Related papers: 1-point RANSAC for Circular Motion Estimation in C…
We consider the acoustic-n-point (AnP) problem, which estimates the pose of a 2D forward-looking sonar (FLS) according to n 3D-2D point correspondences. We explore the nature of the measured partial spherical coordinates and reveal their…
Structure from Motion (SfM) is a critical task in computer vision, aiming to recover the 3D scene structure and camera motion from a sequence of 2D images. The recent pose-only imaging geometry decouples 3D coordinates from camera poses and…
Rotation averaging (RA) is a fundamental problem in robotics and computer vision. In RA, the goal is to estimate a set of $N$ unknown orientations $R_{1}, ..., R_{N} \in SO(3)$, given noisy measurements $R_{ij} \sim R^{-1}_{i} R_{j}$ of a…
Random Projection is a foundational research topic that connects a bunch of machine learning algorithms under a similar mathematical basis. It is used to reduce the dimensionality of the dataset by projecting the data points efficiently to…
Using elementary geometric tools, we apply essentially the same methods to derive expressions for the rotation angle of the swing plane of Foucault's pendulum and the rotation angle of the spin of a relativistic particle moving in a…
Most of the advanced control systems use sensor-based feedback for robust control. Tilt angle estimation is key feedback for many robotics and mechatronics applications in order to stabilize a system. Tilt angle cannot be directly measured…
Despite their widespread use in determining system attitude, Micro-Electro-Mechanical Systems (MEMS) Attitude and Heading Reference Systems (AHRS) are limited by sensor measurement biases. This paper introduces a method called MAgnetometer…
A new algorithm for the determination of the relative convex hull in the plane of a simple polygon A with respect to another simple polygon B which contains A, is proposed. The relative convex hull is also known as geodesic convex hull, and…
Image reconstruction in X ray tomography consists in determining an object from its projections. In many applications such as non destructive testing, we look for an image who has a constant value inside a region (default) and another…
Multi-compartment modeling of diffusion-weighted magnetic resonance imaging measurements is necessary for accurate brain connectivity analysis. Existing methods for estimating the number and orientations of fascicles in an imaging voxel…
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…
A novel electromagnetic quantitative inversion scheme for translationally moving targets via phase correlation registration of back-projection (BP) images is proposed. Based on a time division multiplexing multiple-input multiple-output…
Pose estimation is a widely explored problem, enabling many robotic tasks such as grasping and manipulation. In this paper, we tackle the problem of pose estimation for objects that exhibit rotational symmetry, which are common in man-made…
In this paper we study the numerical instabilities of the 5- and 7-point problems for essential and fundamental matrix estimation in multiview geometry. In both cases we characterize the ill-posed world scenes where the condition number for…
Tomography can be used to reveal internal properties of a 3D object using any penetrating wave. Advanced tomographic imaging techniques, however, are vulnerable to both systematic and random errors associated with the experimental…
We introduce Eff-GRot, an approach for efficient and generalizable rotation estimation from RGB images. Given a query image and a set of reference images with known orientations, our method directly predicts the object's rotation in a…
Objective: Surveillance imaging of chronic aortic diseases, such as dissections, relies on obtaining and comparing cross-sectional diameter measurements at predefined aortic landmarks, over time. Due to a lack of robust tools, the…
The three-dimensional representation of objects or scenes starting from a set of images has been a widely discussed topic for years and has gained additional attention after the diffusion of NeRF-based approaches. However, an underestimated…
We propose a generalized version of the bisection method where the cutting point between the two subintervals is chosen at random following an arbitrary distribution. We compute expected convergence rates with respect to any arbitrary a…
This gives some information about the conformal point and the calibrating conic, and their relationship one to the other. These concepts are useful for visualizing image geometry, and lead to intuitive ways to compute geometry, such as…