129 citations · 473 across the 46 of their papers we have counts for
4 papers · 2 filters
Certifiably Optimal Outlier-Robust Geometric Perception: Semidefinite Relaxations and Scalable Global Optimization
Heng Yang, Luca Carlone
We propose the first general and scalable framework to design certifiable algorithms for robust geometric perception in the presence of outliers. Our first contribution is to show…
Smooth Mesh Estimation from Depth Data using Non-Smooth Convex Optimization
Antoni Rosinol, Luca Carlone
Meshes are commonly used as 3D maps since they encode the topology of the scene while being lightweight. Unfortunately, 3D meshes are mathematically difficult to handle directly be…
Optimal Pose and Shape Estimation for Category-level 3D Object Perception
Jingnan Shi, Heng Yang, Luca Carlone
We consider a category-level perception problem, where one is given 3D sensor data picturing an object of a given category (e.g. a car), and has to reconstruct the pose and shape o…
Self-supervised Geometric Perception
Heng Yang, Wei Dong, Luca Carlone +1
We present self-supervised geometric perception (SGP), the first general framework to learn a feature descriptor for correspondence matching without any ground-truth geometric mode…