相关论文: On Efficient and Robust Metrics for RANSAC Hypothe…

Dynamic obstacle avoidance is a popular research topic for autonomous systems, such as micro aerial vehicles and service robots. Accurately evaluating the performance of dynamic obstacle avoidance methods necessitates the establishment of a…

Random sample consensus (RANSAC) is a robust model-fitting algorithm. It is widely used in many fields including image-stitching and point cloud registration. In RANSAC, data is uniformly sampled for hypothesis generation. However, this…

Learning in the presence of outliers is a fundamental problem in statistics. Until recently, all known efficient unsupervised learning algorithms were very sensitive to outliers in high dimensions. In particular, even for the task of robust…

Despite having high accuracy, neural nets have been shown to be susceptible to adversarial examples, where a small perturbation to an input can cause it to become mislabeled. We propose metrics for measuring the robustness of a neural net…

Circular targets are widely used in LiDAR-camera extrinsic calibration due to their geometric consistency and ease of detection. However, achieving accurate 3D-2D circular center correspondence remains challenging. Existing methods often…

Non-rigid 3D registration, which deforms a source 3D shape in a non-rigid way to align with a target 3D shape, is a classical problem in computer vision. Such problems can be challenging because of imperfect data (noise, outliers and…

Dense feature matching aims to estimate all correspondences between two images of a 3D scene and has recently been established as the gold-standard due to its high accuracy and robustness. However, existing dense matchers still fail or…

Deep neural networks (DNNs) have achieved remarkable performance across a wide range of applications, while they are vulnerable to adversarial examples, which motivates the evaluation and benchmark of model robustness. However, current…

Robustness checks are routine in empirical work, but there is no standard statistical procedure to formally measure what one can learn from them. I propose a "robustness radius" measure to quantify the amount by which the robustness checks…

Feature matching is an important computer vision task that involves estimating correspondences between two images of a 3D scene, and dense methods estimate all such correspondences. The aim is to learn a robust model, i.e., a model able to…

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.…

High-dimensional data are commonly seen in modern statistical applications, variable selection methods play indispensable roles in identifying the critical features for scientific discoveries. Traditional best subset selection methods are…

Solving Perspective-n-Point (PnP) problems is a traditional way of estimating object poses. Given outlier-contaminated data, a pose of an object is calculated with PnP algorithms of n = {3, 4} in the RANSAC-based scheme. However, the…

With recent advances in computing hardware and surges of deep-learning architectures, learning-based deep image registration methods have surpassed their traditional counterparts, in terms of metric performance and inference time. However,…

The crucial components of a conventional image registration method are the choice of the right feature representations and similarity measures. These two components, although elaborately designed, are somewhat handcrafted using human…

Metric learning is an important family of algorithms for classification and similarity search, but the robustness of learned metrics against small adversarial perturbations is less studied. In this paper, we show that existing metric…

We propose a robust approach for the registration of two sets of 3D points in the presence of a large amount of outliers. Our first contribution is to reformulate the registration problem using a Truncated Least Squares (TLS) cost that…

Learning-based scene representations such as neural radiance fields or light field networks, that rely on fitting a scene model to image observations, commonly encounter challenges in the presence of inconsistencies within the images caused…

This paper studies the relative pose problem for autonomous vehicle driving in highly dynamic and possibly cluttered environments. This is a challenging scenario due to the existence of multiple, large, and independently moving objects in…

A novel solution is obtained to solve the rigid 3D registration problem, motivated by previous eigen-decomposition approaches. Different from existing solvers, the proposed algorithm does not require sophisticated matrix operations e.g.…