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We present an efficient task and motion replanning approach for sequential multi-object manipulation in dynamic environments. Conventional Task And Motion Planning (TAMP) solvers experience an exponential increase in planning time as the…
This paper presents a new progressive compression method for triangular meshes. This method, in fact, is based on a schema of irregular multi-resolution analysis and is centered on the optimization of the rate-distortion trade-off. The…
We propose a simple technique that, if combined with algorithms for computing functions of triangular matrices, can make them more efficient. Basically, such a technique consists in a specific scaling similarity transformation that reduces…
Real-time, high-quality, 3D scanning of large-scale scenes is key to mixed reality and robotic applications. However, scalability brings challenges of drift in pose estimation, introducing significant errors in the accumulated model.…
In this paper, we present a new approach for improving 3D point and line mapping regression for camera re-localization. Previous methods typically rely on feature matching (FM) with stored descriptors or use a single network to encode both…
An unbiased method for improving the resolution of astronomical images is presented. The strategy at the core of this method is to establish a linear transformation between the recorded image and an improved image at some desirable…
In engineering, it is a common desire to couple existing simulation tools together into one big system by passing information from subsystems as parameters into the subsystems under influence. As executed at fixed time points, this data…
Image editing and compositing have become ubiquitous in entertainment, from digital art to AR and VR experiences. To produce beautiful composites, the camera needs to be geometrically calibrated, which can be tedious and requires a physical…
Multi-perspective cameras are quickly gaining importance in many applications such as smart vehicles and virtual or augmented reality. However, a large system size or absence of overlap in neighbouring fields-of-view often complicate their…
Multiple-view triangulation by $\ell_{\infty}$ minimisation has become established in computer vision. State-of-the-art $\ell_{\infty}$ triangulation algorithms exploit the quasiconvexity of the cost function to derive iterative update…
We consider the problem of signal reconstruction for computed tomography (CT) under a nonlinear forward model that accounts for exponential signal attenuation, a polychromatic X-ray source, general measurement noise (e.g., Poisson shot…
Contemporary approaches frame the color constancy problem as learning camera specific illuminant mappings. While high accuracy can be achieved on camera specific data, these models depend on camera spectral sensitivity and typically exhibit…
Many real-world applications, such as interactive photo retouching, artistic content creation, and product design, require flexible and iterative image editing. However, existing image editing methods primarily focus on achieving the…
We study the connection between multicalibration and boosting for squared error regression. First we prove a useful characterization of multicalibration in terms of a ``swap regret'' like condition on squared error. Using this…
Branch-and-bound-based consensus maximization stands out due to its important ability of retrieving the globally optimal solution to outlier-affected geometric problems. However, while the discovery of such solutions caries high scientific…
Calibration is an essential prerequisite for the accurate data fusion of LiDAR and camera sensors. Traditional calibration techniques often require specific targets or suitable scenes to obtain reliable 2D-3D correspondences. To tackle the…
The rotation averaging problem is a fundamental task in computer vision applications. It is generally very difficult to solve due to the nonconvex rotation constraints. While a sufficient optimality condition is available in the literature,…
Omnidirectional depth estimation has received much attention from researchers in recent years. However, challenges arise due to camera soiling and variations in camera layouts, affecting the robustness and flexibility of the algorithm. In…
Embedded vision systems need efficient and robust image processing algorithms to perform real-time, with resource-constrained hardware. This research investigates image processing algorithms, specifically edge detection, corner detection,…
Recently, multi-sensors fusion has achieved significant progress in the field of automobility to improve navigation and position performance. As the prerequisite of the fusion algorithm, the demand for the extrinsic calibration of…