相关论文: RANSAC based three points algorithm for ellipse fi…
This manuscript presents a new method for fitting ellipses to two-dimensional data using the confocal hyperbola approximation to the geometric distance of points to ellipses. The proposed method was evaluated and compared to established…
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…
In this paper, a novel technique for tight outer-approximation of the intersection region of a finite number of ellipses in 2-dimensional (2D) space is proposed. First, the vertices of a tight polygon that contains the convex intersection…
Ellipse fitting, an essential component in pupil or iris tracking based video oculography, is performed on previously segmented eye parts generated using various computer vision techniques. Several factors, such as occlusions due to eyelid…
This paper presents a semantic planar SLAM system that improves pose estimation and mapping using cues from an instance planar segmentation network. While the mainstream approaches are using RGB-D sensors, employing a monocular camera with…
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…
In this paper, we introduce the Method of Ellipcenters (ME) for unconstrained minimization. At the cost of two gradients per iteration and a line search, we compute the next iterate by setting it as the center of an elliptical…
The task of approximating points with circular arcs is performed in many applications, such as polyline compression, noise filtering, and feature recognition. However, the development of algorithms that perform a significant amount of…
We present a new numerical method for the isometric embedding of 2-geometries specified by their 2-metrics in three dimensional Euclidean space. Our approach is to directly solve the fundamental embedding equation supplemented by six…
We reconsider the classic problem of estimating accurately a 2D transformation from point matches between images containing outliers. RANSAC discriminates outliers by randomly generating minimalistic sampled hypotheses and verifying their…
Aligning partially overlapping point sets where there is no prior information about the value of the transformation is a challenging problem in computer vision. To achieve this goal, we first reduce the objective of the robust point…
A novel algorithm to solve the quadratic programming problem over ellipsoids is proposed. This is achieved by splitting the problem into two optimisation sub-problems, quadratic programming over a sphere and orthogonal projection. Next, an…
Intrinsic isometric shape matching has become the standard approach for pose invariant correspondence estimation among deformable shapes. Most existing approaches assume global consistency, i.e., the metric structure of the whole manifold…
Camera calibration is a crucial technique which significantly influences the performance of many robotic systems. Robustness and high precision have always been the pursuit of diverse calibration methods. State-of-the-art calibration…
This paper studies the mismatch removal problem, which may serve as the subsequent step of feature matching. Non-rigid deformation makes it difficult to remove mismatches because no parametric transformation can be found. To solve this…
Images of heavily occluded objects in cluttered scenes, such as fruit clusters in trees, are hard to segment. To further retrieve the 3D size and 6D pose of each individual object in such cases, bounding boxes are not reliable from multiple…
We present a method to match three dimensional shapes under non-isometric deformations, topology changes and partiality. We formulate the problem as matching between a set of pair-wise and point-wise descriptors, imposing a continuity prior…
We give a faster algorithm for computing an approximate John ellipsoid around $n$ points in $d$ dimensions. The best known prior algorithms are based on repeatedly computing the leverage scores of the points and reweighting them by these…
Random hypothesis sampling lies at the core of many popular robust fitting techniques such as RANSAC. In this paper, we propose a novel hypothesis sampling scheme based on incremental computation of distances between partial rankings…
We address the problem of generalizability for multi-view 3D human pose estimation. The standard approach is to first detect 2D keypoints in images and then apply triangulation from multiple views. Even though the existing methods achieve…