5 papers · 1 filter
Global Truncated Loss Minimization for Robust and Threshold-Resilient Geometric Estimation
Tianyu Huang, Liangzu Peng, Xinyue Zhang +5
To achieve outlier-robust geometric estimation, robust objective functions are generally employed to mitigate the influence of outliers. The widely used consensus maximization(CM)…
Linearly Solving Robust Rotation Estimation
Yinlong Liu, Tianyu Huang, Zhi-Xin Yang
Rotation estimation plays a fundamental role in computer vision and robot tasks, and extremely robust rotation estimation is significantly useful for safety-critical applications.…
Endo3R: Unified Online Reconstruction from Dynamic Monocular Endoscopic Video
Jiaxin Guo, Wenzhen Dong, Tianyu Huang +5
Reconstructing 3D scenes from monocular surgical videos can enhance surgeon's perception and therefore plays a vital role in various computer-assisted surgery tasks. However, achie…
Efficient and Robust Point Cloud Registration via Heuristics-guided Parameter Search
Tianyu Huang, Haoang Li, Liangzu Peng +2
Estimating the rigid transformation with 6 degrees of freedom based on a putative 3D correspondence set is a crucial procedure in point cloud registration. Existing correspondence…
Scalable 3D Registration via Truncated Entry-wise Absolute Residuals
Tianyu Huang, Liangzu Peng, René Vidal +1
Given an input set of D point pairs, the goal of outlier-robust D registration is to compute some rotation and translation that align as many point pairs as possible. This is…