Related papers: Hamiltonian approach to geodesic image matching

Due to the emergence of symplectic geometry, the geometric treatment of mechanics underwent a great development during the last century. In this scenario the pressence of symmetries in Hamiltonian systems leads naturally to the existence of…

We introduce a lightweight and accurate localization method that only utilizes the geometry of 2D-3D lines. Given a pre-captured 3D map, our approach localizes a panorama image, taking advantage of the holistic 360 view. The system…

We develop a new method for visualizing and refining the invariances of learned representations. Specifically, we test for a general form of invariance, linearization, in which the action of a transformation is confined to a low-dimensional…

Graph matching---aligning a pair of graphs to minimize their edge disagreements---has received wide-spread attention from both theoretical and applied communities over the past several decades, including combinatorics, computer vision, and…

We present a homotopic approach to solving challenging, optimization-based motion planning problems. The approach uses Homotopy Optimization, which, unlike standard continuation methods for solving homotopy problems, solves a sequence of…

The asymptotic Dirichlet problem for harmonic maps from the hyperbolic plane into conformally compact Einstein manifolds is used to give a holographic characterization of conformal geodesics on the boundary at infinity, in a way deeply…

This paper explores the relationship between Cartan symmetries, dynamical similarities, and dynamical symmetries in contact Hamiltonian mechanics. By introducing an alternative decomposition of vector fields, we characterize these…

In this paper we show how the well-know local symmetries of Lagrangeans systems, and in particular the diffeomorphism invariance, emerge in the Hamiltonian formulation. We show that only the constraints which are linear in the momenta…

The motion of planar ground vehicles is often non-holonomic, and as a result may be modelled by the 2 DoF Ackermann steering model. We analyse the feasibility of estimating such motion with a downward facing camera that exerts…

We survey the role of symmetry in diffeomorphic registration of landmarks, curves, surfaces, images and higher-order data. The infinite dimensional problem of finding correspondences between objects can for a range of concrete data types be…

The problem of 3D object recognition is of immense practical importance, with the last decade witnessing a number of breakthroughs in the state of the art. Most of the previous work has focused on the matching of textured objects using…

In real-world scenarios, many data processing problems often involve heterogeneous images associated with different imaging modalities. Since these multimodal images originate from the same phenomenon, it is realistic to assume that they…

An end-to-end trainable ConvNet architecture, that learns to harness the power of shape representation for matching disparate image pairs, is proposed. Disparate image pairs are deemed those that exhibit strong affine variations in scale,…

In many applications concerning the comparison of data expressed by $\mathbb{R}^m$-valued functions defined on a topological space $X$, the invariance with respect to a given group $G$ of self-homeomorphisms of $X$ is required. While…

In this paper we obtain exact normal forms with functional invariants for local diffeomorphisms, under the action of the symplectomorphism group in the source space. Using these normal forms we obtain exact classification results for the…

Hybrid dynamical systems are systems which posses both continuous and discrete transitions. Assuming that the discrete transitions (resets) occur a finite number of times, the optimal control problem can be solved by gluing together the…

We propose the first algorithm for non-rigid 2D-to-3D shape matching, where the input is a 2D shape represented as a planar curve and a 3D shape represented as a surface; the output is a continuous curve on the surface. We cast the problem…

We propose a new algorithm to the problem of polygonal curve approximation based on a multiresolution approach. This algorithm is suboptimal but still maintains some optimality between successive levels of resolution using dynamic…

This series of papers is devoted to an open-ended project aimed at the solution of Hilbert's sixth problem (concerning joint axiomatization of physics and probability theory) proposed to be constructed in the framework of an all-embracing…

Extracting planes from a 3D scene is useful for downstream tasks in robotics and augmented reality. In this paper we tackle the problem of estimating the planar surfaces in a scene from posed images. Our first finding is that a surprisingly…