Related papers: DeepMLE: A Robust Deep Maximum Likelihood Estimato…
In this article, we present the maximum weighted likelihood estimator (MWLE) for robust estimations of heavy-tail finite mixture models (FMM). This is motivated by the complex distributional phenomena of insurance claim severity data, where…
As an essential part of structure from motion (SfM) and Simultaneous Localization and Mapping (SLAM) systems, motion averaging has been extensively studied in the past years and continues to attract surging research attention. While…
The assumption of scene rigidity is typical in SLAM algorithms. Such a strong assumption limits the use of most visual SLAM systems in populated real-world environments, which are the target of several relevant applications like service…
The basis for most vision based applications like robotics, self-driving cars and potentially augmented and virtual reality is a robust, continuous estimation of the position and orientation of a camera system w.r.t the observed environment…
We present VisionLLM v2, an end-to-end generalist multimodal large model (MLLM) that unifies visual perception, understanding, and generation within a single framework. Unlike traditional MLLMs limited to text output, VisionLLM v2…
In this paper, we present a tightly-coupled visual-inertial object-level multi-instance dynamic SLAM system. Even in extremely dynamic scenes, it can robustly optimise for the camera pose, velocity, IMU biases and build a dense 3D…
Deep visual Simultaneous Localization and Mapping (SLAM) techniques, e.g., DROID, have made significant advancements by leveraging deep visual odometry on dense flow fields. In general, they heavily rely on global visual similarity…
Accuracy and efficiency are two key problems in large scale incremental Structure from Motion (SfM). In this paper, we propose a unified framework to divide the image set into clusters suitable for reconstruction as well as find multiple…
The existing approaches to intrinsic dimension estimation usually are not reliable when the data are nonlinearly embedded in the high dimensional space. In this work, we show that the explicit accounting to geometric properties of unknown…
Semantic Simultaneous Localization and Mapping (SLAM) is a critical area of research within robotics and computer vision, focusing on the simultaneous localization of robotic systems and associating semantic information to construct the…
We describe a data-driven method for inferring the camera viewpoints given multiple images of an arbitrary object. This task is a core component of classic geometric pipelines such as SfM and SLAM, and also serves as a vital pre-processing…
Scene regression methods, such as VGGT, solve the Structure-from-Motion (SfM) problem by directly regressing camera poses and 3D scene structures from input images. They demonstrate impressive performance in handling images under extreme…
The soft-margin support vector machine (SVM) is a ubiquitous tool for prediction of binary-response data. However, the SVM is characterized entirely via a numerical optimization problem, rather than a probability model, and thus does not…
Structural equation modeling (SEM) and path analysis have long been central tools for studying complex causal relationships in the social and behavioral sciences, yet their reliance on parametric assumptions can lead to biased inference…
A robust and efficient Simultaneous Localization and Mapping (SLAM) system is essential for robot autonomy. For visual SLAM algorithms, though the theoretical framework has been well established for most aspects, feature extraction and…
Deep metric learning (DML) is a cornerstone of many computer vision applications. It aims at learning a mapping from the input domain to an embedding space, where semantically similar objects are located nearby and dissimilar objects far…
The sparsity-restricted maximum likelihood estimator (SMLE) has received considerable attention for feature screening in ultrahigh-dimensional regression. SMLE is a computationally convenient method that naturally incorporates the joint…
The visual SLAM method is widely used for self-localization and mapping in complex environments. Visual-inertia SLAM, which combines a camera with IMU, can significantly improve the robustness and enable scale weak-visibility, whereas…
Existing deep methods produce highly accurate 3D reconstructions in stereo and multiview stereo settings, i.e., when cameras are both internally and externally calibrated. Nevertheless, the challenge of simultaneous recovery of camera poses…
In this article, we introduce a two-way factor model for a high-dimensional data matrix and study the properties of the maximum likelihood estimation (MLE). The proposed model assumes separable effects of row and column attributes and…