相关论文: On the Robustness of Multi-View Rotation Averaging

Regularization is a core component of modern inverse problems, as it helps establish the well-posedness of the solution of interest. Popular regularization approaches include variational regularization and iterative regularization. The…

Reconstructing a 3D scene from unordered images is pivotal in computer vision and robotics, with applications spanning crowd-sourced mapping and beyond. While global Structure-from-Motion (SfM) techniques are scalable and fast, they often…

This paper proposes a deep recurrent Rotation Averaging Graph Optimizer (RAGO) for Multiple Rotation Averaging (MRA). Conventional optimization-based methods usually fail to produce accurate results due to corrupted and noisy relative…

Given 2D point correspondences between an image pair, inferring the camera motion is a fundamental issue in the computer vision community. The existing works generally set out from the epipolar constraint and estimate the essential matrix,…

Multiple rotation averaging plays a crucial role in computer vision and robotics domains. The conventional optimization-based methods optimize a nonlinear cost function based on certain noise assumptions, while most previous learning-based…

Mapping in the GPS-denied environment is an important and challenging task in the field of robotics. In the large environment, mapping can be significantly accelerated by multiple robots exploring different parts of the environment.…

Multi-view inverse rendering aims to recover geometry, materials, and illumination consistently across multiple viewpoints. When applied to multi-view images, existing single-view approaches often ignore cross-view relationships, leading to…

The idea of video super resolution is to use different view points of a single scene to enhance the overall resolution and quality. Classical energy minimization approaches first establish a correspondence of the current frame to all its…

Recently, the motion averaging method has been introduced as an effective means to solve the multi-view registration problem. This method aims to recover global motions from a set of relative motions, where the original method is sensitive…

Dynamic inverse problems are challenging to solve due to the need to identify and incorporate appropriate regularization in both space and time. Moreover, the very large scale nature of such problems in practice presents an enormous…

We present an approach to estimating camera rotation in crowded, real-world scenes from handheld monocular video. While camera rotation estimation is a well-studied problem, no previous methods exhibit both high accuracy and acceptable…

Reconstructing the 3D model of a physical object typically requires us to align the depth scans obtained from different camera poses into the same coordinate system. Solutions to this global alignment problem usually proceed in two steps.…

This paper addresses the problem of registering multiple point sets. Solutions to this problem are often approximated by repeatedly solving for pairwise registration, which results in an uneven treatment of the sets forming a pair: a model…

A viewing graph is a set of unknown camera poses, as the vertices, and the observed relative motions, as the edges. Solving the viewing graph is an essential step in a Structure-from-Motion procedure, where a set of relative motions is…

The paper analyzes the rotation averaging problem as a minimization problem for a potential function of the corresponding gradient system. This dynamical system is one generalization of the famous Kuramoto model on special orthogonal group…

Piecewise constant curvature is a popular kinematics framework for continuum robots. Computing the model parameters from the desired end pose, known as the inverse kinematics problem, is fundamental in manipulation, tracking and planning…

The multi-reference alignment (MRA) problem entails estimating an image from multiple noisy and rotated copies of itself. If the noise level is low, one can reconstruct the image by estimating the missing rotations, aligning the images, and…

This work addresses a central topic in Magnetic Resonance Imaging (MRI) which is the motion-correction problem in a joint reconstruction and registration framework. From a set of multiple MR acquisitions corrupted by motion, we aim at -…

Many robotics applications require alignment and fusion of observations obtained at multiple views to form a global model of the environment. Multi-way data association methods provide a mechanism to improve alignment accuracy of pairwise…

Group synchronization is the problem of determining reliable global estimates from noisy local measurements on networks. The typical task for group synchronization is to assign elements of a group to the nodes of a graph in a way that…