Related papers: Closed-Form Optimal Two-View Triangulation Based o…
We apply state-of-the-art computational geometry methods to the problem of reconstructing a time-varying sea surface from tide gauge records. Our work builds on a recent article by Nitzke et al.~(Computers \& Geosciences, 157:104920, 2021)…
Current traditional methods for LiDAR-camera extrinsics estimation depend on offline targets and human efforts, while learning-based approaches resort to iterative refinement for calibration results, posing constraints on their…
We derive a closed-form expression for the projection onto a capped rotated second-order cone -- a convex set that arises in perspective relaxations of nonlinear programs with binary indicator variables. The closed-form solution involves…
In this paper we present methods for triangulation of infinite cylinders from image line silhouettes. We show numerically that linear estimation of a general quadric surface is inherently a badly posed problem. Instead we propose to…
We consider the constrained Linear Inverse Problem (LIP), where a certain atomic norm (like the $\ell_1 $ norm) is minimized subject to a quadratic constraint. Typically, such cost functions are non-differentiable, which makes them not…
In this work, we present an effective multi-view approach to closed-loop end-to-end learning of precise manipulation tasks that are 3D in nature. Our method learns to accomplish these tasks using multiple statically placed but uncalibrated…
In this paper, we propose a novel primal-dual inexact gradient projection method for nonlinear optimization problems with convex-set constraint. This method only needs inexact computation of the projections onto the convex set for each…
In this paper, we address the minimum-area rectangular and square annulus problem, which asks a rectangular or square annulus of minimum area, either in a fixed orientation or over all orientations, that encloses a set $P$ of $n$ input…
Pose estimation is one of the most important problems in computer vision. It can be divided in two different categories -- absolute and relative -- and may involve two different types of camera models: central and non-central.…
In this paper we present the first fast optimality certifier for the non-minimal version of the Relative Pose problem for calibrated cameras from epipolar constraints. The proposed certifier is based on Lagrangian duality and relies on a…
In this paper, we address the challenging problem of optimal experimental design (OED) of constrained inverse problems. We consider two OED formulations that allow reducing the experimental costs by minimizing the number of measurements.…
In this work, we present an approach for monocular hand-eye calibration from per-sensor ego-motion based on dual quaternions. Due to non-metrically scaled translations of monocular odometry, a scaling factor has to be estimated in addition…
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-view triangulation is the gold standard for 3D reconstruction from 2D correspondences given known calibration and sufficient views. However in practice, expensive multi-view setups -- involving tens sometimes hundreds of cameras --…
The hand-eye calibration problem is an important application problem in robot research. Based on the 2-norm of dual quaternion vectors, we propose a new dual quaternion optimization method for the hand-eye calibration problem. The dual…
Correct fusion of data from two sensors is not possible without an accurate estimate of their relative pose, which can be determined through the process of extrinsic calibration. When two or more sensors are capable of producing their own…
Outlier rejection and equivalently inlier set optimization is a key ingredient in numerous applications in computer vision such as filtering point-matches in camera pose estimation or plane and normal estimation in point clouds. Several…
Recently, Zhuang, Roth, \& Sudhakar [1] proposed a method that allows simultaneous computation of the rigid transformations from world frame to robot base frame and from hand frame to camera frame. Their method attempts to solve a…
The paper deals with the optimal control problem described by second order evolution differential inclusions; to this end first we use an auxiliary problem with second order discrete and discrete-approximate inclusions. Then applying…
This work aims to provide standard formulations for direct minimization approaches on various types of static problems of continuum mechanics. Particularly, form-finding problems of tension structures are discussed in the first half and the…