相关论文: Accurate Motion Estimation through Random Sample A…

In the regression problem, we consider the problem of estimating the variance function by the means of aggregation methods. We focus on two particular aggregation setting: Model Selection aggregation (MS) and Convex aggregation (C) where…

Many estimation problems in robotics, computer vision, and learning require estimating unknown quantities in the face of outliers. Outliers are typically the result of incorrect data association or feature matching, and it is common to have…

Magnetic Resonance Imaging allows high resolution data acquisition with the downside of motion sensitivity due to relatively long acquisition times. Even during the acquisition of a single 2D slice, motion can severely corrupt the image.…

Despite recent success in incorporating learning into point cloud registration, many works focus on learning feature descriptors and continue to rely on nearest-neighbor feature matching and outlier filtering through RANSAC to obtain the…

We propose a way of transforming the problem of conditional density estimation into a single nonparametric regression task via the introduction of auxiliary samples. This allows leveraging regression methods that work well in high…

In this paper, an outlier elimination algorithm for ellipse/ellipsoid fitting is proposed. This two-stage algorithm employs a proximity-based outlier detection algorithm (using the graph Laplacian), followed by a model-based outlier…

This paper addresses the task of estimating the 6D pose of a known 3D object from a single RGB-D image. Most modern approaches solve this task in three steps: i) Compute local features; ii) Generate a pool of pose-hypotheses; iii) Select…

In this work, we address the problem of outlier detection for robust motion estimation by using modern sparse-low-rank decompositions, i.e., Robust PCA-like methods, to impose global rank constraints. Robust decompositions have shown to be…

Deep neural networks endow the downsampled superpoints with highly discriminative feature representations. Previous dominant point cloud registration approaches match these feature representations as the first step, e.g., using the Sinkhorn…

Due to their affordable, low mass, and small dimensions, uncooled microbolometer-based thermal focal plane arrays (UC-FPAs) are useful for long-wave infrared (LWIR)imaging applications. However, in outdoor conditions typical in agricultural…

Modern machine learning datasets can have biases for certain representations that are leveraged by algorithms to achieve high performance without learning to solve the underlying task. This problem is referred to as "representation bias".…

Detecting the reflection symmetry plane of an object represented by a 3D point cloud is a fundamental problem in 3D computer vision and geometry processing due to its various applications, such as compression, object detection, robotic…

Camera calibration is a crucial technique which significantly influences the performance of many robotic systems. Robustness and high precision have always been the pursuit of diverse calibration methods. State-of-the-art calibration…

We propose a robust and efficient method for multiview triangulation and uncertainty estimation. Our contribution is threefold: First, we propose an outlier rejection scheme using two-view RANSAC with the midpoint method. By prescreening…

Sparse estimation methods capable of tolerating outliers have been broadly investigated in the last decade. We contribute to this research considering high-dimensional regression problems contaminated by multiple mean-shift outliers which…

We propose a novel method to accurately reconstruct a set of images representing a single scene from few linear multi-view measurements. Each observed image is modeled as the sum of a background image and a foreground one. The background…

This paper deals with the problem of outliers in high frequency observation data from diffusion processes. Robust estimation methods are needed because the inclusion of outliers can lead to incorrect statistical inference even in the…

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…

Density ratio estimation is a vital tool in both machine learning and statistical community. However, due to the unbounded nature of density ratio, the estimation procedure can be vulnerable to corrupted data points, which often pushes the…

Bayesian inference for high-dimensional inverse problems is computationally costly and requires selecting a suitable prior distribution. Amortized variational inference addresses these challenges via a neural network that approximates the…