Search Results for author: Roberto Tron

Found 7 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

Distributed and Consistent Multi-Image Feature Matching via QuickMatch

no code implementations29 Oct 2019 Zachary Serlin, Guang Yang, Brandon Sookraj, Calin Belta, Roberto Tron

The centralized QuickMatch algorithm is compared to other standard matching algorithms, while the Distributed QuickMatch algorithm is compared to the centralized algorithm in terms of preservation of match consistency.

Object Detection Simultaneous Localization and Mapping +1

A Factorization Approach to Inertial Affine Structure from Motion

no code implementations9 Aug 2016 Roberto Tron

We consider the problem of reconstructing a 3-D scene from a moving camera with high frame rate using the affine projection model.

Structure from Motion

A Metric Parametrization for Trifocal Tensors With Non-Colinear Pinholes

no code implementations CVPR 2015 Spyridon Leonardos, Roberto Tron, Kostas Daniilidis

In this work, we investigate a new parametrization of the trifocal tensor for calibrated cameras with non-colinear pinholes obtained from a quotient Riemannian manifold.

On the Quotient Representation for the Essential Manifold

no code implementations CVPR 2014 Roberto Tron, Kostas Daniilidis

The essential matrix, which encodes the epipolar constraint between points in two projective views, is a cornerstone of modern computer vision.

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