Related papers: Efficient Large Scale Inlier Voting for Geometric …

Many computer vision methods use consensus maximization to relate measurements containing outliers with the correct transformation model. In the context of rigid shapes, this is typically done using Random Sampling and Consensus (RANSAC) by…

Determining the position and orientation of a calibrated camera from a single image with respect to a 3D model is an essential task for many applications. When 2D-3D correspondences can be obtained reliably, perspective-n-point solvers can…

This paper presents a novel approach for robust 3D tracking of multiple birds in an outdoor aviary using a multi-camera system. Our method addresses the challenges of visually similar birds and their rapid movements by leveraging…

In this paper, we present IRON (Invariant-based global Robust estimation and OptimizatioN), a non-minimal and highly robust solution for point cloud registration with a great number of outliers among the correspondences. To realize this, we…

Deep convolutional models often produce inadequate predictions for inputs foreign to the training distribution. Consequently, the problem of detecting outlier images has recently been receiving a lot of attention. Unlike most previous work,…

Considering a 2D matrix of positive and negative numbers, how might one draw a rectangle within it whose contents sum higher than all other rectangles'? This fundamental problem, commonly known the maximum rectangle problem or subwindow…

We present a novel 2D convex hull peeling algorithm for outlier detection, which repeatedly removes the point on the hull that decreases the hull's area the most. To find k outliers among n points, one simply peels k points. The algorithm…

Geometric optimization problems are at the core of many applications in geometry processing. The choice of a representation fitting an optimization problem can considerably simplify solving the problem. We consider the Nonlinear…

3D surface reconstruction from images is essential for numerous applications. Recently, Neural Radiance Fields (NeRFs) have emerged as a promising framework for 3D modeling. However, NeRFs require accurate camera poses as input, and…

Outlier feature matches and loop-closures that survived front-end data association can lead to catastrophic failures in the back-end optimization of large-scale point cloud based 3D reconstruction. To alleviate this problem, we propose a…

Rotation estimation plays a fundamental role in computer vision and robot tasks, and extremely robust rotation estimation is significantly useful for safety-critical applications. Typically, estimating a rotation is considered a non-linear…

The process of camera calibration involves estimating the intrinsic and extrinsic parameters, which are essential for accurately performing tasks such as 3D reconstruction, object tracking and augmented reality. In this work, we propose a…

Given an input set of $3$D point pairs, the goal of outlier-robust $3$D registration is to compute some rotation and translation that align as many point pairs as possible. This is an important problem in computer vision, for which many…

We propose a novel iterative method for optimally placing and orienting multiple cameras in a 3D scene. Sample applications include improving the accuracy of 3D reconstruction, maximizing the covered area for surveillance, or improving the…

A novel method for robust estimation, called Graph-Cut RANSAC, GC-RANSAC in short, is introduced. To separate inliers and outliers, it runs the graph-cut algorithm in the local optimization (LO) step which is applied when a so-far-the-best…

Machine learning and data analysis have been used in many robotics fields, especially for modelling. Data are usually the result of sensor measurements and, as such, they might be subjected to noise and outliers. The presence of outliers…

Various technologies, including computer vision models, are employed for the automatic monitoring of manual assembly processes in production. These models detect and classify events such as the presence of components in an assembly area or…

This paper studies the relative pose problem for autonomous vehicle driving in highly dynamic and possibly cluttered environments. This is a challenging scenario due to the existence of multiple, large, and independently moving objects in…

The gold-standard for robustly estimating relative pose through image matching is RANSAC. While RANSAC is powerful, it requires setting the inlier threshold that determines whether the error of a correspondence under an estimated model is…

We consider a fundamental problem in unsupervised learning called \emph{subspace recovery}: given a collection of $m$ points in $\mathbb{R}^n$, if many but not necessarily all of these points are contained in a $d$-dimensional subspace $T$…