Advances in inference and representation for simultaneous localization and mapping
DM Rosen, KJ Doherty… - Annual Review of …, 2021 - annualreviews.org
Simultaneous localization and mapping (SLAM) is the process of constructing a global
model of an environment from local observations of it; this is a foundational capability for …
model of an environment from local observations of it; this is a foundational capability for …
Learning multiview 3d point cloud registration
We present a novel, end-to-end learnable, multiview 3D point cloud registration algorithm.
Registration of multiple scans typically follows a two-stage pipeline: the initial pairwise …
Registration of multiple scans typically follows a two-stage pipeline: the initial pairwise …
SE-Sync: A certifiably correct algorithm for synchronization over the special Euclidean group
Many important geometric estimation problems naturally take the form of synchronization
over the special Euclidean group: estimate the values of a set of unknown group elements x …
over the special Euclidean group: estimate the values of a set of unknown group elements x …
Lu-nerf: Scene and pose estimation by synchronizing local unposed nerfs
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 …
reliance on accurate camera poses. Consequently, there is growing interest in extending …
Learning to communicate and correct pose errors
Learned communication makes multi-agent systems more effective by aggregating
distributed information. However, it also exposes individual agents to the threat of erroneous …
distributed information. However, it also exposes individual agents to the threat of erroneous …
Multibodysync: Multi-body segmentation and motion estimation via 3d scan synchronization
We present MultiBodySync, a novel, end-to-end trainable multi-body motion segmentation
and rigid registration framework for multiple input 3D point clouds. The two non-trivial …
and rigid registration framework for multiple input 3D point clouds. The two non-trivial …
Robust multiview point cloud registration with reliable pose graph initialization and history reweighting
In this paper, we present a new method for the multiview registration of point cloud. Previous
multiview registration methods rely on exhaustive pairwise registration to construct a …
multiview registration methods rely on exhaustive pairwise registration to construct a …
Quantum permutation synchronization
We present QuantumSync, the first quantum algorithm for solving a synchronization problem
in the context of computer vision. In particular, we focus on permutation synchronization …
in the context of computer vision. In particular, we focus on permutation synchronization …
Multiway Point Cloud Mosaicking with Diffusion and Global Optimization
We introduce a novel framework for multiway point cloud mosaicking (named Wednesday)
designed to co-align sets of partially overlapping point clouds--typically obtained from 3D …
designed to co-align sets of partially overlapping point clouds--typically obtained from 3D …
Sensitivity in translation averaging
L Manam, VM Govindu - Advances in Neural Information …, 2024 - proceedings.neurips.cc
In 3D computer vision, translation averaging solves for absolute translations given a set of
pairwise relative translation directions. While there has been much work on robustness to …
pairwise relative translation directions. While there has been much work on robustness to …