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This paper proposes a fast and accurate surface normal estimation method which can be directly used on depth maps (organized point clouds). The surface normal estimation process is formulated as a closed-form expression. In order to reduce…
In this article we introduce a numerical algorithm for finding harmonic mappings by using the shear construction introduced by Clunie and Sheil-Small in 1984. The MATLAB implementation of the algorithm is based on the numerical conformal…
The spherical harmonic transform is a powerful tool in the analysis of spherical data sets, such as the cosmic microwave background data. In this work, we present a new scheme for the spherical harmonic transforms that supports both CPU and…
We propose a new formulation for integrating over smooth curves and surfaces that are described by their closest point mappings. Our method is designed for curves and surfaces that are not defined by any explicit parameterization and is…
Visual-inertial simultaneous localization and mapping (SLAM) is a key module of robotics and low-speed autonomous vehicles, which is usually limited by the high computation burden for practical applications. To this end, an innovative…
The integration of surface normals for the purpose of computing the shape of a surface in 3D space is a classic problem in computer vision. However, even nowadays it is still a challenging task to devise a method that combines the…
In this paper we propose a global optimization-based approach to jointly matching a set of images. The estimated correspondences simultaneously maximize pairwise feature affinities and cycle consistency across multiple images. Unlike…
Snapshot matrices of hyperbolic equations have a slow singular value decay, resulting in inefficient reduced-order models. We develop on the idea of inducing a faster singular value decay by computing snapshots on a transformed spatial…
The aim of this work is to develop a fast algorithm for approximating the matrix function $f(A)$ of a square matrix $A$ that is symmetric and has hierarchically semiseparable (HSS) structure. Appearing in a wide variety of applications,…
A harmonic mapping is a univalent harmonic function of one complex variable. We define a family of harmonic mappings on the unit disk whose images are rotationally symmetric rosettes with $n$ cusps or n nodes, where $n \ge 3$. These…
This paper presents a hybrid real-time camera pose estimation framework with a novel partitioning scheme and introduces motion averaging to monocular Simultaneous Localization and Mapping (SLAM) systems. Breaking through the limitations of…
Any image recovery algorithm attempts to achieve the highest quality reconstruction in a timely manner. The former can be achieved in several ways, among which are by incorporating Bayesian priors that exploit natural image tendencies to…
Model merging offers a scalable alternative to multi-task learning but often yields suboptimal performance on classification tasks. We attribute this degradation to a geometric misalignment between the merged encoder and static…
We propose an algorithm for the fusion of partial images collected from the visual and infrared cameras such that the visual and infrared images are the real and imaginary parts of a complex function. The proposed image fusion algorithm of…
In simultaneous localization and mapping (SLAM), image feature point matching process consume a lot of time. The capacity of low-power systems such as embedded systems is almost limited. It is difficult to ensure the timely processing of…
In a plethora of applications dealing with inverse problems, e.g. in image processing, social networks, compressive sensing, biological data processing etc., the signal of interest is known to be structured in several ways at the same time.…
Most matting researches resort to advanced semantics to achieve high-quality alpha mattes, and direct low-level features combination is usually explored to complement alpha details. However, we argue that appearance-agnostic integration can…
In this work we propose a Bayesian framework for fully automated image fusion and their joint segmentation. More specifically, we consider the case where we have observed images of the same object through different image processes or…
This paper presents a novel visual feature based scene mapping method for underwater vehicle manipulator systems (UVMSs), with specific emphasis on robust mapping in natural seafloor environments. Our method uses GPU accelerated SIFT…
Studying single-particle dynamics over many periods of oscillations is a well-understood problem solved using symplectic integration. Such integration schemes derive their update sequence from an approximate Hamiltonian, guaranteeing that…