Related papers: Hand-Eye and Robot-World Calibration by Global Pol…
Many problems of systems control theory boil down to solving polynomial equations, polynomial inequalities or polyomial differential equations. Recent advances in convex optimization and real algebraic geometry can be combined to generate…
We present a certifiably globally optimal algorithm for determining the extrinsic calibration between two sensors that are capable of producing independent egomotion estimates. This problem has been previously solved using a variety of…
Camera calibration is a fundamental prerequisite for reliable geometric perception, yet classical approaches rely on controlled acquisition setups that are impractical for in-the-wild imagery. Recent learning-based methods have shown…
Camera calibration is an essential prerequisite for event-based vision applications. Current event camera calibration methods typically involve using flashing patterns, reconstructing intensity images, and utilizing the features extracted…
Quadratic constrained quadratic programming problems often occur in various fields such as engineering practice, management science, and network communication. This article mainly studies a non convex quadratic programming problem with…
We describe a learning-based approach to hand-eye coordination for robotic grasping from monocular images. To learn hand-eye coordination for grasping, we trained a large convolutional neural network to predict the probability that…
A branch and bound algorithm is developed for global optimization. Branching in the algorithm is accomplished by subdividing the feasible set using ellipses. Lower bounds are obtained by replacing the concave part of the objective function…
We study a class of polynomial optimization problems with a robust polynomial matrix inequality (PMI) constraint where the uncertainty set itself is defined also by a PMI. These can be viewed as matrix generalizations of semi-infinite…
Camera calibration is a crucial prerequisite in many applications of computer vision. In this paper, a new, geometry-based camera calibration technique is proposed, which resolves two main issues associated with the widely used Zhang's…
We consider the problem of consistently matching multiple sets of elements to each other, which is a common task in fields such as computer vision. To solve the underlying NP-hard objective, existing methods often relax or approximate it,…
Smartphones, tablets and camera systems used, e.g., in cars and UAVs, are typically equipped with IMUs (inertial measurement units) that can measure the gravity vector accurately. Using this additional information, the $y$-axes of the…
The purpose of this note is to survey a methodology to solve systems of polynomial equations and inequalities. The techniques we discuss use the algebra of multivariate polynomials with coefficients over a field to create large-scale linear…
The light field camera is useful for computer graphics and vision applications. Calibration is an essential step for these applications. After calibration, we can rectify the captured image by using the calibrated camera parameters.…
With the mounting global interest for optical see-through head-mounted displays (OST-HMDs) across medical, industrial and entertainment settings, many systems with different capabilities are rapidly entering the market. Despite such…
Following a polynomial approach, many robust fixed-order controller design problems can be formulated as optimization problems whose set of feasible solutions is modelled by parametrized polynomial matrix inequalities (PMI). These…
Robots exhibit a rich variety of symmetries arising from their mechanical structure and the properties of their tasks. Although many robotics problems exhibit several symmetries simultaneously, existing approaches typically treat them in…
Several common dual quaternion functions, such as the power function, the magnitude function, the $2$-norm function and the $k$th largest eigenvalue of a dual quaternion Hermitian matrix, are standard dual quaternion functions, i.e., the…
Multi-image alignment, bringing a group of images into common register, is an ubiquitous problem and the first step of many applications in a wide variety of domains. As a result, a great amount of effort is being invested in developing…
This paper shows how to find lower bounds on, and sometimes solve globally, a large class of nonlinear optimal control problems with impulsive controls using semi-definite programming (SDP). This is done by relaxing an optimal control…
While for the evaluation of robustness of eye tracking algorithms the use of real-world data is essential, there are many applications where simulated, synthetic eye images are of advantage. They can generate labelled ground-truth data for…