Related papers: Linearly Solving Robust Rotation Estimation
Point sets matching method is very important in computer vision, feature extraction, fingerprint matching, motion estimation and so on. This paper proposes a robust point sets matching method. We present an iterative algorithm that is…
In this work we propose an approach to learn a robust policy for solving the pivoting task. Recently, several model-free continuous control algorithms were shown to learn successful policies without prior knowledge of the dynamics of the…
Ordinary differential equations (ODEs) provide a powerful framework for modeling dynamic systems arising in a wide range of scientific domains. However, most existing ODE methods focus on a single system, and do not adequately address the…
Non-rigid 3D registration, which deforms a source 3D shape in a non-rigid way to align with a target 3D shape, is a classical problem in computer vision. Such problems can be challenging because of imperfect data (noise, outliers and…
We introduce a new approach to a linear-circular regression problem that relates multiple linear predictors to a circular response. We follow a modeling approach of a wrapped normal distribution that describes angular variables and angular…
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…
Inertial navigation applications are usually referenced to a rotating frame. Consideration of the navigation reference frame rotation in the inertial navigation algorithm design is an important but so far less seriously treated issue,…
The goal of robust motion planning consists of designing open-loop controls which optimally steer a system to a specific target region while mitigating uncertainties and disturbances which affect the dynamics. Recently, stochastic optimal…
Many computer vision and human-computer interaction applications developed in recent years need evaluating complex and continuous mathematical functions as an essential step toward proper operation. However, rigorous evaluation of this kind…
We propose a novel iterative numerical method to solve the three-dimensional inverse obstacle scattering problem of recovering the shape of the obstacle from far-field measurements. To address the inherent ill-posed nature of the inverse…
Dynamic inverse problems are challenging to solve due to the need to identify and incorporate appropriate regularization in both space and time. Moreover, the very large scale nature of such problems in practice presents an enormous…
This paper considers an optimization problem for a dynamical system whose evolution depends on a collection of binary decision variables. We develop scalable approximation algorithms with provable suboptimality bounds to provide…
The hand-eye calibration problem is an important application problem in robot research. Based on the 2-norm of dual quaternion vectors, we propose a new dual quaternion optimization method for the hand-eye calibration problem. The dual…
We consider the question of estimating a solution to a system of equations that involve convex nonlinearities, a problem that is common in machine learning and signal processing. Because of these nonlinearities, conventional estimators…
Simultaneous Localization and Mapping (SLAM) has wide robotic applications such as autonomous driving and unmanned aerial vehicles. Both computational efficiency and localization accuracy are of great importance towards a good SLAM system.…
Gradient boosting algorithms construct a regression predictor using a linear combination of ``base learners''. Boosting also offers an approach to obtaining robust non-parametric regression estimators that are scalable to applications with…
This paper presents solutions to the following two common quaternion attitude estimation problems: (i) estimation of attitude using measurement of two reference vectors, and (ii) estimation of attitude using rate measurement and measurement…
In this paper we propose an iterative method to address the face identification problem with block occlusions. Our approach utilizes a robust representation based on two characteristics in order to model contiguous errors (e.g., block…
Precise sensor calibration is critical for autonomous vehicles as a prerequisite for perception algorithms to function properly. Rotation error of one degree can translate to position error of meters in target object detection at large…
A novel single-frame quaternion estimator processing two vector observations is introduced. The singular cases are examined, and appropriate rotational solutions are provided. Additionally, an alternative method involving sequential…