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We present a novel solution to the camera pose estimation problem, where rotation and translation of a camera between two views are estimated from matched feature points in the images. The camera pose estimation problem is traditionally…
The problem of high-dimensional path-dependent optimal stopping (OS) is important to multiple academic communities and applications. Modern OS tasks often have a large number of decision epochs, and complicated non-Markovian dynamics,…
We revisit two NP-hard geometric partitioning problems - convex decomposition and surface approximation. Building on recent developments in geometric separators, we present quasi-polynomial time algorithms for these problems with improved…
Convex approximation sets for multiobjective optimization problems are a well-studied relaxation of the common notion of approximation sets. Instead of approximating each image of a feasible solution by the image of some solution in the…
In this work, a system scheme is proposed for tracking a radio emitting target moving in two-dimensional space. The localization is based on the use of biased time-of-arrival (TOA) measurements obtained at two asynchronous receivers, each…
Let $\mathcal{W} \subset \mathbb{R}^2$ be a planar polygonal environment (i.e., a polygon potentially with holes) with a total of $n$ vertices, and let $A,B$ be two robots, each modeled as an axis-aligned unit square, that can translate…
We consider the problem of assigning radii to a given set of points in the plane, such that the resulting set of circles is connected, and the sum of radii is minimized. We show that the problem is polynomially solvable if a connectivity…
In multi-objective optimization, computing the entire non-dominated set (also known as the Pareto front or the Pareto frontier) is often intractable. However, for any multiplicative factor greater than one, an approximation set can be…
We present a classical algorithm that, for any 3D geometrically-local, polylogarithmic-depth quantum circuit $C$ acting on $n$ qubits, and any bit string $x\in\{0,1\}^n$, can compute the quantity $|< x |C|0^{\otimes n}>|^2$ to within any…
We study the strip packing problem, a classical packing problem which generalizes both bin packing and makespan minimization. Here we are given a set of axis-parallel rectangles in the two-dimensional plane and the goal is to pack them in a…
In this paper, we propose new techniques for solving geometric optimization problems involving interpoint distances of a point set in the plane. Given a set $P$ of $n$ points in the plane and an integer $1 \leq k \leq \binom{n}{2}$, the…
We present an $(1+\varepsilon)$-approximation algorithm with quasi-polynomial running time for computing the maximum weight independent set of polygons out of a given set of polygons in the plane (specifically, the running time is $n^{O(…
We give a new algorithmic solution to the well-known five-point relative pose problem. Our approach does not deal with the famous cubic constraint on an essential matrix. Instead, we use the Cayley representation of rotations in order to…
Non-overlapping multi-camera visual object tracking typically consists of two steps: single camera object tracking and inter-camera object tracking. Most of tracking methods focus on single camera object tracking, which happens in the same…
Common approach to radial distortion is by the means of polynomial approximation, which introduces distortion-specific parameters into the camera model and requires estimation of these distortion parameters. The task of estimating radial…
We present a polynomial-time $\frac{3}{2}$-approximation algorithm for the problem of finding a maximum-cardinality stable matching in a many-to-many matching model with ties and laminar constraints on both sides. We formulate our problem…
We show that any submodular minimization (SM) problem defined on a linear constraint set with constraints having up to two variables per inequality, are 2-approximable in polynomial time. If the constraints are monotone (the two variables…
While recent years have witnessed astonishing improvements in visual tracking robustness, the advancements in tracking accuracy have been limited. As the focus has been directed towards the development of powerful classifiers, the problem…
This paper derives polynomial-time approximation schemes for several NP-hard stochastic optimization problems from the algorithmic mechanism design and operations research literatures. The problems we consider involve a principal or seller…
Camera pose estimation is a fundamental problem in robotics. This paper focuses on two issues of interest: First, point and line features have complementary advantages, and it is of great value to design a uniform algorithm that can fuse…