We propose the first fast and certifiable algorithm for the registration of two sets of three-
dimensional (3-D) points in the presence of large amounts of outlier correspondences. A …

Semidefinite Programming (SDP) and Sums-of-Squ-ares (SOS) relaxations have led to
certifiably optimal non-minimal solvers for several robotics and computer vision problems …

An established approach for 3D point cloud registration is to estimate the registration
function from 3D keypoint correspondences. Typically, a robust technique is required to …

We consider the problem of localizing a novel image in a large 3D model, given that the
gravitational vector is known. In principle, this is just an instance of camera pose estimation …

We propose a real-time, robust to outliers and accurate solution to the Perspective-n-Point
(PnP) problem. The main advantages of our solution are twofold: first, it in-tegrates the …

Many estimation problems in robotics, computer vision, and learning require estimating
unknown quantities in the face of outliers. Outliers are typically the result of incorrect data …

Outlier-robust estimation is a fundamental problem and has been extensively investigated
by statisticians and practitioners. The last few years have seen a convergence across …

Nonlinear estimation in robotics and vision is typically plagued with outliers due to wrong
data association or incorrect detections from signal processing and machine learning …

The Wahba problem, also known as rotation search, seeks to find the best rotation to align
two sets of vector observations given putative correspondences, and is a fundamental …