相关论文: RANSIC: Fast and Highly Robust Estimation for Rota…

Point cloud-based large scale place recognition is an important but challenging task for many applications such as Simultaneous Localization and Mapping (SLAM). Taking the task as a point cloud retrieval problem, previous methods have made…

Rotation averaging (RA) is a fundamental problem in robotics and computer vision. In RA, the goal is to estimate a set of $N$ unknown orientations $R_{1}, ..., R_{N} \in SO(3)$, given noisy measurements $R_{ij} \sim R^{-1}_{i} R_{j}$ of a…

Noisy, partially overlapping data and the need for real-time processing pose major challenges for rigid registration. Considering that feature-based matching can handle large transformation differences but suffers from limited accuracy,…

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.…

Self-Consistency mitigates hallucinations in Large Language Models (LLMs) by sampling multiple reasoning paths,but it lacks a systematic approach to determine the optimal number of samples or select the most faithful rationale. To address…

We propose a robust and efficient method for multiview triangulation and uncertainty estimation. Our contribution is threefold: First, we propose an outlier rejection scheme using two-view RANSAC with the midpoint method. By prescreening…

Cross-source point cloud registration, which aims to align point cloud data from different sensors, is a fundamental task in 3D vision. However, compared to the same-source point cloud registration, cross-source registration faces two core…

Implicit Neural Point Cloud (INPC) is a recent hybrid representation that combines the expressiveness of neural fields with the efficiency of point-based rendering, achieving state-of-the-art image quality in novel view synthesis. However,…

Point cloud registration is an important task in robotics and autonomous driving to estimate the ego-motion of the vehicle. Recent advances following the coarse-to-fine manner show promising potential in point cloud registration. However,…

We propose a general method for deep learning based point cloud analysis, which is invariant to rotation on the inputs. Classical methods are vulnerable to rotation, as they usually take aligned point clouds as input. Principle Component…

Diffusion models have recently emerged as powerful generative priors for solving inverse problems. However, training diffusion models in the pixel space are both data-intensive and computationally demanding, which restricts their…

Although point cloud registration has achieved remarkable advances in object-level and indoor scenes, large-scale registration methods are rarely explored. Challenges mainly arise from the huge point number, complex distribution, and…

Detecting the reflection symmetry plane of an object represented by a 3D point cloud is a fundamental problem in 3D computer vision and geometry processing due to its various applications, such as compression, object detection, robotic…

The geometric congruence problem is a fundamental building block in many computer vision and image recognition tasks. This problem considers the decision task of whether two point sets are congruent under translation and rotation. A related…

Matching two images while estimating their relative geometry is a key step in many computer vision applications. For decades, a well-established pipeline, consisting of SIFT, RANSAC, and 8-point algorithm, has been used for this task.…

Point cloud analysis is a fundamental task in 3D computer vision. Most previous works have conducted experiments on synthetic datasets with well-aligned data; while real-world point clouds are often not pre-aligned. How to achieve rotation…

Managing uncertainty is a fundamental and critical issue in spacecraft entry guidance. This paper presents a novel approach for uncertainty propagation during entry, descent and landing that relies on a new sum-of-squares robust…

We present a real-time method for robust estimation of multiple instances of geometric models from noisy data. Geometric models such as vanishing points, planar homographies or fundamental matrices are essential for 3D scene analysis.…

This paper presents a robust probabilistic point registration method for estimating the rigid transformation (i.e. rotation matrix and translation vector) between two pointcloud dataset. The method improves the robustness of point…

3D point clouds deep learning is a promising field of research that allows a neural network to learn features of point clouds directly, making it a robust tool for solving 3D scene understanding tasks. While recent works show that point…