Related papers: Triangulation: Why Optimize?
In this work, we present a method for minimizing the time required for a redundant dual-arm robot to follow a desired relative Cartesian path at constant path speed by optimizing its joint trajectories, subject to position, velocity, and…
Generalized alternating projections is an algorithm that alternates relaxed projections onto a finite number of sets to find a point in their intersection. We consider the special case of two linear subspaces, for which the algorithm…
This study develops a fixed-time convergent saddle point dynamical system for solving min-max problems under a relaxation of standard convexity-concavity assumption. In particular, it is shown that by leveraging the dynamical systems…
Multichannel, infinite-conjugate optical systems easily allow implementation of multiple image paths and imaging modes into a single microscope. Traditional optical alignment methods which rely on additional hardware are not always simple…
We introduce a novel camera model for monocular 3D Morphable Model (3DMM) regression methods that effectively captures the perspective distortion effect commonly seen in close-up facial images. Fitting 3D morphable models to video is a key…
Using spherical mirrors in place of wide-angle cameras allows for cost-effective monitoring of manufacturing processes in hazardous environment, where a camera would normally not operate. This includes environments of high heat, vacuum and…
We introduce a method and a 3D-camera for single-shot 3D shape measurement, with unprecedented features: The 3D-camera does not rely on pattern codification and acquires object surfaces at the theoretical limit of the information…
The goal of this paper is to study approaches to bridge the gap between first-order and second-order type methods for composite convex programs. Our key observations are: i) Many well-known operator splitting methods, such as…
We demonstrate via several examples how the backward error viewpoint can be used in the analysis of solutions obtained by perturbation methods. We show that this viewpoint is quite general and offers several important advantages. Perhaps…
Platforms such as robots, security cameras, drones and satellites are used in multi-view imaging for three-dimensional (3D) recovery by stereoscopy or tomography. Each camera in the setup has a field of view (FOV). Multi-view analysis…
Line features are valid complements for point features in man-made environments. 3D-2D constraints provided by line features have been widely used in Visual Odometry (VO) and Structure-from-Motion (SfM) systems. However, how to accurately…
Multi-view inverse rendering aims to recover geometry, materials, and illumination consistently across multiple viewpoints. When applied to multi-view images, existing single-view approaches often ignore cross-view relationships, leading to…
Modern object detectors take advantage of rectangular bounding boxes as a conventional way to represent objects. When it comes to fisheye images, rectangular boxes involve more background noise rather than semantic information. Although…
Blind Perspective-n-Point (PnP) is the problem of estimating the position and orientation of a camera relative to a scene, given 2D image points and 3D scene points, without prior knowledge of the 2D-3D correspondences. Solving for pose and…
In this paper, we study a class of bilevel optimization problems, also known as simple bilevel optimization, where we minimize a smooth objective function over the optimal solution set of another convex constrained optimization problem.…
Concatenated backward ray mapping is an alternative for ray tracing in 2D. It is based on the phase-space description of an optical system. Phase space is the set of position and direction coordinates of light rays intersecting a surface.…
Translation averaging aims to recover camera locations from pairwise relative translation directions and is a fundamental component of global Structure-from-Motion pipelines. The problem is challenging because direction measurements contain…
This paper is devoted to the variational inequality problems. We consider two classes of problems, the first is classical constrained variational inequality and the second is the same problem with functional (inequality type) constraints.…
We propose a learning-based method that solves monocular stereo and can be extended to fuse depth information from multiple target frames. Given two unconstrained images from a monocular camera with known intrinsic calibration, our network…
3D Gaussian Splatting (3DGS) achieves remarkable results in the field of surface reconstruction. However, when Gaussian normal vectors are aligned within the single-view projection plane, while the geometry appears reasonable in the current…