11 citations · 19 across the 4 of their papers we have counts for
6 papers · 1 filter
Self-supervised Geometric Perception
Heng Yang, Wei Dong, Luca Carlone +1
We present self-supervised geometric perception (SGP), the first general framework to learn a feature descriptor for correspondence matching without any ground-truth geometric mode…
Dynamical Pose Estimation
Heng Yang, Chris Doran, Jean-Jacques Slotine
We study the problem of aligning two sets of 3D geometric primitives given known correspondences. Our first contribution is to show that this primitive alignment framework unifies…
ROBIN: a Graph-Theoretic Approach to Reject Outliers in Robust Estimation using Invariants
Jingnan Shi, Heng Yang, Luca Carlone
Many estimation problems in robotics, computer vision, and learning require estimating unknown quantities in the face of outliers. Outliers are typically the result of incorrect da…
A Dynamical Perspective on Point Cloud Registration
Heng Yang
We provide a dynamical perspective on the classical problem of 3D point cloud registration with correspondences. A point cloud is considered as a rigid body consisting of particles…
In Perfect Shape: Certifiably Optimal 3D Shape Reconstruction from 2D Landmarks
Heng Yang, Luca Carlone
We study the problem of 3D shape reconstruction from 2D landmarks extracted in a single image. We adopt the 3D deformable shape model and formulate the reconstruction as a joint op…
Graduated Non-Convexity for Robust Spatial Perception: From Non-Minimal Solvers to Global Outlier Rejection
Heng Yang, Pasquale Antonante, Vasileios Tzoumas +1
Semidefinite Programming (SDP) and Sums-of-Squares (SOS) relaxations have led to certifiably optimal non-minimal solvers for several robotics and computer vision problems. However,…