Related papers: Vision-Based Navigation II: Error Analysis for a N…
Depth information is useful for many applications. Active depth sensors are appealing because they obtain dense and accurate depth maps. However, due to issues that range from power constraints to multi-sensor interference, these sensors…
Accurate calibration of camera intrinsic parameters is crucial to various computer vision-based applications in the fields of intelligent systems, autonomous vehicles, etc. However, existing calibration schemes are incompetent for finding…
Because of the communication delay between earth and moon, the GNC technology of lunar probe is becoming more important than ever. Current navigation technology is not able to provide precise motion estimation for probe landing control…
It is a common practice to think of a video as a sequence of images (frames), and re-use deep neural network models that are trained only on images for similar analytics tasks on videos. In this paper, we show that this leap of faith that…
The performance of tracking algorithms strongly depends on the chosen model assumptions regarding the target dynamics. If there is a strong mismatch between the chosen model and the true object motion, the track quality may be poor or the…
Autonomous driving requires 3D maps that provide accurate and up-to-date information about semantic landmarks. Due to the wider availability and lower cost of cameras compared with laser scanners, vision-based mapping solutions, especially…
Accurate perception, state estimation and mapping are essential for safe robotic navigation as planners and controllers rely on these components for safety-critical decisions. However, existing mapping approaches often assume perfect pose…
Estimating motion from images is a well-studied problem in computer vision and robotics. Previous work has developed techniques to estimate the motion of a moving camera in a largely static environment (e.g., visual odometry) and to segment…
This paper describes an investigation of the source of geospatial error in digital surface models (DSMs) constructed from multiple satellite images. In this study the uncertainty in surface geometry is separated into two spatial components;…
Depth imaging is a crucial area in Autonomous Driving Systems (ADS), as it plays a key role in detecting and measuring objects in the vehicle's surroundings. However, a significant challenge in this domain arises from missing information in…
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…
Event cameras such as DAVIS can simultaneously output high temporal resolution events and low frame-rate intensity images, which own great potential in capturing scene motion, such as optical flow estimation. Most of the existing optical…
Accurate camera calibration is a precondition for many computer vision applications. Calibration errors, such as wrong model assumptions or imprecise parameter estimation, can deteriorate a system's overall performance, making the reliable…
This article describes an algorithm that provides visual odometry estimates from sequential pairs of RGBD images. The key contribution of this article on RGBD odometry is that it provides both an odometry estimate and a covariance for the…
Due to their capability of acquiring aerial imagery, camera-equipped Unmanned Aerial Vehicles (UAVs) are very cost-effective tools for acquiring traffic information. However, not enough attention has been given to the validation of the…
This paper discusses video motion capture, namely, 3D reconstruction of human motion from multi-camera images. After the Part Confidence Maps are computed from each camera image, the proposed spatiotemporal filter is applied to deliver the…
Wide field-of-view (FOV) cameras, which capture a larger scene area than narrow FOV cameras, are used in many applications including 3D reconstruction, autonomous driving, and video surveillance. However, wide-angle images contain…
In this endeavor, we developed a comprehensive system that processes integrated visual features derived from video frames captured by a regular camera, along with depth details obtained from a point cloud scanner. This system is designed to…
The Dynamic Mode Decomposition (DMD)---a popular method for performing data-driven Koopman spectral analysis---has gained increased adoption as a technique for extracting dynamically meaningful spatio-temporal descriptions of fluid flows…
Cross-view geo-localization is the problem of estimating the position and orientation (latitude, longitude and azimuth angle) of a camera at ground level given a large-scale database of geo-tagged aerial (e.g., satellite) images. Existing…