相关论文: NeFSAC: Neurally Filtered Minimal Samples

We present Neural-Guided RANSAC (NG-RANSAC), an extension to the classic RANSAC algorithm from robust optimization. NG-RANSAC uses prior information to improve model hypothesis search, increasing the chance of finding outlier-free minimal…

This paper studies the challenging two-view 3D reconstruction in a rigorous sparse-view configuration, which is suffering from insufficient correspondences in the input image pairs for camera pose estimation. We present a novel Neural…

Robust estimation is a cornerstone in computer vision, particularly for tasks like Structure-from-Motion and Simultaneous Localization and Mapping. RANSAC and its variants are the gold standard for estimating geometric models (e.g.,…

The gold-standard for robustly estimating relative pose through image matching is RANSAC. While RANSAC is powerful, it requires setting the inlier threshold that determines whether the error of a correspondence under an estimated model is…

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 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.…

In this paper we study the numerical instabilities of the 5- and 7-point problems for essential and fundamental matrix estimation in multiview geometry. In both cases we characterize the ill-posed world scenes where the condition number for…

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 In recent years, traditionally hand-crafted pipelines have been replaced by deep learning pipelines, which can be…

Erroneous feature matches have severe impact on subsequent camera pose estimation and often require additional, time-costly measures, like RANSAC, for outlier rejection. Our method tackles this challenge by addressing feature matching and…

While RANSAC-based methods are robust to incorrect image correspondences (outliers), their hypothesis generators are not robust to correct image correspondences (inliers) with positional error (noise). This slows down their convergence…

RANSAC is a popular technique for estimating model parameters in the presence of outliers. The best speed is achieved when the minimum possible number of points is used to estimate hypotheses for the model. Many useful problems can be…

We propose ways to speed up the initial pose-graph generation for global Structure-from-Motion algorithms. To avoid forming tentative point correspondences by FLANN and geometric verification by RANSAC, which are the most time-consuming…

Continuous learning seeks to perform the learning on the data that arrives from time to time. While prior works have demonstrated several possible solutions, these approaches require excessive training time as well as memory usage. This is…

Magnetic resonance imaging (MRI) nowadays serves as an important modality for diagnostic and therapeutic guidance in clinics. However, the {\it slow acquisition} process, the dynamic deformation of organs, as well as the need for {\it…

This paper introduces a modular, non-deep learning method for filtering and refining sparse correspondences in image matching. Assuming that motion flow within the scene can be approximated by local homography transformations, matches are…

Robust estimation is a crucial and still challenging task, which involves estimating model parameters in noisy environments. Although conventional sampling consensus-based algorithms sample several times to achieve robustness, these…

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.…

A critical obstacle preventing NeRF models from being deployed broadly in the wild is their reliance on accurate camera poses. Consequently, there is growing interest in extending NeRF models to jointly optimize camera poses and scene…

We present a robust estimator for fitting multiple parametric models of the same form to noisy measurements. Applications include finding multiple vanishing points in man-made scenes, fitting planes to architectural imagery, or estimating…

We present a parallelized optimization method based on fast Neural Radiance Fields (NeRF) for estimating 6-DoF pose of a camera with respect to an object or scene. Given a single observed RGB image of the target, we can predict the…