相关论文: Robust Uncertainty-Aware Multiview Triangulation

Correspondence-based rotation search and point cloud registration are two fundamental problems in robotics and computer vision. However, the presence of outliers, sometimes even occupying the great majority of the putative correspondences,…

We propose a novel method to accurately reconstruct a set of images representing a single scene from few linear multi-view measurements. Each observed image is modeled as the sum of a background image and a foreground one. The background…

In this thesis, we address the challenging problem of unpaired multi-view clustering (UMC), which aims to achieve effective joint clustering using unpaired samples observed across multiple views. Traditional incomplete multi-view clustering…

This paper presents an algorithm for the preprocessing of observation data aimed at improving the robustness of orbit determination tools. Two objectives are fulfilled: obtain a refined solution to the initial orbit determination problem…

The gold-standard for robustly estimating relative pose through image matching is RANSAC. While RANSAC is powerful, it requires setting the inlier threshold that determines whether the error of a correspondence under an estimated model is…

Bayesian optimization is a popular tool for data-efficient optimization of expensive objective functions. In real-life applications like engineering design, the designer often wants to take multiple objectives as well as input uncertainty…

This letter proposes an extrinsic calibration approach for a pair of monocular camera and prism-spinning solid-state LiDAR. The unique characteristics of the point cloud measured resulting from the flower-like scanning pattern is first…

Reconstructing dynamic 4D scenes is an important yet challenging task. While 3D foundation models like VGGT excel in static settings, they often struggle with dynamic sequences where motion causes significant geometric ambiguity. To address…

In this work, we generalize the Cram\'er-von Mises statistic via projection-averaging to obtain a robust test for the multivariate two-sample problem. The proposed test is consistent against all fixed alternatives, robust to heavy-tailed…

The problem of self-calibration of two cameras from a given fundamental matrix is one of the basic problems in geometric computer vision. Under the assumption of known principal points and square pixels, the well-known Bougnoux formula…

We aim at estimating the fundamental matrix in two views from five correspondences of rotation invariant features obtained by e.g.\ the SIFT detector. The proposed minimal solver first estimates a homography from three correspondences…

For several decades, RANSAC has been one of the most commonly used robust estimation algorithms for many problems in computer vision and related fields. The main contribution of this paper lies in addressing a long-standing error baked into…

This work presents a probabilistic deep neural network that combines LiDAR point clouds and RGB camera images for robust, accurate 3D object detection. We explicitly model uncertainties in the classification and regression tasks, and…

We propose a non-parametric statistical procedure for detecting multiple change-points in multidimensional signals. The method is based on a test statistic that generalizes the well-known Kruskal-Wallis procedure to the multivariate…

We introduce a new method for robust beamforming, where the goal is to estimate a signal from array samples when there is uncertainty in the angle of arrival. Our method offers state-of-the-art performance on narrowband signals and is…

When applying a statistical method in practice it often occurs that some observations deviate from the usual assumptions. However, many classical methods are sensitive to outliers. The goal of robust statistics is to develop methods that…

Multiview Structure from Motion is a fundamental and challenging computer vision problem. A recent deep-based approach utilized matrix equivariant architectures for simultaneous recovery of camera pose and 3D scene structure from large…

3D human pose estimation has been a long-standing challenge in computer vision and graphics, where multi-view methods have significantly progressed but are limited by the tedious calibration processes. Existing multi-view methods are…

We explore a multiple-stage variant of the min-max robust selection problem with budgeted uncertainty that includes queries. First, one queries a subset of items and gets the exact values of their uncertain parameters. Given this…

This paper delves into the challenging issues in uncertain multi-objective optimization, where uncertainty permeates nonsmooth nonconvex objective and constraint functions. In this context, we investigate highly robust (weakly efficient)…