相关论文: GOGMA: Globally-Optimal Gaussian Mixture Alignment

A local convergence rate is established for an orthogonal collocation method based on Gauss quadrature applied to an unconstrained optimal control problem. If the continuous problem has a sufficiently smooth solution and the Hamiltonian…

3D Gaussian Splatting (3DGS) has emerged as a key rendering pipeline for digital asset creation due to its balance between efficiency and visual quality. To address the issues of unstable pose estimation and scene representation distortion…

Gaussian mixtures are widely used for approximating density functions in various applications such as density estimation, belief propagation, and Bayesian filtering. These applications often utilize Gaussian mixtures as initial…

Registration of multi-view point sets is a prerequisite for 3D model reconstruction. To solve this problem, most of previous approaches either partially explore available information or blindly utilize unnecessary information to align each…

Reconstructing high-quality 3D meshes and visuals from 3D Gaussian Splatting(3DGS) still remains a central challenge in computer graphics. Although existing models such as SuGaR offer effective solutions for rendering, there is is still…

3D object detection serves as the core basis of the perception tasks in autonomous driving. Recent years have seen the rapid progress of multi-modal fusion strategies for more robust and accurate 3D object detection. However, current…

Recent advances in 3D Gaussian Splatting (3DGS) have focused on accelerating optimization while preserving reconstruction quality. However, many proposed methods entangle implementation-level improvements with fundamental algorithmic…

This paper proposes a new evolutionary algorithm, called DSMGA-II, to efficiently solve optimization problems via exploiting problem substructures. The proposed algorithm adopts pairwise linkage detection and stores the information in the…

This paper presents a real-time 3D mapping framework based on global matching cost minimization and LiDAR-IMU tight coupling. The proposed framework comprises a preprocessing module and three estimation modules: odometry estimation, local…

Gaussian mixtures are a powerful and widely used tool to model non-Gaussian estimation problems. They are able to describe measurement errors that follow arbitrary distributions and can represent ambiguity in assignment tasks like point set…

Estimating pose from given 3D correspondences, including point-to-point, point-to-line and point-to-plane correspondences, is a fundamental task in computer vision with many applications. We present a complete solution for this task,…

This paper is concerned with convex composite minimization problems in a Hilbert space. In these problems, the objective is the sum of two closed, proper, and convex functions where one is smooth and the other admits a computationally…

Branch-and-bound-based consensus maximization stands out due to its important ability of retrieving the globally optimal solution to outlier-affected geometric problems. However, while the discovery of such solutions caries high scientific…

Database alignment is a variant of the graph alignment problem: Given a pair of anonymized databases containing separate yet correlated features for a set of users, the problem is to identify the correspondence between the features and…

Motivated by the goal of achieving long-term drift-free camera pose estimation in complex scenarios, we propose a global positioning framework fusing visual, inertial and Global Navigation Satellite System (GNSS) measurements in multiple…

Reconstructing real-world objects from multi-view images is essential for applications in 3D editing, AR/VR, and digital content creation. Existing methods typically prioritize either geometric accuracy (Multi-View Stereo) or photorealistic…

Achieving robust and precise pose estimation in dynamic scenes is a significant research challenge in Visual Simultaneous Localization and Mapping (SLAM). Recent advancements integrating Gaussian Splatting into SLAM systems have proven…

3D Gaussian Splatting (3DGS) effectively synthesizes novel views through its flexible representation, yet fails to accurately reconstruct scene geometry. While modern variants like PGSR introduce additional losses to ensure proper depth and…

In recent years, 3D Gaussian Splatting (3D-GS)-based scene representation demonstrates significant potential in real-time rendering and training efficiency. However, most existing methods primarily focus on single-map reconstruction, while…

We present a fast algorithm for global rigid symmetry detection with approximation guarantees. The algorithm is guaranteed to find the best approximate symmetry of a given shape, to within a user-specified threshold, with very high…