Abstract Incremental Structure-from-Motion is a prevalent strategy for 3D reconstruction from
unordered image collections. While incremental reconstruction systems have tremendously …

In this survey article, we present interactions between algebraic geometry and computer
vision, which have recently come under the header of algebraic vision. The subject has …

We propose the first general and scalable framework to design certifiable algorithms for
robust geometric perception in the presence of outliers. Our first contribution is to show that …

Outlier-robust estimation involves estimating some parameters (eg, 3D rotations) from data
samples in the presence of outliers, and is typically formulated as a non-convex and non …

We present the first algorithm to efficiently compute certifiably optimal solutions to range-
aided simultaneous localization and mapping (RA-SLAM) problems. Robotic navigation …

Finding relative pose between two calibrated images is a fundamental task in computer
vision. Given five point correspondences, the classical five-point methods can be used to …

We consider solving high-order and tight semidefinite programming (SDP) relaxations of
nonconvex polynomial optimization problems (POPs) that often admit degenerate rank-one …

The rotation search problem aims to find a 3D rotation that best aligns a given number of
point pairs. To induce robustness against outliers for rotation search, prior work considers …

We propose the first general and practical framework to design certifiable algorithms for
robust geometric perception in the presence of a large amount of outliers. We investigate the …

This paper develops a new filtering approach for state estimation in polynomial systems
corrupted by arbitrary noise, which commonly arise in robotics. We first consider a batch …