相关论文: Certifiable Relative Pose Estimation

6-DoF object pose estimation from a monocular image is challenging, and a post-refinement procedure is generally needed for high-precision estimation. In this paper, we propose a framework based on a recurrent neural network (RNN) for…

A wide range of learning tasks require human input in labeling massive data. The collected data though are usually low quality and contain inaccuracies and errors. As a result, modern science and business face the problem of learning from…

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.…

The goal of this paper is to survey the properties of the eigenvalue relaxation for least squares binary problems. This relaxation is a convex program which is obtained as the Lagrangian dual of the original problem with an implicit compact…

Advanced test-time computing strategies are essential for scaling reasoning models, but their effectiveness is capped by the models' poor self-evaluation. We propose a pairwise Explanatory Verifier, trained via reinforcement learning…

Point cloud registration is a fundamental problem in 3D scanning. In this paper, we address the frequent special case of registering terrestrial LiDAR scans (or, more generally, levelled point clouds). Many current solutions still rely on…

Camera calibration is a crucial step in photogrammetry and 3D vision applications. In practical scenarios with a long working distance to cover a wide area, target-based calibration methods become complicated and inflexible due to site…

Event cameras respond primarily to edges--formed by strong gradients--and are thus particularly well-suited for line-based motion estimation. Recent work has shown that events generated by a single line each satisfy a polynomial constraint…

This paper proposes a new algorithm that solves non-convex optimal control problems with a theoretical guarantee for global convergence to a feasible local solution of the original problem. The proposed algorithm extends the recently…

Fast binary descriptors build the core for many vision based applications with real-time demands like object detection, Visual Odometry or SLAM. Commonly it is assumed, that the acquired images and thus the patches extracted around…

Offline camera calibration techniques typically employ parametric or generic camera models. Selecting parametric models relies heavily on user experience, and an inappropriate camera model can significantly affect calibration accuracy.…

This note considers checking satisfiability of sets of propositional clauses (SAT instances). It shows that "unipolar sets" of clauses (containing no positive or no negative clauses) provide an "early sign" of satisfiability of SAT…

In recent years, semidefinite relaxations of common optimization problems in robotics have attracted growing attention due to their ability to provide globally optimal solutions. In many cases, it was shown that specific handcrafted…

Sensor setups consisting of a combination of 3D range scanner lasers and stereo vision systems are becoming a popular choice for on-board perception systems in vehicles; however, the combined use of both sources of information implies a…

The essential matrix incorporates relative rotation and translation parameters of two calibrated cameras. The well-known algebraic characterization of essential matrices, i.e. necessary and sufficient conditions under which an arbitrary…

We provide a correction to the sufficient conditions under which closed-form expressions for the optimal Lagrange multiplier are provided in arXiv:2112.13138 [math.OC]. We first present a simple counterexample where the original conditions…

We study human pose estimation in extremely low-light images. This task is challenging due to the difficulty of collecting real low-light images with accurate labels, and severely corrupted inputs that degrade prediction quality…

As deep learning models continue to advance and are increasingly utilized in real-world systems, the issue of robustness remains a major challenge. Existing certified training methods produce models that achieve high provable robustness…

Navigation of a mobile robot is conditioned on the knowledge of its pose. In observer-based localisation configurations its initial pose may not be knowable in advance, leading to the need of its estimation. Solutions to the problem of…

In this paper a method for camera pose estimation from a sequence of images is presented. The method assumes camera is calibrated (intrinsic parameters are known) which allows to decrease a number of required pairs of corresponding points…