Listar por autor "Briales Garcia, Jesus"
Mostrando ítems 1-5 de 5
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A Tighter Relaxation for the Relative Pose Problem Between Cameras
Garcia-Salguero, Mercedes; Briales Garcia, Jesus; González-Jiménez, Antonio Javier
(Springer, 2022-04-06)
This paper tackles the resolution of the Relative Pose problem with optimality guarantees by stating it as an optimization problem over the set of essential matrices that minimizes the squared epipolar error. We relax this ... -
Convex Global 3D Registration with Lagrangian Duality
Briales Garcia, Jesus; González-Jiménez, Antonio Javier (IEEE, 2017)
The registration of 3D models by a Euclidean transformation is a fundamental task at the core of many application in computer vision. This problem is non-convex due to the presence of rotational constraints, making traditional ... -
Fast Global Optimality Verification in 3D SLAM
Briales Garcia, Jesus; González-Jiménez, Antonio Javier (2016-10-20)
Graph-based SLAM has proved to be one of the most effective solutions to the Simultaneous localization and Mapping problem. This approach relies on nonlinear iterative optimization methods that in practice perform ... -
Global Optimality via Tight Convex Relaxations for Pose Estimation in Geometric 3D Computer Vision
(UMA Editorial, 2021-09)Artificial Intelligence (AI) drives a lot of services and products we use everyday. But for AI to bring its full potential into daily tasks, with technologies such as autonomous driving, augmented reality or mobile robots, ... -
Initialization of 3D Pose Graph Optimization using Lagrangian duality
Briales Garcia, Jesus; González-Jiménez, Antonio Javier (IEEE, 2017-05)
Pose Graph Optimization (PGO) is the de facto choice to solve the trajectory of an agent in Simultaneous Localization and Mapping (SLAM). The Maximum Likelihood Estimation (MLE) for PGO is a non-convex problem for which ...