相关论文: Go-ICP: A Globally Optimal Solution to 3D ICP Poin…

This paper presents an accurate and fast 3D global localization method, 3D-BBS, that extends the existing branch-and-bound (BnB)-based 2D scan matching (BBS) algorithm. To reduce memory consumption, we utilize a sparse hash table for…

Classical control of cyber-physical systems used to rely on basic linear controllers. These controllers provided a safe and robust behavior but lack the ability to perform more complex controls such as aggressive maneuvering or performing…

Integer programming (IP) has proven to be highly effective in solving many path-based optimization problems in robotics. However, the applications of IP are generally done in an ad-hoc, problem specific manner. In this work, after examined…

In this paper, we focus on finding the global minimizer of a general unconstrained nonsmooth nonconvex optimization problem. Taking advantage of the smoothing method and the consensus-based optimization (CBO) method, we propose a novel…

3D motion estimation including scene flow and point cloud registration has drawn increasing interest. Inspired by 2D flow estimation, recent methods employ deep neural networks to construct the cost volume for estimating accurate 3D flow.…

Inspection planning is concerned with computing the shortest robot path to inspect a given set of points of interest (POIs) using the robot's sensors. This problem arises in a wide range of applications from manufacturing to medical…

Surface registration is a technique that is used in various areas such as object recognition and 3D model reconstruction. Problem of surface registration can be analyzed as an optimization problem of seeking a rigid motion between two…

We describe a convex programming framework for pose estimation in 2D/3D point-set registration with unknown point correspondences. We give two mixed-integer nonlinear program (MINP) formulations of the 2D/3D registration problem when there…

This paper presents an approach for improving 2D/3D pelvis registration in optimization-based pose estimators using a learned initialization function. Current methods often fail to converge to the optimal solution when initialized naively.…

State-of-the-art LiDAR calibration frameworks mainly use non-probabilistic registration methods such as Iterative Closest Point (ICP) and its variants. These methods suffer from biased results due to their pair-wise registration procedure…

Statistical shape models are a useful tool in image processing and computer vision. A Procrustres registration of the contours of the same shape is typically perform to align the training samples to learn the statistical shape model. A…

Correlation Plenoptic Imaging (CPI) is a novel technological imaging modality enabling to overcome drawbacks of standard plenoptic devices, while preserving their advantages. However, a major challenge in view of real-time application of…

Background and Objective: In neurosurgery, fusing clinical images and depth images that can improve the information and details is beneficial to surgery. We found that the registration of face depth images was invalid frequently using…

Estimating the rigid transformation between two LiDAR scans through putative 3D correspondences is a typical point cloud registration paradigm. Current 3D feature matching approaches commonly lead to numerous outlier correspondences, making…

Visual localization is the task of estimating a 6-DoF camera pose of a query image within a provided 3D reference map. Thanks to recent advances in various 3D sensors, 3D point clouds are becoming a more accurate and affordable option for…

A stochastic-gradient-based interior-point algorithm for minimizing a continuously differentiable objective function (that may be nonconvex) subject to bound constraints is presented, analyzed, and demonstrated through experimental results.…

Solving real-time quadratic programming (QP) is a ubiquitous task in control engineering, such as in model predictive control and control barrier function-based QP. In such real-time scenarios, certifying that the employed QP algorithm can…

This paper presents a point cloud downsampling algorithm for fast and accurate trajectory optimization based on global registration error minimization. The proposed algorithm selects a weighted subset of residuals of the input point cloud…

We propose to tackle the problem of multiview 2D/3D rigid registration for intervention via a Point-Of-Interest Network for Tracking and Triangulation ($\text{POINT}^2$). $\text{POINT}^2$ learns to establish 2D point-to-point…

Our work presents a new iterative scheme to approximate the fixed points of nonexpansive mapping. The proposed algorithm is constructed to enhance convergence efficiency while preserving theoretical robustness. Under appropriate assumptions…