7 accepted papers
We present CLIPPER+, an algorithm for finding maximal cliques in unweighted graphs for outlier-robust global registration. The registration problem can be formulated as a graph and solved by finding its maximum clique. This formulation leads to extreme robustness to outliers; however, finding the ma
We present a multiway fusion algorithm capable of directly processing uncertain pairwise affinities. In contrast to existing works that require initial pairwise <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">associations</i>, our MIXER algorithm imp
We present CLIPPER (Consistent LInking, Pruning, and Pairwise Error Rectification), a framework for robust data association in the presence of noise and outliers. We formulate the problem in a graph-theoretic framework using the notion of geometric consistency. State-of-the-art techniques that use t…
We present a solution to multi-robot distributed semantic mapping of novel and unfamiliar environments. Most state-of-the-art semantic mapping systems are based on supervised learning algorithms that cannot classify novel observations online. While unsupervised learning algorithms can invent labels…
Reliance on external localization infrastructure and centralized coordination are main limiting factors for formation flying of vehicles in large numbers and in unprepared environments. While solutions using onboard localization address the dependency on external infrastructure, the associated coord
We present a distributed control strategy for a team of agents to autonomously achieve a desired 3D formation. Our approach is based on local relative position measurements and can be applied to multirotor aerial vehicles. We assume that agents have a common sense of direction, which is used to alig…
In this letter, we consider the problem of recovering the rotation and translation changes of a moving camera from captured images. This problem is traditionally solved using the epipolar constraint, where the rotation and translation changes are recovered from the essential matrix. We propose a new