This paper focuses on removing mismatches from given putative feature matches created
typically based on descriptor similarity. To achieve this goal, existing attempts usually …

This paper proposes an effective method, termed as motion-consistency driven matching
(MCDM), for mismatch removal from given tentative correspondences between two feature …

Traditional manual and semi-automatic approaches rely heavily on surveying control points
and manually picking equivalent point pairs, which is time-consuming and labor-intensive …

The motion of planar ground vehicles is often non-holonomic, and as a result may be
modelled by the 2 DoF Ackermann steering model. We analyse the feasibility of estimating …

In this paper, we formulate a generic non-minimal solver using the existing tools of
Polynomials Optimization Problems (POP) from computational algebraic geometry. The …

Intelligent robots require object-level scene understanding to reason about possible tasks
and interactions with the environment. Moreover, many perception tasks such as scene …

We present a novel approach for relocalization or place recognition, a fundamental problem
to be solved in many robotics, automation, and AR applications. Rather than relying on often …

We introduce a new solution to point set registration, a fundamental geometric problem
occurring in many computer vision and robotics applications. We consider the specific case …