications. It is usually conducted by extracting and matching sparse feature points, which are error-prone in low-light and low-texture images. On the other hand, previous…

In previous work, we introduced a 2D localization algorithm called CLAP, Clustering to Localize Across $n$ Possibilities, which was used during our championship win in RoboCup 2024, an international autonomous humanoid soccer competition.…

We propose methods for estimating correspondence between two point sets under the presence of outliers in both the source and target sets. The proposed algorithms expand upon the theory of the regression without correspondence problem to…

Image-based localization, or camera relocalization, is a fundamental problem in computer vision and robotics, and it refers to estimating camera pose from an image. Recent state-of-the-art approaches use learning based methods, such as…

This paper introduces the first minimal solvers that jointly estimate lens distortion and affine rectification from repetitions of rigidly transformed coplanar local features. The proposed solvers incorporate lens distortion into the camera…

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 paper aims to solve a fundamental problem in intensity-based 2D/3D registration, which concerns the limited capture range and need for very good initialization of state-of-the-art image registration methods. We propose a regression…