5 papers
Advances in Global Solvers for 3D Vision
Zhenjun Zhao, Heng Yang, Bangyan Liao +7
Global solvers have emerged as a powerful paradigm for 3D vision, offering certifiable solutions to nonconvex geometric optimization problems traditionally addressed by local or he…
PreF3R: Pose-Free Feed-Forward 3D Gaussian Splatting from Variable-length Image Sequence
Zequn Chen, Jiezhi Yang, Heng Yang
We present PreF3R, Pose-Free Feed-forward 3D Reconstruction from an image sequence of variable length. Unlike previous approaches, PreF3R removes the need for camera calibration an…
CLOSURE: Fast Quantification of Pose Uncertainty Sets
Yihuai Gao, Yukai Tang, Han Qi +1
We investigate uncertainty quantification of 6D pose estimation from learned noisy measurements (e.g. keypoints and pose hypotheses). Assuming unknown-but-bounded measurement noise…
Uncertainty Quantification of Set-Membership Estimation in Control and Perception: Revisiting the Minimum Enclosing Ellipsoid
Yukai Tang, Jean-Bernard Lasserre, Heng Yang
Set-membership estimation (SME) outputs a set estimator that guarantees to cover the groundtruth. Such sets are, however, defined by (many) abstract (and potentially nonconvex) con…
SIM-Sync: From Certifiably Optimal Synchronization over the 3D Similarity Group to Scene Reconstruction with Learned Depth
Xihang Yu, Heng Yang
This paper presents SIM-Sync, a certifiably optimal algorithm that estimates camera trajectory and 3D scene structure directly from multiview image keypoints. SIM-Sync fills the ga…