332 citations · 428 across the 15 of their papers we have counts for
5 papers · 1 filter
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…
Outlier-Robust Estimation: Hardness, Minimally Tuned Algorithms, and Applications
Pasquale Antonante, Vasileios Tzoumas, Heng Yang +1
Nonlinear estimation in robotics and vision is typically plagued with outliers due to wrong data association, or to incorrect detections from signal processing and machine learning…
One Ring to Rule Them All: Certifiably Robust Geometric Perception with Outliers
Heng Yang, Luca Carlone
We propose the first general and practical framework to design certifiable algorithms for robust geometric perception in the presence of a large amount of outliers. We investigate…
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…
TEASER: Fast and Certifiable Point Cloud Registration
Heng Yang, Jingnan Shi, Luca Carlone
We propose the first fast and certifiable algorithm for the registration of two sets of 3D points in the presence of large amounts of outlier correspondences. We first reformulate…