相关论文: A Closed-Form Uncertainty Propagation in Non-Rigid…

Many algorithms for the computation of correspondences between deformable shapes rely on some variant of nearest neighbor matching in a descriptor space. Such are, for example, various point-wise correspondence recovery algorithms used as a…

As one of data-driven approaches to computational mechanics in elasticity, this paper presents a method finding a bound for structural response, taking uncertainty in a material data set into account. For construction of an uncertainty set,…

Models incorporating uncertain inputs, such as random forces or material parameters, have been of increasing interest in PDE-constrained optimization. In this paper, we focus on the efficient numerical minimization of a convex and smooth…

Visual Place Recognition (VPR) enables robots and autonomous vehicles to identify previously visited locations by matching current observations against a database of known places. However, VPR systems face significant challenges when…

We consider semidefinite programs (SDPs) of size n with equality constraints. In order to overcome scalability issues, Burer and Monteiro proposed a factorized approach based on optimizing over a matrix Y of size $n$ by $k$ such that $X =…

Minimally invasive procedures have been advanced rapidly by the robotic laparoscopic surgery. The latter greatly assists surgeons in sophisticated and precise operations with reduced invasiveness. Nevertheless, it is still safety critical…

Non-Rigid Structure-from-Motion (NRSfM) reconstructs a deformable 3D object from the correspondences established between monocular 2D images. Current NRSfM methods lack statistical robustness, which is the ability to cope with…

Traversing environments with arbitrary obstacles poses significant challenges for bipedal robots. In some cases, whole body motions may be necessary to maneuver around an obstacle, but most existing footstep planners can only select from a…

Nonlinear dimensionality reduction or, equivalently, the approximation of high-dimensional data using a low-dimensional nonlinear manifold is an active area of research. In this paper, we will present a thematically different approach to…

Coherent Point Drift (CPD) is a representative probabilistic framework for unsupervised non-rigid point set registration. Its standard non-rigid M-step, however, relies on a point-indexed Gaussian-kernel system whose size grows with the…

Most model-free visual object tracking methods formulate the tracking task as object location estimation given by a 2D segmentation or a bounding box in each video frame. We argue that this representation is limited and instead propose to…

Uncertainty quantification is essential for scientific analysis, as it allows for the evaluation and interpretation of variability and reliability in complex systems and datasets. In their original form, multivariate statistical regression…

Exploiting sparsity in Semidefinite Programs (SDP) is critical to solving large-scale problems. The chordal completion based maximal clique decomposition is the preferred approach for exploiting sparsity in SDPs. In this paper, we show that…

This paper introduces an efficient procedure to localize user-defined points on the surface of deformable objects and track their positions in 3D space over time. To cope with a deformable object's infinite number of DOF, we propose a…

We consider the task of building compact deep learning pipelines suitable for deployment on storage and power constrained mobile devices. We propose a unified framework to learn a broad family of structured parameter matrices that are…

Estimating uncertainty of camera parameters computed in Structure from Motion (SfM) is an important tool for evaluating the quality of the reconstruction and guiding the reconstruction process. Yet, the quality of the estimated parameters…

In this paper, we propose a novel learning-based framework for 3D shape registration, which overcomes the challenges of significant non-rigid deformation and partiality undergoing among input shapes, and, remarkably, requires no…

The multireference alignment problem consists of estimating a signal from multiple noisy shifted observations. Inspired by existing Unique-Games approximation algorithms, we provide a semidefinite program (SDP) based relaxation which…

Non-rigid registration is challenging because it is ill-posed with high degrees of freedom and is thus sensitive to noise and outliers. We propose a robust non-rigid registration method using reweighted sparsities on position and…

Neural surface reconstruction methods typically treat camera poses as fixed values, assuming perfect accuracy from Structure-from-Motion (SfM) systems. This assumption breaks down with imperfect pose estimates, leading to distorted or…