332 citations · 428 across the 15 of their papers we have counts for
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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,…
A Quaternion-based Certifiably Optimal Solution to the Wahba Problem with Outliers
Heng Yang, Luca Carlone
The Wahba problem, also known as rotation search, seeks to find the best rotation to align two sets of vector observations given putative correspondences, and is a fundamental rout…
A Polynomial-time Solution for Robust Registration with Extreme Outlier Rates
Heng Yang, Luca Carlone
We propose a robust approach for the registration of two sets of 3D points in the presence of a large amount of outliers. Our first contribution is to reformulate the registration…