Search Results for author: Arman Karimian

Found 2 papers, 0 papers with code

Rotational Outlier Identification in Pose Graphs Using Dual Decomposition

no code implementations ECCV 2020 Arman Karimian, Ziqi Yang, Roberto Tron

In the last few years, there has been an increasing trend to consider Structure from Motion (SfM, in computer vision) and Simultaneous Localization and Mapping (SLAM, in robotics) problems from the point of view of pose averaging (also known as global SfM, in computer vision) or Pose Graph Optimization (PGO, in robotics), where the motion of the camera is reconstructed by considering only relative rigid body transformations instead of including also 3-D points (as done in a full Bundle Adjustment).

Outlier Detection Simultaneous Localization and Mapping +1

Statistical Outlier Identification in Multi-robot Visual SLAM using Expectation Maximization

no code implementations7 Feb 2020 Arman Karimian, Ziqi Yang, Roberto Tron

This paper introduces a novel and distributed method for detecting inter-map loop closure outliers in simultaneous localization and mapping (SLAM).

Outlier Detection Simultaneous Localization and Mapping

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