相关论文: IRON: Invariant-based Highly Robust Point Cloud Re…

Rank regression offers robustness to outliers and heavy-tailed response distributions, invariance to monotonic transformations, and improved efficiency under non-Gaussian errors, making it a versatile tool for analyzing complex data. This…

Multiview point cloud registration is a fundamental task for constructing globally consistent 3D models. Existing approaches typically rely on feature extraction and data association across multiple point clouds; however, these processes…

Multi-robot visual simultaneous localization and mapping (SLAM) system is normally consisted of multiple mobile robots equipped with camera and/or other visual sensors. The networked robots work independently or cooperatively in an unknown…

Numerous applications require algorithms that can align partially overlapping point sets while maintaining invariance to geometric transformations (e.g., similarity, affine, rigid). This paper introduces a novel global optimization method…

This study presents a novel workflow designed to efficiently and accurately register large-scale mobile laser scanning (MLS) point clouds to a target model point cloud in urban street scenarios. This workflow specifically targets the…

Estimating consistently oriented normals for point clouds enables a number of important applications in computer graphics. While local normal estimation is possible with simple techniques like PCA, orienting them to be globally consistent…

We introduce algorithms for robustly computing intrinsic coordinates on point clouds. Our approach relies on generating many candidate coordinates by subsampling the data and varying hyperparameters of the embedding algorithm (e.g.,…

Existing AI-based point cloud compression methods struggle with dependence on specific training data distributions, which limits their real-world deployment. Implicit Neural Representation (INR) methods solve the above problem by encoding…

Geometric perception problems are fundamental tasks in robotics and computer vision. In real-world applications, they often encounter the inevitable issue of outliers, preventing traditional algorithms from making correct estimates. In this…

The robust interpretation of 3D environments is crucial for human-robot collaboration (HRC) applications, where safety and operational efficiency are paramount. Semantic segmentation plays a key role in this context by enabling a precise…

PointNet has recently emerged as a popular representation for unstructured point cloud data, allowing application of deep learning to tasks such as object detection, segmentation and shape completion. However, recent works in literature…

RANSAC and its variants are widely used for robust estimation, however, they commonly follow a greedy approach to finding the highest scoring model while ignoring other model hypotheses. In contrast, Iteratively Reweighted Least Squares…

Ensuring safety of nonlinear systems under model uncertainty and external disturbances is crucial, especially for real-world control tasks. Predictive methods such as robust model predictive control (RMPC) require solving nonconvex…

Aligning partial views of a scene into a single whole is essential to understanding one's environment and is a key component of numerous robotics tasks such as SLAM and SfM. Recent approaches have proposed end-to-end systems that can…

Modern image encoders achieve high generalization by decoupling semantic meaning from resolution, an ability yet to be fully realized in the 3D domain. We investigate the failure of 3D point cloud encoders to achieve similar generalization…

We introduce SNAP (Self-coNsistent Agreement Principle), a self-supervised framework for robust computation based on mutual agreement. Based on an Agreement-Reliability Hypothesis SNAP assigns weights that quantify agreement, emphasizing…

It has been shown that the majority of existing adversarial defense methods achieve robustness at the cost of sacrificing prediction accuracy. The undesirable severe drop in accuracy adversely affects the reliability of machine learning…

The rotation robustness property has drawn much attention to point cloud analysis, whereas it still poses a critical challenge in 3D object detection. When subjected to arbitrary rotation, most existing detectors fail to produce expected…

Global Navigation Satellite Systems (GNSS) aided Inertial Navigation System (INS) is a fundamental approach for attaining continuously available absolute vehicle position and full state estimates at high bandwidth. For transportation…

Recent advances in neural information retrieval (IR) models have significantly enhanced their effectiveness over various IR tasks. The robustness of these models, essential for ensuring their reliability in practice, has also garnered…