相关论文: Robust and Globally Optimal Manhattan Frame Estima…

Gaussian Splatting SLAMs have made significant advancements in improving the efficiency and fidelity of real-time reconstructions. However, these systems often encounter incomplete reconstructions in complex indoor environments,…

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…

In man-made environments, such as indoor and urban scenes, most of the objects and structures are organized in the form of orthogonal and parallel planes. These planes can be approximated by the Atlanta world assumption, in which the…

We tackle the problem of estimating a Manhattan frame, i.e. three orthogonal vanishing points, and the unknown focal length of the camera, leveraging a prior vertical direction. The direction can come from an Inertial Measurement Unit that…

We study the problem of constrained efficient global optimization, where both the objective and constraints are expensive black-box functions that can be learned with Gaussian processes. We propose CONFIG (CONstrained efFIcient Global…

We consider maximum likelihood estimation for Gaussian Mixture Models (Gmms). This task is almost invariably solved (in theory and practice) via the Expectation Maximization (EM) algorithm. EM owes its success to various factors, of which…

The objective of this study is to jointly analyze the data rate and electromagnetic field (EMF) exposure in urban environments. Capitalizing on stochastic geometry (SG), a network level analysis is performed by modelling these environments…

A Manhattan world lying along cuboid buildings is useful for camera angle estimation. However, accurate and robust angle estimation from fisheye images in the Manhattan world has remained an open challenge because general scene images tend…

This paper addresses the challenge of reconstructing 3D indoor scenes from multi-view images. Many previous works have shown impressive reconstruction results on textured objects, but they still have difficulty in handling low-textured…

We consider distributed estimation of the inverse covariance matrix, also called the concentration or precision matrix, in Gaussian graphical models. Traditional centralized estimation often requires global inference of the covariance…

We take a new look at parameter estimation for Gaussian Mixture Models (GMMs). In particular, we propose using \emph{Riemannian manifold optimization} as a powerful counterpart to Expectation Maximization (EM). An out-of-the-box invocation…

Deterministic computer simulations are often used as a replacement for complex physical experiments. Although less expensive than physical experimentation, computer codes can still be time-consuming to run. An effective strategy for…

The computation of global radial basis function (RBF) approximations requires the solution of a linear system which, depending on the choice of RBF parameters, may be ill-conditioned. We study the stability and accuracy of approximation…

In this paper, we present a novel pose normalization method for indoor mapping point clouds and triangle meshes that is robust against large fractions of the indoor mapping geometries deviating from an ideal Manhattan World structure. In…

In this paper, we first propose a Bayesian neighborhood selection method to estimate Gaussian Graphical Models (GGMs). We show the graph selection consistency of this method in the sense that the posterior probability of the true model…

Multimodal image alignment involves finding spatial correspondences between volumes varying in appearance and structure. Automated alignment methods are often based on local optimization that can be highly sensitive to their initialization.…

Automatic calibration of multi-camera systems, namely the accurate estimation of spatial extrinsic parameters, is fundamental for 3D reconstruction, panoramic perception, and multi-view data fusion. Existing methods typically rely on…

Recently, 3D Gaussian Splatting and its derivatives have achieved significant breakthroughs in large-scale scene reconstruction. However, how to efficiently and stably achieve high-quality geometric fidelity remains a core challenge. To…

Camera rotation estimation from a single image is a challenging task, often requiring depth data and/or camera intrinsics, which are generally not available for in-the-wild videos. Although external sensors such as inertial measurement…

This paper considers flow problems in multiscale heterogeneous porous media. The multiscale nature of the modeled process significantly complicates numerical simulations due to the need to compute huge and ill-conditioned sparse matrices,…