相关论文: SupeRANSAC: One RANSAC to Rule Them All

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…

Camera pose estimation is crucial for many computer vision applications, yet existing benchmarks offer limited insight into method limitations across different geometric challenges. We introduce RUBIK, a novel benchmark that systematically…

Image-based localization, or camera relocalization, is a fundamental problem in computer vision and robotics, and it refers to estimating camera pose from an image. Recent state-of-the-art approaches use learning based methods, such as…

Vehicle relocation is the problem in which a mobile robot has to estimate the self-position with respect to an a priori map of landmarks using the perception and the motion measurements without using any knowledge of the initial…

This paper considers the generic problem of dense alignment between two images, whether they be two frames of a video, two widely different views of a scene, two paintings depicting similar content, etc. Whereas each such task is typically…

For effective autonomous navigation,estimation of the pose of the robot is essential at every sampling time. For computing an accurate estimation,odometric error needs to be reduced with the help of data from external sensor. In this work,…

Photoacoustic Microscopy (PAM) images integrating the advantages of optical contrast and acoustic resolution have been widely used in brain studies. However, there exists a trade-off between scanning speed and image resolution. Compared…

We propose Progressive NAPSAC, P-NAPSAC in short, which merges the advantages of local and global sampling by drawing samples from gradually growing neighborhoods. Exploiting the fact that nearby points are more likely to originate from the…

This paper deals with robust regression and subspace estimation and more precisely with the problem of minimizing a saturated loss function. In particular, we focus on computational complexity issues and show that an exact algorithm with…

Correspondence-based point cloud registration (PCR) plays a key role in robotics and computer vision. However, challenges like sensor noises, object occlusions, and descriptor limitations inevitably result in numerous outliers. RANSAC…

Feature point detection and description is the backbone for various computer vision applications, such as Structure-from-Motion, visual SLAM, and visual place recognition. While learning-based methods have surpassed traditional handcrafted…

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…

In this paper, we speed up robust two-view relative pose from dense correspondences. Previous work has shown that dense matchers can significantly improve both accuracy and robustness in the resulting pose. However, the large number of…

In this paper we present a novel approach to global localization using an RGB-D camera in maps of visual features. For large maps, the performance of pure image matching techniques decays in terms of robustness and computational cost.…

We introduce a comprehensive benchmark for local features and robust estimation algorithms, focusing on the downstream task -- the accuracy of the reconstructed camera pose -- as our primary metric. Our pipeline's modular structure allows…

In this paper, we study the problem of robust subspace recovery (RSR) in the presence of both strong adversarial corruptions and Gaussian noise. Specifically, given a limited number of noisy samples -- some of which are tampered by an…

We present an approach to estimating camera rotation in crowded, real-world scenes from handheld monocular video. While camera rotation estimation is a well-studied problem, no previous methods exhibit both high accuracy and acceptable…

Deep learning has become increasingly important in remote sensing image classification due to its ability to extract semantic information from complex data. Classification tasks often include predefined label hierarchies that represent the…

Deep learning based camera pose estimation from monocular camera images has seen a recent uptake in Visual SLAM research. Even though such pose estimation approaches have excellent results in small confined areas like offices and apartment…

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…