36 citations · 123 across the 17 of their papers we have counts for
Showing 2020Show all
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cs.CV2020★ 4 cited
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…
cs.RO2020
3D Dynamic Scene Graphs: Actionable Spatial Perception with Places, Objects, and Humans
Antoni Rosinol, Arjun Gupta, Marcus Abate +2
We present a unified representation for actionable spatial perception: 3D Dynamic Scene Graphs. Scene graphs are directed graphs where nodes represent entities in the scene (e.g. o…
cs.RO2020★ 35 cited
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…