Related papers: On the Robustness of Multi-View Rotation Averaging
We propose a new fast algorithm for solving one of the standard approaches to ill-posed linear inverse problems (IPLIP), where a (possibly non-smooth) regularizer is minimized under the constraint that the solution explains the observations…
The multi-agent system has been a hot topic in the past few decades owing to its lower cost, higher robustness, and higher flexibility. As a particular multi-agent system, the multiple rigid body system received a growing interest for its…
Vision-based perception systems are typically exposed to large orientation changes in different robot applications. In such conditions, their performance might be compromised due to the inherent complexity of processing data captured under…
Calibration in a multi camera network has widely been studied for over several years starting from the earlier days of photogrammetry. Many authors have presented several calibration algorithms with their relative advantages and…
Planar markers are useful in robotics and computer vision for mapping and localisation. Given a detected marker in an image, a frequent task is to estimate the 6DOF pose of the marker relative to the camera, which is an instance of planar…
In order to tackle the difficulty associated with the ill-posed nature of the image registration problem, regularization is often used to constrain the solution space. For most learning-based registration approaches, the regularization…
Robust and accurate pose estimation is crucial for many applications in mobile robotics. Extending visual Simultaneous Localization and Mapping (SLAM) with other modalities such as an inertial measurement unit (IMU) can boost robustness and…
The most prevalent routine for camera calibration is based on the detection of well-defined feature points on a purpose-made calibration artifact. These could be checkerboard saddle points, circles, rings or triangles, often printed on a…
Shonan Rotation Averaging is a fast, simple, and elegant rotation averaging algorithm that is guaranteed to recover globally optimal solutions under mild assumptions on the measurement noise. Our method employs semidefinite relaxation in…
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…
The prospect of assistive robots aiding in object organization has always been compelling. In an image-goal setting, the robot rearranges the current scene to match the single image captured from the goal scene. The key to an image-goal…
A fundamental challenge in robust visual-inertial odometry (VIO) is to dynamically assess the reliability of sensor measurements. This assessment is crucial for properly weighting the contribution of each measurement to the state estimate.…
We address the correspondence-free alignment of two rotation sets on \(SO(3)\), a core task in calibration and registration that is often impeded by missing time alignment, outliers, and unknown axis conventions. Our key idea is to…
Image super-resolution models are commonly evaluated by average scores (over some benchmark test sets), which fail to reflect the performance of these models on images of varying difficulty and that some models generate artifacts on certain…
We propose a novel method for single rotation averaging using the Weiszfeld algorithm. Our contribution is threefold: First, we propose a robust initialization based on the elementwise median of the input rotation matrices. Our initial…
Mutual localization stands as a foundational component within various domains of multi-robot systems. Nevertheless, in relative pose estimation, time synchronization is usually underappreciated and rarely addressed, although it…
This paper provides an overview of current approaches for solving inverse problems in imaging using variational methods and machine learning. A special focus lies on point estimators and their robustness against adversarial perturbations.…
Multi-view image acquisition systems with two or more cameras can be rather costly due to the number of high resolution image sensors that are required. Recently, it has been shown that by covering a low resolution sensor with a non-regular…
We analyse and explain the increased generalisation performance of iterate averaging using a Gaussian process perturbation model between the true and batch risk surface on the high dimensional quadratic. We derive three phenomena…
This paper delves into the text-guided image editing task, focusing on modifying a reference image according to user-specified textual feedback to embody specific attributes. Despite recent advancements, a persistent challenge remains that…