Related papers: Robust and Accurate Global Motion Estimation Using…
Given 2D point correspondences between an image pair, inferring the camera motion is a fundamental issue in the computer vision community. The existing works generally set out from the epipolar constraint and estimate the essential matrix,…
As an efficient algorithm to solve the multi-view registration problem,the motion averaging (MA) algorithm has been extensively studied and many MA-based algorithms have been introduced. They aim at recovering global motions from relative…
Occlusions pose a significant challenge to optical flow algorithms that rely on local evidences. We consider an occluded point to be one that is imaged in the first frame but not in the next, a slight overloading of the standard definition…
Given a source and a target probability measure supported on $\mathbb{R}^d$, the Monge problem asks to find the most efficient way to map one distribution to the other. This efficiency is quantified by defining a \textit{cost} function…
We propose two nonlinear Kalman smoothers that rely on Student's t distributions. The T-Robust smoother finds the maximum a posteriori likelihood (MAP) solution for Gaussian process noise and Student's t observation noise, and is extremely…
We present a new approach to rigid-body motion segmentation from two views. We use a previously developed nonlinear embedding of two-view point correspondences into a 9-dimensional space and identify the different motions by segmenting…
The computation of 2-D optical flow by means of regularized pel-recursive algorithms raises a host of issues, which include the treatment of outliers, motion discontinuities and occlusion among other problems. We propose a new approach…
The Fr\'echet regression is a useful method for modeling random objects in a general metric space given Euclidean covariates. However, the conventional approach could be sensitive to outlying objects in the sense that the distance from the…
A Gaussian measurement error assumption, i.e., an assumption that the data are observed up to Gaussian noise, can bias any parameter estimation in the presence of outliers. A heavy tailed error assumption based on Student's t distribution…
Gaussian graphical modeling has been widely used to explore various network structures, such as gene regulatory networks and social networks. We often use a penalized maximum likelihood approach with the $L_1$ penalty for learning a…
Structure-from-Motion approaches could be broadly divided into two classes: incremental and global. While incremental manner is robust to outliers, it suffers from error accumulation and heavy computation load. The global manner has the…
This paper considers the robust and efficient implementation of Gaussian process regression with a Student-t observation model. The challenge with the Student-t model is the analytically intractable inference which is why several…
Videos shot by laymen using hand-held cameras contain undesirable shaky motion. Estimating the global motion between successive frames, in a manner not influenced by moving objects, is central to many video stabilization techniques, but…
The ability to identify the static background in videos captured by a moving camera is an important pre-requisite for many video applications (e.g. video stabilization, stitching, and segmentation). Existing methods usually face…
The accuracy of moving horizon estimation (MHE) suffers significantly in the presence of measurement outliers. Existing methods address this issue by treating measurements leading to large MHE cost function values as outliers, which are…
The theory of Bayesian learning incorporates the use of Student-t Processes to model heavy-tailed distributions and datasets with outliers. However, despite Student-t Processes having a similar computational complexity as Gaussian…
This work addresses the outlier removal problem in large-scale global structure-from-motion. In such applications, global outlier removal is very useful to mitigate the deterioration caused by mismatches in the feature point matching step.…
This paper is concerned with the study of a class of nonsmooth cost functions subject to a quasi-linear PDE in Lipschitz domains in dimension two. We derive the Eulerian semi-derivative of the cost function by employing the averaged adjoint…
In this work, we address the problem of outlier detection for robust motion estimation by using modern sparse-low-rank decompositions, i.e., Robust PCA-like methods, to impose global rank constraints. Robust decompositions have shown to be…
We present a novel two-view geometry estimation framework which is based on a differentiable robust loss function fitting. We propose to treat the robust fundamental matrix estimation as an implicit layer, which allows us to avoid…