332 citations · 338 across the 6 of their papers we have counts for
Showing 2019Show all
2 papers · 1 filter
cs.CV2019★ 332 cited
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,…
stat.ML2019
Outlier-Robust Spatial Perception: Hardness, General-Purpose Algorithms, and Guarantees
Vasileios Tzoumas, Pasquale Antonante, Luca Carlone
Spatial perception is the backbone of many robotics applications, and spans a broad range of research problems, including localization and mapping, point cloud alignment, and relat…