3 accepted papers
Accurate state estimation for flexible robotic systems poses significant challenges, particularly for platforms with dynamically deforming structures that invalidate rigid-body assumptions. This paper addresses this problem and enables the extension of existing rigid-body pose estimation methods to …
While automatically generated polynomial elimination templates have sparked great progress in the field of 3D computer vision, there remain many problems for which the degree of the constraints or the number of unknowns leads to intractability. In recent years, homotopy continuation has been introdu…
We present a convex optimization approach for generalized essential matrix (GEM) estimation. The six-point minimal solver for the GEM has poor numerical stability and applies only for a minimal number of points. Existing non-minimal solvers for GEM estimation rely on either local optimization or rel…