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cs.RO2024
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…
cs.RO2023
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…