相关论文: Fast, Robust, Permutation-and-Sign Invariant SO(3)…

Existing methods for rotation estimation between two spherical ($\mathbb{S}^2$) patterns typically rely on spherical cross-correlation maximization between two spherical function. However, these approaches exhibit computational complexities…

This study presents a systematic enumeration of spherical ($SO(3)$) type parallel robots' variants using an analytical velocity-level approach. These robots are known for their ability to perform arbitrary rotations around a fixed point,…

Reliable watermarking of panoramic imagery is fundamentally challenged by arbitrary 3D rotations. As panoramas are defined on the sphere, they naturally transform under the action of $SO(3)$, rendering conventional planar representations…

In this paper, a work-optimal parallelization of Kostelec and Rockmore's well-known fast Fourier transform and its inverse on the three-dimensional rotation group SO(3) is designed, implemented, and tested. To this end, the sequential…

This paper addresses the distributed attitude synchronization problem for a network of rigid-body systems on the special orthogonal group SO(3). Each agent measures, in its body frame, its own angular velocity and a set of vectors whose…

Establishing accurate 3D correspondences between shapes stands as a pivotal challenge with profound implications for computer vision and robotics. However, existing self-supervised methods for this problem assume perfect input shape…

Hybrid Opto-electronic correlators (HOC) overcome many limitations of all-optical correlators (AOC) while maintaining high-speed operation. However, neither the OEC nor the AOC in their conventional configurations can detect targets that…

The synchronization problem over the special orthogonal group $SO(d)$ consists of estimating a set of unknown rotations $R_1,R_2,...,R_n$ from noisy measurements of a subset of their pairwise ratios $R_{i}^{-1}R_{j}$. The problem has found…

Correspondence-based rotation search and point cloud registration are two fundamental problems in robotics and computer vision. However, the presence of outliers, sometimes even occupying the great majority of the putative correspondences,…

Determining the 3D orientations of an object in an image, known as single-image pose estimation, is a crucial task in 3D vision applications. Existing methods typically learn 3D rotations parametrized in the spatial domain using Euler…

The intrinsic rotation invariance lies at the core of matching point clouds with handcrafted descriptors. However, it is widely despised by recent deep matchers that obtain the rotation invariance extrinsically via data augmentation. As the…

6D pose estimation of rigid objects from RGB-D images is crucial for object grasping and manipulation in robotics. Although RGB channels and the depth (D) channel are often complementary, providing respectively the appearance and geometry…

Robust 3D registration is a fundamental problem in computer vision and robotics, where the goal is to estimate the geometric transformation between two sets of measurements in the presence of noise, mismatches, and extreme outlier…

Rotation averaging is a synchronization process on single or multiple rotation groups, and is a fundamental problem in many computer vision tasks such as multi-view structure from motion (SfM). Specifically, rotation averaging involves the…

Estimating relative camera poses between images has been a central problem in computer vision. Methods that find correspondences and solve for the fundamental matrix offer high precision in most cases. Conversely, methods predicting pose…

We develop a fast and accurate method for 3D alignment, recovering the rotation and translation that best align a reference volume with a noisy observation. Classical matched filtering evaluates cross-correlation over a large discretized…

The $\mathrm{SE}(3)$ invariants of a pose include its rotation angle and screw translation. In this paper, we present a complete comprehensive study of the relative pose estimation problem for a calibrated camera constrained by known…

We propose three fast algorithms for solving the inverse problem of the thermoacoustic tomography corresponding to certain acquisition geometries. Two of these methods are designed to process the measurements done with point-like detectors…

Panoramic semantic segmentation models are typically trained under a strict gravity-aligned assumption. However, real-world captures often deviate from this canonical orientation due to unconstrained camera motions, such as the rotational…

We present E(3)-Pose, a novel fast pose estimation method that jointly and explicitly models rotation equivariance and object symmetry. Our work is motivated by the challenging problem of accounting for fetal head motion during a diagnostic…