Related papers: Correspondence-Free Fast and Robust Spherical Poin…

We review the general problem of finding a global rotation that transforms a given set of points and/or coordinate frames (the "test" data) into the best possible alignment with a corresponding set (the "reference" data). For 3D point data,…

We study the problem of outlier correspondence pruning for non-rigid point cloud registration. In rigid registration, spatial consistency has been a commonly used criterion to discriminate outliers from inliers. It measures the…

Objective: Non-rigid image registration with high accuracy and efficiency is still a challenging task for medical image analysis. In this work, we present the spatially region-weighted correlation ratio (SRWCR) as a novel similarity measure…

We present a new paradigm for rigid alignment between point clouds based on learnable weighted consensus which is robust to noise as well as the full spectrum of the rotation group. Current models, learnable or axiomatic, work well for…

It is possible to associate a highly constrained subset of relative 6 DoF poses between two 3D shapes, as long as the local surface orientation, the normal vector, is available at every surface point. Local shape features can be used to…

Mobile robotic applications need precise information about the geometric position of the individual sensors on the platform. This information is given by the extrinsic calibration parameters which define how the sensor is rotated and…

Properly estimating correlations between objects at different spatial scales necessitates $\mathcal{O}(n^2)$ distance calculations. For this reason, most widely adopted packages for estimating correlations use clustering algorithms to…

We focus on coherent direction of arrival estimation of wideband sources based on spatial sparsity. This area of research is encountered in many applications such as passive radar, sonar, mining, and communication problems, in which an…

Calibration of devices with different modalities is a key problem in robotic vision. Regular spatial objects, such as planes, are frequently used for this task. This paper deals with the automatic detection of ellipses in camera images, as…

Accurate registration of 2D imagery with point clouds is a key technology for image-LiDAR point cloud fusion, camera to laser scanner calibration and camera localization. Despite continuous improvements, automatic registration of 2D and 3D…

Category-level object pose estimation aims to determine the pose and size of novel objects in specific categories. Existing correspondence-based approaches typically adopt point-based representations to establish the correspondences between…

In this paper we propose an accurate, and computationally efficient method for incorporating adaptive spatial resolution into weakly-compressible Smoothed Particle Hydrodynamics (SPH) schemes. Particles are adaptively split and merged in an…

Spatial perception is the backbone of many robotics applications, and spans a broad range of research problems, including localization and mapping, point cloud alignment, and relative pose estimation from camera images. Robust spatial…

We study the problem of extracting accurate correspondences for point cloud registration. Recent keypoint-free methods bypass the detection of repeatable keypoints which is difficult in low-overlap scenarios, showing great potential in…

To operate reactively in uncertain environments, robots need to be able to quickly estimate the risk that they will collide with their environment. This ability is important for both planning (to ensure that plans maintain acceptable levels…

In this paper, we investigate a class of constrained saddle point (SP) problems where the objective function is nonconvex-concave and smooth. This class of problems has wide applicability in machine learning, including robust multi-class…

Multiview point cloud registration is a fundamental task for constructing globally consistent 3D models. Existing approaches typically rely on feature extraction and data association across multiple point clouds; however, these processes…

Under conditions that prevent tangential intersection, we prove quadratic convergence of a projection algorithm for the feasibility problem of finding a point in the intersection of a smooth curve and line in $\mathbb{R}^2$. This nonconvex…

We extend our framework for 3D radiative transfer calculations with a non-local operator splitting methods along (full) characteristics to spherical and cylindrical coordinate systems. These coordinate systems are better suited to a number…

We propose a new method for segmentation-free joint estimation of orthogonal planes, their intersection lines, relationship graph and corners lying at the intersection of three orthogonal planes. Such unified scene exploration under…