[HTML][HTML] A review of point cloud registration algorithms for laser scanners: applications in large-scale aircraft measurement

H Si, J Qiu, Y Li - Applied Sciences, 2022 - mdpi.com
As 3D acquisition equipment picks up steam, point cloud registration has been applied in
ever-increasing fields. This paper provides an exhaustive survey of the field of point cloud …

INENet: Inliers estimation network with similarity learning for partial overlap** registration

Y Wu, Y Zhang, X Fan, M Gong… - IEEE Transactions on …, 2022 - ieeexplore.ieee.org
Point cloud registration is a key problem in the application of computer vision to robotics,
autopilot and other fields. However, because the object is partially covered up or the …

Certifiably optimal outlier-robust geometric perception: Semidefinite relaxations and scalable global optimization

H Yang, L Carlone - IEEE transactions on pattern analysis and …, 2022 - ieeexplore.ieee.org
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 that …

Near-optimal joint object matching via convex relaxation

Y Chen, LJ Guibas, QX Huang - arxiv preprint arxiv:1402.1473, 2014 - arxiv.org
Joint matching over a collection of objects aims at aggregating information from a large
collection of similar instances (eg images, graphs, shapes) to improve maps between pairs …

Multibodysync: Multi-body segmentation and motion estimation via 3d scan synchronization

J Huang, H Wang, T Birdal, M Sung… - Proceedings of the …, 2021 - openaccess.thecvf.com
We present MultiBodySync, a novel, end-to-end trainable multi-body motion segmentation
and rigid registration framework for multiple input 3D point clouds. The two non-trivial …

Quantum permutation synchronization

T Birdal, V Golyanik, C Theobalt… - Proceedings of the …, 2021 - openaccess.thecvf.com
We present QuantumSync, the first quantum algorithm for solving a synchronization problem
in the context of computer vision. In particular, we focus on permutation synchronization …

Near-optimal performance bounds for orthogonal and permutation group synchronization via spectral methods

S Ling - Applied and Computational Harmonic Analysis, 2022 - Elsevier
Group synchronization asks to recover group elements from their pairwise measurements. It
has found numerous applications across various scientific disciplines. In this work, we focus …

Rank optimality for the Burer--Monteiro factorization

I Waldspurger, A Waters - SIAM journal on Optimization, 2020 - SIAM
When solving large-scale semidefinite programs that admit a low-rank solution, an efficient
heuristic is the Burer--Monteiro factorization: instead of optimizing over the full matrix, one …

Gmkf: Generalized moment kalman filter for polynomial systems with arbitrary noise

S Teng, H Zhang, D **, A Jasour, M Ghaffari… - arxiv preprint arxiv …, 2024 - arxiv.org
This paper develops a new filtering approach for state estimation in polynomial systems
corrupted by arbitrary noise, which commonly arise in robotics. We first consider a batch …

On semidefinite relaxations for matrix-weighted state-estimation problems in robotics

C Holmes, F Dümbgen… - IEEE Transactions on …, 2024 - ieeexplore.ieee.org
In recent years, there has been remarkable progress in the development of so-called
certifiable perception methods, which leverage semidefinite, convex relaxations to find …