相关论文: DSAC - Differentiable RANSAC for Camera Localizati…

We present an approach to solving hard geometric optimization problems in the RANSAC framework. The hard minimal problems arise from relaxing the original geometric optimization problem into a minimal problem with many spurious solutions.…

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…

We present a method that can evaluate a RANSAC hypothesis in constant time, i.e. independent of the size of the data. A key observation here is that correct hypotheses are tightly clustered together in the latent parameter domain. In a…

Vehicle relocation is the problem in which a mobile robot has to estimate the self-position with respect to an a priori map of landmarks using the perception and the motion measurements without using any knowledge of the initial…

The popularity of deep learning is increasing by the day. However, despite the recent advancements in hardware, deep neural networks remain computationally intensive. Recent work has shown that by preserving the angular distance between…

A novel method for robust estimation, called Graph-Cut RANSAC, GC-RANSAC in short, is introduced. To separate inliers and outliers, it runs the graph-cut algorithm in the local optimization (LO) step which is applied when a so-far-the-best…

Localizing an image wrt. a 3D scene model represents a core task for many computer vision applications. An increasing number of real-world applications of visual localization on mobile devices, e.g., Augmented Reality or autonomous robots…

Since RANSAC, a great deal of research has been devoted to improving both its accuracy and run-time. Still, only a few methods aim at recognizing invalid minimal samples early, before the often expensive model estimation and quality…

Estimating the homography matrix between images captured under radically different camera poses and zoom factors is a complex challenge. Traditional methods rely on the Random Sample Consensus (RANSAC) algorithm, which requires pairs of…

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…

Deep Neural Networks (DNNs) have been widely deployed for many Machine Learning applications. Recently, CapsuleNets have overtaken traditional DNNs, because of their improved generalization ability due to the multi-dimensional capsules, in…

Demosaicking and denoising are among the most crucial steps of modern digital camera pipelines and their joint treatment is a highly ill-posed inverse problem where at-least two-thirds of the information are missing and the rest are…

Dynamic Algorithm Configuration (DAC) addresses the challenge of dynamically setting hyperparameters of an algorithm for a diverse set of instances rather than focusing solely on individual tasks. Agents trained with Deep Reinforcement…

This paper considers the generic problem of dense alignment between two images, whether they be two frames of a video, two widely different views of a scene, two paintings depicting similar content, etc. Whereas each such task is typically…

We propose a compact pipeline to unify all the steps of Visual Localization: image retrieval, candidate re-ranking and initial pose estimation, and camera pose refinement. Our key assumption is that the deep features used for these…

Erroneous feature matches have severe impact on subsequent camera pose estimation and often require additional, time-costly measures, like RANSAC, for outlier rejection. Our method tackles this challenge by addressing feature matching and…

Deep clustering - joint representation learning and latent space clustering - is a well studied problem especially in computer vision and text processing under the deep learning framework. While the representation learning is generally…

Resampling is a key component of sample-based recursive state estimation in particle filters. Recent work explores differentiable particle filters for end-to-end learning. However, resampling remains a challenge in these works, as it is…

Plane detection from depth images is a crucial subtask with broad robotic applications, often accomplished by iterative methods such as Random Sample Consensus (RANSAC). While RANSAC is a robust strategy with strong probabilistic…

This paper introduces a modular, non-deep learning method for filtering and refining sparse correspondences in image matching. Assuming that motion flow within the scene can be approximated by local homography transformations, matches are…