相关论文: Latent RANSAC

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…

We propose a novel method to efficiently estimate the spatial layout of a room from a single monocular RGB image. As existing approaches based on low-level feature extraction, followed by a vanishing point estimation are very slow and often…

Identifying spatially contiguous clusters and repeated spatial patterns (RSP) characterized by similar underlying distributions that are spatially apart is a key challenge in modern spatial statistics. Existing constrained clustering…

Regression is an important task in machine learning and data mining. It has several applications in various domains, including finance, biomedical, and computer vision. Recently, network Lasso, which estimates local models by making…

We present a robust and real time approach to lane marker detection in urban streets. It is based on generating a top view of the road, filtering using selective oriented Gaussian filters, using RANSAC line fitting to give initial guesses…

We propose $\nabla$-RANSAC, a generalized differentiable RANSAC that allows learning the entire randomized robust estimation pipeline. The proposed approach enables the use of relaxation techniques for estimating the gradients in the…

Intrinsic isometric shape matching has become the standard approach for pose invariant correspondence estimation among deformable shapes. Most existing approaches assume global consistency, i.e., the metric structure of the whole manifold…

Algorithms for community detection are usually stochastic, leading to different partitions for different choices of random seeds. Consensus clustering has proven to be an effective technique to derive more stable and accurate partitions…

We present a numerical method to identify regions of phase space that are approximately retained in a mobile compact neighbourhood over a finite time duration. Our approach is based on spatio-temporal clustering of trajectory data. The main…

We propose a residual randomization procedure designed for robust Lasso-based inference in the high-dimensional setting. Compared to earlier work that focuses on sub-Gaussian errors, the proposed procedure is designed to work robustly in…

In Visual SLAM, achieving accurate feature matching consumes a significant amount of time, severely impacting the real-time performance of the system. This paper proposes an accelerated method for Visual SLAM by integrating GMS (Grid-based…

Despite the enormous success of Hamiltonian Monte Carlo and related Markov Chain Monte Carlo (MCMC) methods, sampling often still represents the computational bottleneck in scientific applications. Availability of parallel resources can…

We propose a novel method to reconstruct high-resolution three-dimensional mass maps using data from photometric weak-lensing surveys. We apply an adaptive LASSO algorithm to perform a sparsity-based reconstruction on the assumption that…

It has been found that radar returns of extended targets are not only sparse but also exhibit a tendency to cluster into randomly located, variable sized groups. However, the standard techniques of Compressive Sensing as applied in radar…

The latent class model is a powerful unsupervised clustering algorithm for categorical data. Many statistics exist to test the fit of the latent class model. However, traditional methods to evaluate those fit statistics are not always…

We present the group fused Lasso for detection of multiple change-points shared by a set of co-occurring one-dimensional signals. Change-points are detected by approximating the original signals with a constraint on the multidimensional…

Plane model extraction from three-dimensional point clouds is a necessary step in many different applications such as planar object reconstruction, indoor mapping and indoor localization. Different RANdom SAmple Consensus (RANSAC)-based…

In this paper, we consider the problem of estimating parameters of a linear regression model. Using a hybrid systems framework, a hybrid algorithm is proposed allowing the estimate to converge to the exact value of the unknown parameters in…

A novel framework for consensus clustering is presented which has the ability to determine both the number of clusters and a final solution using multiple algorithms. A consensus similarity matrix is formed from an ensemble using multiple…

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…