Related papers: Exact Camera Location Recovery by Least Unsquared …
Consider the task of locating an unknown target point using approximate distance queries: in each round, a reconstructor selects a query point and receives a noisy version of its distance to the target. This problem arises naturally in…
One-shot LiDAR localization refers to the ability to estimate the robot pose from one single point cloud, which yields significant advantages in initialization and relocalization processes. In the point cloud domain, the topic has been…
Aleatoric uncertainty is an intrinsic property of ill-posed inverse and imaging problems. Its quantification is vital for assessing the reliability of relevant point estimates. In this paper, we propose an efficient framework for…
We propose a method to train deep networks to decompose videos into 3D geometry (camera and depth), moving objects, and their motions, with no supervision. We build on the idea of view synthesis, which uses classical camera geometry to…
The technique requires the epipolar geometry to be pre-estimated between each image pair. It exploits the constraints which the camera movement implies, in order to apply a closed-form correction to the parameters of the input affinities.…
Images are an important source of information for spacecraft navigation and for three-dimensional reconstruction of observed space objects. Both of these applications take the form of a triangulation problem when the camera has a known…
Safe motion planning in robotics requires planning into space which has been verified to be free of obstacles. However, obtaining such environment representations using lidars is challenging by virtue of the sparsity of their depth…
We study the problem of estimating a low-rank positive semidefinite (PSD) matrix from a set of rank-one measurements using sensing vectors composed of i.i.d. standard Gaussian entries, which are possibly corrupted by arbitrary outliers.…
In this paper we present an extension of Direct Sparse Odometry (DSO) to a monocular visual SLAM system with loop closure detection and pose-graph optimization (LDSO). As a direct technique, DSO can utilize any image pixel with sufficient…
In this paper we show how to recover a spectral approximations to broad classes of structured matrices using only a polylogarithmic number of adaptive linear measurements to either the matrix or its inverse. Leveraging this result we obtain…
SLAM systems are mainly applied for robot navigation while research on feasibility for motion planning with SLAM for tasks like bin-picking, is scarce. Accurate 3D reconstruction of objects and environments is important for planning motion…
We present a real-time stereo visual-inertial-SLAM system which is able to recover from complicatedkidnap scenarios and failures online in realtime. We propose to learn the whole-image-descriptorin a weakly supervised manner based on…
Conventional visual simultaneous localization and mapping (SLAM) algorithms often fail under rapid motion, low illumination, or abrupt lighting transitions due to motion blur and limited dynamic range. Event cameras mitigate these issues…
Deep learning has shown to be effective for robust and real-time monocular image relocalisation. In particular, PoseNet is a deep convolutional neural network which learns to regress the 6-DOF camera pose from a single image. It learns to…
In this paper, we propose a method of targetless and automatic Camera-LiDAR calibration. Our approach is an extension of hand-eye calibration framework to 2D-3D calibration. By using the sensor fusion odometry method, the scaled camera…
We introduce a novel algorithm, $\textit{COD}$ -- Compact Opacity Distribution, for shape reconstruction of a celestial body that has been observed to occult a star, using the photometric time-series observations of the occultation.…
A locally recoverable code is an error-correcting code such that any erasure in a single coordinate of a codeword can be recovered from a small subset of other coordinates. In this article we develop an algorithm that computes a recovery…
The recovery of images from the observations that are degraded by a linear operator and further corrupted by Poisson noise is an important task in modern imaging applications such as astronomical and biomedical ones. Gradient-based…
Gradient descent methods are fundamental first-order optimization algorithms in both Euclidean spaces and Riemannian manifolds. However, the exact gradient is not readily available in many scenarios. This paper proposes a novel inexact…
We study a new family of inverse problems for recovering representations of corrupted data. We assume access to a pre-trained representation learning network R(x) that operates on clean images, like CLIP. The problem is to recover the…