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For an autonomous vehicle, the ability to sense its surroundings and to build an overall representation of the environment by fusing different sensor data streams is fundamental. To this end, the poses of all sensors need to be accurately…
Several concepts on the measure of observability, reachability, and robustness are defined and illustrated for both linear and nonlinear control systems. Defined by using computational dynamic optimization, these concepts are applicable to…
We present a new framework for multi-view geometry in computer vision. A camera is a mapping between $\mathbb{P}^3$ and a line congruence. This model, which ignores image planes and measurements, is a natural abstraction of traditional…
We introduce the concept of a control contraction metric, extending contraction analysis to constructive nonlinear control design. We derive sufficient conditions for exponential stabilizability of all trajectories of a nonlinear control…
An efficient computer algorithm is described for the perspective drawing of a wide class of surfaces. The class includes surfaces corresponding lo single-valued, continuous functions which are defined over rectangular domains. The algorithm…
The ability of autonomous vehicles to maintain an accurate trajectory within their road lane is crucial for safe operation. This requires detecting the road lines and estimating the car relative pose within its lane. Lateral lines are…
A new approach to design of nonlinear observers (state estimators) is proposed. The main idea is to (i) construct a convex set of dynamical systems which are contracting observers for a particular system, and (ii) optimize over this set for…
Estimating the direction of ambient fluid flow is key for many flying or swimming animals and robots, but can only be accomplished through indirect measurements and active control. Recent work with tethered flying insects indicates that…
We estimate from below the number of lines meeting each of given 4 disjoint smooth closed curves in a given cyclic order in the real projective 3-space and in a given linear order in the Euclidean 3-space. Similarly, we estimate the number…
This paper explores the observability and estimation capability of dynamical systems using predominantly relative measurements of the system's state-space variables, with minimal to no reliance on absolute measurements of these variables.…
Optical two-dimensional (2D) coherent spectroscopy excels in studying coupling and dynamics in complex systems. The dynamical information can be learned from lineshape analysis to extract the corresponding linewidth. However, it is usually…
This technical note aims to introduce geometric controllers to roboticists for aligning \emph{3D robots} with non-constant 3D vector fields. This alignment entails the control of the robot's 3D attitude. We derive with excessive detail all…
The STAR architecture was designed to test the value of the full Selective Tuning model of visual attention for complex real-world visuospatial tasks and behaviors. However, knowledge of how humans solve such tasks in 3D as active observers…
This paper introduces a method for learning to generate line drawings from 3D models. Our architecture incorporates a differentiable module operating on geometric features of the 3D model, and an image-based module operating on view-based…
This paper considers the problem of determining an optimal control action based on observed data. We formulate the problem assuming that the system can be modelled by a nonlinear state-space model, but where the model parameters, state and…
Plane feature is a kind of stable landmark to reduce drift error in SLAM system. It is easy and fast to extract planes from dense point cloud, which is commonly acquired from RGB-D camera or lidar. But for stereo camera, it is hard to…
We survey an area of recent development, relating dynamics to theoretical computer science. We discuss the theoretical limits of simulation and computation of interesting quantities in dynamical systems. We will focus on central objects of…
A novel method for control of dynamical systems, proposed in the paper, ensures an output signal belonging to the given set at any time. The method is based on a special change of coordinates such that the initial problem with given…
We consider an active visual exploration scenario, where an agent must intelligently select its camera motions to efficiently reconstruct the full environment from only a limited set of narrow field-of-view glimpses. While the agent has…
The ability to accurately reconstruct the 3D facets of a scene is one of the key problems in robotic vision. However, even with recent advances with machine learning, there is no high-fidelity universal 3D reconstruction method for this…