Related papers: Provably Approximated ICP
This paper proposes an effective approach for the scaling registration of $m$-D point sets. Different from the rigid transformation, the scaling registration can not be formulated into the common least square function due to the ill-posed…
In this paper, we propose a way to model the resilience of the Iterative Closest Point (ICP) algorithm in the presence of corrupted measurements. In the context of autonomous vehicles, certifying the safety of the localization process poses…
Aligning partially overlapping point sets where there is no prior information about the value of the transformation is a challenging problem in computer vision. To achieve this goal, we first reduce the objective of the robust point…
We present a simple way to learn a transformation that maps samples of one distribution to the samples of another distribution. Our algorithm comprises an iteration of 1) drawing samples from some simple distribution and transforming them…
In this paper we study the fine-grained complexity of finding exact and approximate solutions to problems in P. Our main contribution is showing reductions from exact to approximate solution for a host of such problems. As one (notable)…
This paper presents a visual-inertial odometry-enhanced geometrically stable Iterative Closest Point (ICP) algorithm for accurate mapping using aerial robots. The proposed method employs a visual-inertial odometry framework in order to…
Point cloud registration is a central theme in computer vision, with alignment algorithms continuously improving for greater robustness. Commonly used methods evaluate Euclidean distances between point clouds and minimize an objective…
Typical algorithms for point cloud registration such as Iterative Closest Point (ICP) require a favorable initial transform estimate between two point clouds in order to perform a successful registration. State-of-the-art methods for…
The Iterative Closest Point (ICP) algorithm is one of the most widely used methods for point-set registration. However, being based on local iterative optimization, ICP is known to be susceptible to local minima. Its performance critically…
Modern robotic systems are required to operate in challenging environments, which demand reliable localization under challenging conditions. LiDAR-based localization methods, such as the Iterative Closest Point (ICP) algorithm, can suffer…
We suggest efficient and provable methods to compute an approximation for imbalanced point clustering, that is, fitting $k$-centers to a set of points in $\mathbb{R}^d$, for any $d,k\geq 1$. To this end, we utilize \emph{coresets}, which,…
Given a simple polygon $\cal P$, in the Art Gallery problem the goal is to find the minimum number of guards needed to cover the entire $\cal P$, where a guard is a point and can see another point $q$ when $\overline{pq}$ does not cross the…
Robust relocalization in dynamic outdoor environments remains a key challenge for autonomous systems relying on 3D lidar. While long-term localization has been widely studied, short-term environmental changes, occurring over days or weeks,…
Registration algorithms, such as Iterative Closest Point (ICP), have proven effective in mobile robot localization algorithms over the last decades. However, they are susceptible to failure when a robot sustains extreme velocities and…
In the Canadian's lumber industry, simulators are used to predict the lumbers resulting from the sawing of a log at a given sawmill. Giving a log or several logs' 3D scans as input, simulators perform a real-time job to predict the lumbers.…
We give a reduction from $(1+\varepsilon)$-approximate Earth Mover's Distance (EMD) to $(1+\varepsilon)$-approximate Closest Pair (CP). As a consequence, we improve the fastest known approximation algorithm for high-dimensional EMD. Here,…
The problems of point-cloud registration and attitude estimation from vector observations (Wahba's problem) have widespread applications in computer vision and mobile robotics. This work introduces a simple approach for integrating sets of…
Fixpoints are ubiquitous in computer science and when dealing with quantitative semantics and verification one often considers least fixpoints of (higher-dimensional) functions over the non-negative reals. We show how to approximate the…
We consider the hardness of approximation of optimization problems from the point of view of definability. For many NP-hard optimization problems it is known that, unless P = NP, no polynomial-time algorithm can give an approximate solution…
Point cloud registration is important in computer-aided interventions (CAI). While learning-based point cloud registration methods have been developed, their clinical application is hampered by issues of generalizability and explainability.…