相关论文: RANSAC: Identification of Higher-Order Geometric F…

Estimating the homography matrix between images captured under radically different camera poses and zoom factors is a complex challenge. Traditional methods rely on the Random Sample Consensus (RANSAC) algorithm, which requires pairs of…

Robust estimation is a cornerstone in computer vision, particularly for tasks like Structure-from-Motion and Simultaneous Localization and Mapping. RANSAC and its variants are the gold standard for estimating geometric models (e.g.,…

Vehicle relocation is the problem in which a mobile robot has to estimate the self-position with respect to an a priori map of landmarks using the perception and the motion measurements without using any knowledge of the initial…

Random sample consensus (RANSAC) is a robust model-fitting algorithm. It is widely used in many fields including image-stitching and point cloud registration. In RANSAC, data is uniformly sampled for hypothesis generation. However, this…

Touch-based object localization is an important component of autonomous robotic systems that are to perform dexterous tasks in real-world environments. When the objects to locate are placed within clutters, this touch-based procedure tends…

We propose a new algorithm for finding an unknown number of geometric models, e.g., homographies. The problem is formalized as finding dominant model instances progressively without forming crisp point-to-model assignments. Dominant…

We present a robust estimator for fitting multiple parametric models of the same form to noisy measurements. Applications include finding multiple vanishing points in man-made scenes, fitting planes to architectural imagery, or estimating…

We revisit the problem of assigning a score (a quality of fit) to candidate geometric models -- one of the key components of RANSAC for robust geometric fitting. In a non-robust setting, the ``gold standard'' scoring function, known as the…

We present Neural-Guided RANSAC (NG-RANSAC), an extension to the classic RANSAC algorithm from robust optimization. NG-RANSAC uses prior information to improve model hypothesis search, increasing the chance of finding outlier-free minimal…

In this paper we present a novel approach to global localization using an RGB-D camera in maps of visual features. For large maps, the performance of pure image matching techniques decays in terms of robustness and computational cost.…

Random sample consensus (RANSAC) is a successful algorithm in model fitting applications. It is vital to have strong exploration phase when there are an enormous amount of outliers within the dataset. Achieving a proper model is guaranteed…

For effective autonomous navigation,estimation of the pose of the robot is essential at every sampling time. For computing an accurate estimation,odometric error needs to be reduced with the help of data from external sensor. In this work,…

RANSAC is an important algorithm in robust optimization and a central building block for many computer vision applications. In recent years, traditionally hand-crafted pipelines have been replaced by deep learning pipelines, which can be…

Fingerprinting-based positioning, one of the promising indoor positioning solutions, has been broadly explored owing to the pervasiveness of sensor-rich mobile devices, the prosperity of opportunistically measurable location-relevant…

Object pose estimation is a fundamental computer vision task exploited in several robotics and augmented reality applications. Many established approaches rely on predicting 2D-3D keypoint correspondences using RANSAC (Random sample…

Multiple robots could perceive a scene (e.g., detect objects) collaboratively better than individuals, although easily suffer from adversarial attacks when using deep learning. This could be addressed by the adversarial defense, but its…

3D occupancy prediction enables the robots to obtain spatial fine-grained geometry and semantics of the surrounding scene, and has become an essential task for embodied perception. Existing methods based on 3D Gaussians instead of dense…

We present a real-time method for robust estimation of multiple instances of geometric models from noisy data. Geometric models such as vanishing points, planar homographies or fundamental matrices are essential for 3D scene analysis.…

The development of athletic humanoid robots has gained significant attention as advances in actuation, sensing, and control enable increasingly dynamic, real-world capabilities. RoboCup, an international competition of fully autonomous…

In computer vision, finding point correspondence among images plays an important role in many applications, such as image stitching, image retrieval, visual localization, etc. Most of the research worksfocus on the matching of local feature…