Related papers: Globally optimal point set registration by joint s…

Objects with symmetries are common in our daily life and in industrial contexts, but are often ignored in the recent literature on 6D pose estimation from images. In this paper, we study in an analytical way the link between the symmetries…

We provide a dynamical perspective on the classical problem of 3D point cloud registration with correspondences. A point cloud is considered as a rigid body consisting of particles. The problem of registering two point clouds is formulated…

Point set registration is a key component in many computer vision tasks. The goal of point set registration is to assign correspondences between two sets of points and to recover the transformation that maps one point set to the other.…

We present a novel formulation of the multiple object tracking problem which integrates low and mid-level features. In particular, we formulate the tracking problem as a quadratic program coupling detections and dense point trajectories.…

Hand-eye calibration is the problem of estimating the spatial transformation between a reference frame, usually the base of a robot arm or its gripper, and the reference frame of one or multiple cameras. Generally, this calibration is…

Image stitching for two images without a global transformation between them is notoriously difficult. In this paper, noticing the importance of planar structure under perspective geometry, we propose a new image stitching method which…

We present a novel approach for relocalization or place recognition, a fundamental problem to be solved in many robotics, automation, and AR applications. Rather than relying on often unstable appearance information, we consider a situation…

We solve the problem of best approximation by Parseval frames to an arbitrary frame in a subspace of an infinite dimensional Hilbert space. We explicitly describe all the solutions and we give a criterion for uniqueness. This best…

Quadratic constrained quadratic programming problems often occur in various fields such as engineering practice, management science, and network communication. This article mainly studies a non convex quadratic programming problem with…

We consider a registration-based approach for localizing sensor networks from range measurements. This is based on the assumption that one can find overlapping cliques spanning the network. That is, for each sensor, one can identify…

The proposed system outlined in this paper is a solution to a use case that requires the autonomous picking of cuboidal objects from an organized or unorganized pile with high precision. This paper presents an efficient method for precise…

We consider the classical camera pose estimation problem that arises in many computer vision applications, in which we are given n 2D-3D correspondences between points in the scene and points in the camera image (some of which are incorrect…

Despite the success of deep functional maps in non-rigid 3D shape matching, there exists no learning framework that models both self-symmetry and shape matching simultaneously. This is despite the fact that errors due to symmetry mismatch…

Extracting planes from a 3D scene is useful for downstream tasks in robotics and augmented reality. In this paper we tackle the problem of estimating the planar surfaces in a scene from posed images. Our first finding is that a surprisingly…

In the classical best approximation pair (BAP) problem, one is given two nonempty, closed, convex and disjoint subsets in a finite- or an infinite-dimensional Hilbert space, and the goal is to find a pair of points, each from each subset,…

Motivation: Assessing the match between two biomolecular structures is at the heart of structural analyses such as superposition, alignment and docking. These tasks are typically solved with specialized structure-matching techniques…

We propose an end-to-end trainable, cross-category method for reconstructing multiple man-made articulated objects from a single RGBD image, focusing on part-level shape reconstruction and pose and kinematics estimation. We depart from…

Manipulating articulated objects with robotic arms is challenging due to the complex kinematic structure, which requires precise part segmentation for efficient manipulation. In this work, we introduce a novel superpoint-based perception…

Point cloud registration methods can effectively handle large-scale, partially overlapping point cloud pairs. Despite its practicality, matching the unbalanced pairs in terms of spatial extent and density has been overlooked and rarely…

We present a novel, effective method for global point cloud registration problems by geometric topology. Based on many point cloud pairwise registration methods (e.g ICP), we focus on the problem of accumulated error for the composition of…