Kimera-multi: Robust, distributed, dense metric-semantic slam for multi-robot systems
Multi-robot simultaneous localization and mapping (SLAM) is a crucial capability to obtain
timely situational awareness over large areas. Real-world applications demand multi-robot …
timely situational awareness over large areas. Real-world applications demand multi-robot …
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 …
3dregnet: A deep neural network for 3d point registration
We present 3DRegNet, a novel deep learning architecture for the registration of 3D scans.
Given a set of 3D point correspondences, we build a deep neural network to address the …
Given a set of 3D point correspondences, we build a deep neural network to address the …
Global structure-from-motion revisited
Recovering 3D structure and camera motion from images has been a long-standing focus of
computer vision research and is known as Structure-from-Motion (SfM). Solutions to this …
computer vision research and is known as Structure-from-Motion (SfM). Solutions to this …
On the convergence of IRLS and its variants in outlier-robust estimation
Outlier-robust estimation involves estimating some parameters (eg, 3D rotations) from data
samples in the presence of outliers, and is typically formulated as a non-convex and non …
samples in the presence of outliers, and is typically formulated as a non-convex and non …
Ground and aerial meta-data integration for localization and reconstruction: A review
Localization and reconstruction are two highly related research areas. Both of them have
developed rapidly in recent years. Apparently, with the help of ground and aerial meta-data …
developed rapidly in recent years. Apparently, with the help of ground and aerial meta-data …
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 …
Sensitivity in translation averaging
L Manam, VM Govindu - Advances in Neural Information …, 2023 - 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 …