相关论文: Incremental RANSAC for Online Relocation in Large …

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…

Accurate earthquake location, which determines the origin time and location of seismic events using phase arrival times or waveforms, is fundamental to earthquake monitoring. While recent deep learning advances have significantly improved…

RANSAC-based algorithms are the standard techniques for robust estimation in computer vision. These algorithms are iterative and computationally expensive; they alternate between random sampling of data, computing hypotheses, and running…

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…

RANSAC and its variants are widely used for robust estimation, however, they commonly follow a greedy approach to finding the highest scoring model while ignoring other model hypotheses. In contrast, Iteratively Reweighted Least Squares…

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…

The ability for an autonomous agent to self-localise is directly proportional to the accuracy and precision with which it can perceive salient features within its local environment. The identification of such features by recognising…

Robust estimation of camera motion under the presence of outlier noise is a fundamental problem in robotics and computer vision. Despite existing efforts that focus on detecting motion and scene degeneracies, the best existing approach that…

Camera relocalization has various applications in autonomous driving. Previous camera pose regression models consider only ideal scenarios where there is little environmental perturbation. To deal with challenging driving environments that…

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…

Robust estimation is a crucial and still challenging task, which involves estimating model parameters in noisy environments. Although conventional sampling consensus-based algorithms sample several times to achieve robustness, these…

RANSAC is a popular technique for estimating model parameters in the presence of outliers. The best speed is achieved when the minimum possible number of points is used to estimate hypotheses for the model. Many useful problems can be…

This paper studies the relative pose problem for autonomous vehicle driving in highly dynamic and possibly cluttered environments. This is a challenging scenario due to the existence of multiple, large, and independently moving objects in…

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…

Random Sample Consensus (RANSAC) is a fundamental approach for robustly estimating parametric models from noisy data. Existing learning-based RANSAC methods utilize deep learning to enhance the robustness of RANSAC against outliers.…

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…

High-accurate localization is crucial for the safety and reliability of autonomous driving, especially for the information fusion of collective perception that aims to further improve road safety by sharing information in a communication…

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…

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…

For real-world applications, autonomous mobile robotic platforms must be capable of navigating safely in a multitude of different and dynamic environments with accurate and robust localization being a key prerequisite. To support further…