Related papers: Exact Camera Location Recovery by Least Unsquared …
An optical imager that exploits off-center image rotation to encode both the lateral and depth coordinates of point sources in a single snapshot can perform 3D localization and tracking of space debris. When actively illuminated, unresolved…
The proposed system outlined in this paper is a solution to a use case that requires the autonomous picking of cuboidal objects from an organized or unorganized pile with high precision. This paper presents an efficient method for precise…
Loop Closure Detection (LCD) has been proved to be extremely useful in global consistent visual Simultaneously Localization and Mapping (SLAM) and appearance-based robot relocalization. Methods exploiting binary features in bag of words…
Accurate, robust, and real-time LiDAR-based odometry (LO) is imperative for many applications like robot navigation, globally consistent 3D scene map reconstruction, or safe motion-planning. Though LiDAR sensor is known for its precise…
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…
Under-display camera (UDC) is a novel technology that can make digital imaging experience in handheld devices seamless by providing large screen-to-body ratio. UDC images are severely degraded owing to their positioning under a display…
In this article, we dwell into the class of so-called ill-posed Linear Inverse Problems (LIP) which simply refers to the task of recovering the entire signal from its relatively few random linear measurements. Such problems arise in a…
Lidar point cloud distortion from moving object is an important problem in autonomous driving, and recently becomes even more demanding with the emerging of newer lidars, which feature back-and-forth scanning patterns. Accurately estimating…
A host of problems involve the recovery of structured signals from a dimensionality reduced representation such as a random projection; examples include sparse signals (compressive sensing) and low-rank matrices (matrix completion). Given…
L1 -penalized regression methods such as the Lasso (Tibshirani 1996) that achieve both variable selection and shrinkage have been very popular. An extension of this method is the Fused Lasso (Tibshirani and Wang 2007), which allows for the…
In Visual Place Recognition (VPR) the pose of a query image is estimated by comparing the image to a map of reference images with known reference poses. As is typical for image retrieval problems, a feature extractor maps the query and…
This paper presents SIM-Sync, a certifiably optimal algorithm that estimates camera trajectory and 3D scene structure directly from multiview image keypoints. SIM-Sync fills the gap between pose graph optimization and bundle adjustment; the…
Occlusion-free video generation is challenging due to surgeons' obstructions in the camera field of view. Prior work has addressed this issue by installing multiple cameras on a surgical light, hoping some cameras will observe the surgical…
For robot manipulation, a complete and accurate object shape is desirable. Here, we present a method that combines visual and haptic reconstruction in a closed-loop pipeline. From an initial viewpoint, the object shape is reconstructed…
Orthogonal least squares (OLS) is a classic algorithm for sparse recovery, function approximation, and subset selection. In this paper, we analyze the performance guarantee of the OLS algorithm. Specifically, we show that OLS guarantees the…
We study how much a linear program (LP) can be compressed when solved repeatedly, given prior knowledge about its objective function. Existing data-driven projection methods learn low-dimensional surrogate LPs with approximate…
We present a lightweight solution to recover 3D pose from multi-view images captured with spatially calibrated cameras. Building upon recent advances in interpretable representation learning, we exploit 3D geometry to fuse input images into…
Creating accurate and efficient 3D models poses significant challenges, particularly in addressing large viewpoint variations, computational complexity, and alignment discrepancies. Efficient camera path generation can help resolve these…
Accurate camera pose estimation is a fundamental requirement for numerous applications, such as autonomous driving, mobile robotics, and augmented reality. In this work, we address the problem of estimating the global 6 DoF camera pose from…
We propose a novel method for estimating the global rotations of the cameras independently of their positions and the scene structure. When two calibrated cameras observe five or more of the same points, their relative rotation can be…