Related papers: Latent RANSAC
Reliable loop closure detection remains a critical challenge in 3D LiDAR-based SLAM, especially under sensor noise, environmental ambiguity, and viewpoint variation conditions. RANSAC is often used in the context of loop closures for…
RANSAC and its variants are widely used for robust estimation, however, they commonly follow a greedy approach to finding the highest scoring model while ignoring other model hypotheses. In contrast, Iteratively Reweighted Least Squares…
Linear regression is effective at identifying interpretable trends in a data set, but averages out potentially different effects on subgroups within data. We propose an iterative algorithm based on the randomized Kaczmarz (RK) method to…
While RANSAC-based methods are robust to incorrect image correspondences (outliers), their hypothesis generators are not robust to correct image correspondences (inliers) with positional error (noise). This slows down their convergence…
We propose a new algorithm for finding an unknown number of geometric models, e.g., homographies. The problem is formalized as finding dominant model instances progressively without forming crisp point-to-model assignments. Dominant…
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.…
Random Sample Consensus (RANSAC) is a fundamental approach for robustly estimating parametric models from noisy data. Existing learning-based RANSAC methods utilize deep learning to enhance the robustness of RANSAC against outliers.…
We present novel algorithmic techniques to efficiently verify the Kruskal rank of matrices that arise in sparse linear regression, tensor decomposition, and latent variable models. Our unified framework combines randomized hashing…
Estimating the homography matrix between images captured under radically different camera poses and zoom factors is a complex challenge. Traditional methods rely on the Random Sample Consensus (RANSAC) algorithm, which requires pairs of…
Many modern simultaneous localization and mapping (SLAM) techniques rely on sparse landmark-based maps due to their real-time performance. However, these techniques frequently assert that these landmarks are fixed in position over time,…
Graph clustering is a fundamental task in network analysis where the goal is to detect sets of nodes that are well-connected to each other but sparsely connected to the rest of the graph. We present faster approximation algorithms for an…
Estimating the rigid transformation with 6 degrees of freedom based on a putative 3D correspondence set is a crucial procedure in point cloud registration. Existing correspondence identification methods usually lead to large outlier ratios…
Given trajectories with gaps, we investigate methods to tighten spatial bounds on areas (e.g., nodes in a spatial network) where possible rendezvous activity could have occurred. The problem is important for reducing the onerous amount of…
We present new methods for simultaneously estimating camera geometry and time shift from video sequences from multiple unsynchronized cameras. Algorithms for simultaneous computation of a fundamental matrix or a homography with unknown time…
Low-latency instance segmentation of LiDAR point clouds is crucial in real-world applications because it serves as an initial and frequently-used building block in a robot's perception pipeline, where every task adds further delay.…
In computer vision, finding point correspondence among images plays an important role in many applications, such as image stitching, image retrieval, visual localization, etc. Most of the research worksfocus on the matching of local feature…
We present the design of an entire on-device system for large-scale urban localization using images. The proposed design integrates compact image retrieval and 2D-3D correspondence search to estimate the location in extensive city regions.…
In this paper, we speed up robust two-view relative pose from dense correspondences. Previous work has shown that dense matchers can significantly improve both accuracy and robustness in the resulting pose. However, the large number of…
RANSAC-based algorithms are the standard techniques for robust estimation in computer vision. These algorithms are iterative and computationally expensive; they alternate between random sampling of data, computing hypotheses, and running…
Self-Consistency mitigates hallucinations in Large Language Models (LLMs) by sampling multiple reasoning paths,but it lacks a systematic approach to determine the optimal number of samples or select the most faithful rationale. To address…