相关论文: Exact Camera Location Recovery by Least Unsquared …

Let $t_1,\ldots,t_n \in \mathbb{R}^d$ and consider the location recovery problem: given a subset of pairwise direction observations $\{(t_i - t_j) / \|t_i - t_j\|_2\}_{i<j \in [n] \times [n]}$, where a constant fraction of these…

Let $t_1,\ldots,t_{n_l} \in \mathbb{R}^d$ and $p_1,\ldots,p_{n_s} \in \mathbb{R}^d$ and consider the bipartite location recovery problem: given a subset of pairwise direction observations $\{(t_i - p_j) / \|t_i - p_j\|_2\}_{i,j \in [n_l]…

We introduce a new method for location recovery from pair-wise directions that leverages an efficient convex program that comes with exact recovery guarantees, even in the presence of adversarial outliers. When pairwise directions represent…

We propose a strategy for improving camera location estimation in structure from motion. Our setting assumes highly corrupted pairwise directions (i.e., normalized relative location vectors), so there is a clear room for improving current…

$3$D structure recovery from a collection of $2$D images requires the estimation of the camera locations and orientations, i.e. the camera motion. For large, irregular collections of images, existing methods for the location estimation…

It is an exciting task to recover the scene's 3d-structure and camera pose from the video sequence. Most of the current solutions divide it into two parts, monocular depth recovery and camera pose estimation. The monocular depth recovery is…

In this paper, we investigate visual-based camera re-localization with neural networks for robotics and autonomous vehicles applications. Our solution is a CNN-based algorithm which predicts camera pose (3D translation and 3D rotation)…

We derive theoretical guarantees for the exact recovery of piecewise constant two-dimensional images from a minimal number of non-uniform Fourier samples using a convex matrix completion algorithm. We assume the discontinuities of the image…

Suppose a graph $G$ is stochastically created by uniformly sampling vertices along a line segment and connecting each pair of vertices with a probability that is a known decreasing function of their distance. We ask if it is possible to…

Least Absolute Deviations (LAD) regression provides a robust alternative to ordinary least squares by minimizing the sum of absolute residuals. However, its widespread use has been limited by the computational cost of existing solvers,…

Exact recovery of tensor decomposition (TD) methods is a desirable property in both unsupervised learning and scientific data analysis. The numerical defects of TD methods, however, limit their practical applications on real-world data. As…

We consider the recovery of a continuous domain piecewise constant image from its non-uniform Fourier samples using a convex matrix completion algorithm. We assume the discontinuities/edges of the image are localized to the zero levelset of…

Unsupervised object detection using deep neural networks is typically a difficult problem with few to no guarantees about the learned representation. In this work we present the first unsupervised object detection method that is…

We demonstrate a simple greedy algorithm that can reliably recover a d-dimensional vector v from incomplete and inaccurate measurements x. Here our measurement matrix is an N by d matrix with N much smaller than d. Our algorithm,…

We consider the Orthogonal Least-Squares (OLS) algorithm for the recovery of a $m$-dimensional $k$-sparse signal from a low number of noisy linear measurements. The Exact Recovery Condition (ERC) in bounded noisy scenario is established for…

The synchronization problem over the special orthogonal group $SO(d)$ consists of estimating a set of unknown rotations $R_1,R_2,...,R_n$ from noisy measurements of a subset of their pairwise ratios $R_{i}^{-1}R_{j}$. The problem has found…

LiDAR-camera fusion is one of the core processes for the perception system of current automated driving systems. The typical sensor fusion process includes a list of coordinate transformation operations following system calibration.…

Deformable Monocular SLAM algorithms recover the localization of a camera in an unknown deformable environment. Current approaches use a template-based deformable tracking to recover the camera pose and the deformation of the map. These…

Accurate camera pose estimation result is essential for visual SLAM (VSLAM). This paper presents a novel pose correction method to improve the accuracy of the VSLAM system. Firstly, the relationship between the camera pose estimation error…

Rigid image alignment is a fundamental task in computer vision, while the traditional algorithms are either too sensitive to noise or time-consuming. Recent unsupervised image alignment methods developed based on spatial transformer…