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Geometric Viewpoint Learning with Hyper-Rays and Harmonics Encoding
1) We propose a generalized viewpoint representation forgoing the analysis of photometric pixels in favor of encoded viewing ray embeddings attained from point cloud learning frameworks.
General Planar Motion from a Pair of 3D Correspondences
Instead, we enforce geometric constraints identifying, in closed-form, a unique planar motion solution from an orbital set of geometrically consistent SE(3) motion estimates.
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