相关论文: Fast and Robust Iterative Closest Point

In robotic inspection, joint registration of multiple point clouds is an essential technique for estimating the transformation relationships between measured parts, such as multiple blades in a propeller. However, the presence of noise and…

Rigid registration of point clouds is a fundamental problem in computer vision with many applications from 3D scene reconstruction to geometry capture and robotics. If a suitable initial registration is available, conventional methods like…

Simultaneous Localization and Mapping (SLAM) with dense representation plays a key role in robotics, Virtual Reality (VR), and Augmented Reality (AR) applications. Recent advancements in dense representation SLAM have highlighted the…

The interpolative decomposition (ID) aims to construct a low-rank approximation formed by a basis consisting of row/column skeletons in the original matrix and a corresponding interpolation matrix. This work explores fast and accurate ID…

LiDAR odometry and localization has attracted increasing research interest in recent years. In the existing works, iterative closest point (ICP) is widely used since it is precise and efficient. Due to its non-convexity and its local…

We develop a family of accelerated stochastic algorithms that minimize sums of convex functions. Our algorithms improve upon the fastest running time for empirical risk minimization (ERM), and in particular linear least-squares regression,…

Traditional algorithms of point set registration minimizing point-to-plane distances often achieve a better estimation of rigid transformation than those minimizing point-to-point distances. Nevertheless, recent deep-learning-based methods…

Nonrigid point set registration is widely applied in the tasks of computer vision and pattern recognition. Coherent point drift (CPD) is a classical method for nonrigid point set registration. However, to solve spatial transformation…

We present a new fully-automatic non-rigid 3D shape registration (morphing) framework comprising (1) a new 3D landmarking and pose normalisation method; (2) an adaptive shape template method to accelerate the convergence of registration…

We present a head-to-head evaluation of the Improved Inexact--Newton--Smart (INS) algorithm against a primal--dual interior-point framework for large-scale nonlinear optimization. On extensive synthetic benchmarks, the interior-point method…

Gaussian Processes (GPs) are highly expressive, probabilistic models. A major limitation is their computational complexity. Naively, exact GP inference requires $\mathcal{O}(N^3)$ computations with $N$ denoting the number of modeled points.…

Visual and lidar Simultaneous Localization and Mapping (SLAM) algorithms benefit from the Inertial Measurement Unit (IMU) modality. The high-rate inertial data complement the other lower-rate modalities. Moreover, in the absence of constant…

Multi-block separable convex problems recently received considerable attention. This class of optimization problems minimizes a separable convex objective function with linear constraints. The algorithmic challenges come from the fact that…

Grasping is essential in robotic manipulation, yet challenging due to object and gripper diversity and real-world complexities. Traditional analytic approaches often have long optimization times, while data-driven methods struggle with…

We propose a novel technique to register sparse 3D scans in the absence of texture. While existing methods such as KinectFusion or Iterative Closest Points (ICP) heavily rely on dense point clouds, this task is particularly challenging…

We propose to view non-rigid surface registration as a probabilistic inference problem. Given a target surface, we estimate the posterior distribution of surface registrations. We demonstrate how the posterior distribution can be used to…

The problem of recovering a low-rank matrix from a set of observations corrupted with gross sparse error is known as the robust principal component analysis (RPCA) and has many applications in computer vision, image processing and web data…

Ill-posed linear inverse problems (ILIP), such as restoration and reconstruction, are a core topic of signal/image processing. A standard approach to deal with ILIP uses a constrained optimization problem, where a regularization function is…

In robotic inspection of aviation parts, achieving accurate pairwise point cloud registration between scanned and model data is essential. However, noise and outliers generated in robotic scanned data can compromise registration accuracy.…

State-of-the-art algorithms for sparse subspace clustering perform spectral clustering on a similarity matrix typically obtained by representing each data point as a sparse combination of other points using either basis pursuit (BP) or…