In this paper we explore the role of duality principles within the problem of rotation
averaging, a fundamental task in a wide range of computer vision applications. In its …

The registration of 3D models by a Euclidean transformation is a fundamental task at the
core of many application in computer vision. This problem is non-convex due to the …

We present the first algorithm to efficiently compute certifiably optimal solutions to range-
aided simultaneous localization and map** (RA-SLAM) problems. Robotic navigation …

Finding the relative pose between two calibrated views ranks among the most fundamental
geometric vision problems. It therefore appears as somewhat a surprise that a globally …

A common approach to localize a mobile robot is by measuring distances to points of known
positions, called anchors. Locating a device from distance measurements is typically posed …

This work addresses the fundamental problem of pose graph optimization (PGO), which is
pervasive in the context of SLAM, and widely known as SE (d)-synchronization in the …

In this article, we consider the problem of planar graph-based simultaneous localization and
map** (SLAM) that involves both poses of the autonomous agent and positions of …

The rotation search problem aims to find a 3D rotation that best aligns a given number of
point pairs. To induce robustness against outliers for rotation search, prior work considers …

In this article, we consider a category-level perception problem, where one is given 2-D or 3-
D sensor data picturing an object of a given category (eg, a car) and has to reconstruct the 3 …

In this paper we explore the role of duality principles within the problem of rotation
averaging, a fundamental task in a wide range of applications. In its conventional form …