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We propose a multi-camera LiDAR-visual-inertial odometry framework, Multi-LVI-SAM, which fuses data from multiple fisheye cameras, LiDAR and inertial sensors for highly accurate and robust state estimation. To enable efficient and…
Multi-camera SLAM systems offer a plethora of advantages, primarily stemming from their capacity to amalgamate information from a broader field of view, thereby resulting in heightened robustness and improved localization accuracy. In this…
A significant challenge in object detection is accurate identification of an object's position in image space, whereas one algorithm with one set of parameters is usually not enough, and the fusion of multiple algorithms and/or parameters…
With the advancement in the digital camera technology, the use of high resolution images and videos has been widespread in the modern society. In particular, image and video frame registration is frequently applied in computer graphics and…
Delaunay Triangulation(DT) is one of the important geometric problems that is used in various branches of knowledge such as computer vision, terrain modeling, spatial clustering and networking. Kinetic data structures have become very…
Quarter sampling is a novel sensor design that allows for an acquisition of higher resolution images without increasing the number of pixels. When being used for video data, one out of four pixels is measured in each frame. Effectively,…
This paper proposes a general framework to use the cross tensor approximation or tensor ColUmn-Row (CUR) approximation for reconstructing incomplete images and videos. The key importance of the new algorithms is their simplicity and ease of…
This paper introduces a novel approach to the fine alignment of images in a burst captured by a handheld camera. In contrast to traditional techniques that estimate two-dimensional transformations between frame pairs or rely on discrete…
Debugging accumulation of floating-point errors is hard; ideally, computer should track it automatically. Here we consider twofold approximation of an exact real with value + error pair of floating-point numbers. Normally, value + error sum…
Spike cameras, as an innovative neuromorphic camera that captures scenes with the 0-1 bit stream at 40 kHz, are increasingly employed for the 3D reconstruction task via Neural Radiance Fields (NeRF) or 3D Gaussian Splatting (3DGS). Previous…
Traditional novel view synthesis methods heavily rely on external camera pose estimation tools such as COLMAP, which often introduce computational bottlenecks and propagate errors. To address these challenges, we propose a unified framework…
This paper presents a distributed approach for exploring and triangulating an unknown region using a multi- robot system. The objective is to produce a covering of an unknown workspace by a fixed number of robots such that the covered…
How good is a triangulation as an approximation of a smooth curved surface or manifold? We provide bounds on the {\em interpolation error}, the error in the position of the surface, and the {\em normal error}, the error in the normal…
Flying Triangulation sensors enable a free-hand and motion-robust 3D data acquisition of complex shaped objects. The measurement principle is based on a multi-line light-sectioning approach and uses sophisticated algorithms for real-time…
Solving inverse problems with iterative algorithms is popular, especially for large data. Due to time constraints, the number of possible iterations is usually limited, potentially affecting the achievable accuracy. Given an error one is…
End-to-end trainable models have reached the performance of traditional handcrafted compression techniques on videos and images. Since the parameters of these models are learned over large training sets, they are not optimal for any given…
Cubature rules on the triangle have been extensively studied, as they are of great practical interest in numerical analysis. In most cases, the process by which new rules are obtained does not preclude the existence of similar rules with…
With the fast growth of communication networks, the video data transmission from these networks is extremely vulnerable. Error concealment is a technique to estimate the damaged data by employing the correctly received data at the decoder.…
Depth estimation features are helpful for 3D recognition. Commodity-grade depth cameras are able to capture depth and color image in real-time. However, glossy, transparent or distant surface cannot be scanned properly by the sensor. As a…
Cylindrical algebraic decompositions (CADs) are a key tool for solving problems in real algebraic geometry and beyond. We recently presented a new CAD algorithm combining two advances: truth-table invariance, making the CAD invariant with…