相关论文: USACv20: robust essential, fundamental and homogra…

This paper focuses on developing efficient and robust evaluation metrics for RANSAC hypotheses to achieve accurate 3D rigid registration. Estimating six-degree-of-freedom (6-DoF) pose from feature correspondences remains a popular approach…

We study the robust matrix completion (RMC) problem subject to both sparse outliers and stochastic noise. A non-convex method termed Accelerated Robust Matrix Completion (ARMC) is proposed, which accelerates a prior non-convex approach by…

Accurate earthquake location, which determines the origin time and location of seismic events using phase arrival times or waveforms, is fundamental to earthquake monitoring. While recent deep learning advances have significantly improved…

RANSAC is an important algorithm in robust optimization and a central building block for many computer vision applications. In recent years, traditionally hand-crafted pipelines have been replaced by deep learning pipelines, which can be…

We revisit the problem of assigning a score (a quality of fit) to candidate geometric models -- one of the key components of RANSAC for robust geometric fitting. In a non-robust setting, the ``gold standard'' scoring function, known as the…

Matrix completion is one of the crucial tools in modern data science research. Recently, a novel sampling model for matrix completion coined cross-concentrated sampling (CCS) has caught much attention. However, the robustness of the CCS…

We introduce NONSAC (Non-Minimal Sampling and Consensus), a general framework for robust and scalable model estimation from arbitrarily large datasets contaminated with noise and outliers. NONSAC repeatedly samples non-minimal subsets of…

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…

We provide a new computationally-efficient class of estimators for risk minimization. We show that these estimators are robust for general statistical models: in the classical Huber epsilon-contamination model and in heavy-tailed settings.…

The ability for an autonomous agent to self-localise is directly proportional to the accuracy and precision with which it can perceive salient features within its local environment. The identification of such features by recognising…

Robust low-rank matrix completion (RMC), or robust principal component analysis with partially observed data, has been studied extensively for computer vision, signal processing and machine learning applications. This problem aims to…

In this paper, we revisit the problem of local optimization in RANSAC. Once a so-far-the-best model has been found, we refine it via Dual Principal Component Pursuit (DPCP), a robust subspace learning method with strong theoretical support…

A method called, sigma-consensus, is proposed to eliminate the need for a user-defined inlier-outlier threshold in RANSAC. Instead of estimating the noise sigma, it is marginalized over a range of noise scales. The optimized model is…

HQC is one of the code-based finalists in the last round of the NIST post quantum cryptography standardization process. In this process, security and implementation efficiency are key metrics for the selection of the candidates. A critical…

Robust estimation of camera motion under the presence of outlier noise is a fundamental problem in robotics and computer vision. Despite existing efforts that focus on detecting motion and scene degeneracies, the best existing approach that…

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…

We propose a unified framework for estimating low-rank matrices through nonconvex optimization based on gradient descent algorithm. Our framework is quite general and can be applied to both noisy and noiseless observations. In the general…

We present a novel approach for RANSAC-based computation of the fundamental matrix based on epipolar homography decomposition. We analyze the geometrical meaning of the decomposition-based representation and show that it directly induces a…

Random sample consensus (RANSAC), which is based on a repetitive sampling from a given dataset, is one of the most popular robust estimation methods. In this study, an energy-based model (EBM) for robust estimation that has a similar scheme…

We present a method that can evaluate a RANSAC hypothesis in constant time, i.e. independent of the size of the data. A key observation here is that correct hypotheses are tightly clustered together in the latent parameter domain. In a…