相关论文: Iterative PnP and its application in 3D-2D vascula…

Point cloud registration is the task of estimating the rigid transformation that aligns a pair of point cloud fragments. We present an efficient and robust framework for pairwise registration of real-world 3D scans, leveraging Hough voting…

The inverse source problem arising in photoacoustic tomography and in several other coupled-physics modalities is frequently solved by iterative algorithms. Such algorithms are based on the minimization of a certain cost functional. In…

This paper presents a modified general viscosity iterative process designed to solve variational inclusion and fixed point problems involving multi-valued quasi-nonexpansive and demi-contractive operators. The modified iterative process…

This paper presents algorithms to navigate and avoid obstacles for an in-door autonomous mobile robot. A laser range finder is used to obtain 3D images of the environment. A new algorithm, namely 3D-to-2D image pressure and barriers…

Implicit neural representations (INRs) have demonstrated strong capabilities in various medical imaging tasks, such as denoising, registration, and segmentation, by representing images as continuous functions, allowing complex details to be…

In this paper we consider the computation of approximate solutions for inverse problems in Hilbert spaces. In order to capture the special feature of solutions, non-smooth convex functions are introduced as penalty terms. By exploiting the…

Iterative Closest Point (ICP) solves the rigid point cloud registration problem iteratively in two steps: (1) make hard assignments of spatially closest point correspondences, and then (2) find the least-squares rigid transformation. The…

We propose a novel adaptive learning algorithm based on iterative orthogonal projections in the Cartesian product of multiple reproducing kernel Hilbert spaces (RKHSs). The task is estimating/tracking nonlinear functions which are supposed…

This paper presents a robust and efficient semi-dense visual odometry solution for RGB-D cameras. The core of our method is a 2D-3D ICP pipeline which estimates the pose of the sensor by registering the projection of a 3D semi-dense map of…

X-ray image based surgical tool navigation is fast and supplies accurate images of deep seated structures. Typically, recovering the 6 DOF rigid pose and deformation of tools with respect to the X-ray camera can be accurately achieved…

In this paper, a shape-constrained iterative algorithm is proposed to register a rigid template point-cloud to a given reference point-cloud. The algorithm embeds a shape-based similarity constraint into the principle of gravitation. The…

This paper addresses the Kidnapped Robot Problem (KRP), a core localization challenge of relocalizing a robot in a known map without prior pose estimate upon localization loss or at SLAM initialization. For this purpose, a passive 2-D…

Three-dimensional particle reconstruction with limited two-dimensional projections is an under-determined inverse problem that the exact solution is often difficult to be obtained. In general, approximate solutions can be obtained by…

The research interest on location-based services has increased during the last years ever since 3D centimetre accuracy inside intelligent environments could be confronted with. This work proposes an indoor local positioning system based on…

In this paper a fast triangular mesh based registration method is proposed. Having Template and Reference images as inputs, the template image is triangulated using a content adaptive mesh generation algorithm. Considering the pixel values…

Regularisation is commonly used in iterative methods for solving imaging inverse problems. Many algorithms involve the evaluation of the proximal operator of the regularisation term in every iteration, leading to a significant computational…

Keypoint detection is one of the most important pre-processing steps in tasks such as face modeling, recognition and verification. In this paper, we present an iterative method for Keypoint Estimation and Pose prediction of unconstrained…

We propose to tackle the problem of multiview 2D/3D rigid registration for intervention via a Point-Of-Interest Network for Tracking and Triangulation ($\text{POINT}^2$). $\text{POINT}^2$ learns to establish 2D point-to-point…

Many robotic tasks involving some form of 3D visual perception greatly benefit from a complete knowledge of the working environment. However, robots often have to tackle unstructured environments and their onboard visual sensors can only…

Tight-frame, a generalization of orthogonal wavelets, has been used successfully in various problems in image processing, including inpainting, impulse noise removal, super-resolution image restoration, etc. Segmentation is the process of…