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A framework for online simultaneous localization, mapping and self-calibration is presented which can detect and handle significant change in the calibration parameters. Estimates are computed in constant-time by factoring the problem and…
Fine localization in autonomous driving platforms is a task of broad interest, receiving much attention in recent years. Some localization algorithms use the Euclidean distance as a similarity measure between the local image acquired by a…
Autonomous vehicles and robots require increasingly more robustness and reliability to meet the demands of modern tasks. These requirements specially apply to cameras onboard such vehicles because they are the predominant sensors to acquire…
Automatic detection of visual anomalies and changes in the environment has been a topic of recurrent attention in the fields of machine learning and computer vision over the past decades. A visual anomaly or change detection algorithm…
Growing progress in sensor technology has constantly expanded the number and range of low-cost, small, and portable sensors on the market, increasing the number and type of physical phenomena that can be measured with wirelessly connected…
This paper considers the problem of completing assemblies of passive objects in nonconvex environments, cluttered with convex obstacles of unknown position, shape and size that satisfy a specific separation assumption. A differential drive…
The wavelength calibration of spectrographs is an essential but challenging task in many disciplines. Calibration is traditionally accomplished by imaging the spectrum of a light source containing features that are known to appear at…
Navigating safely in urban environments remains a challenging problem for autonomous vehicles. Occlusion and limited sensor range can pose significant challenges to safely navigate among pedestrians and other vehicles in the environment.…
A non-iterative auto-calibration algorithm is presented. It deals with a minimal set of six scene points in three views taken by a camera with fixed but unknown intrinsic parameters. Calibration is based on the image correspondences only.…
Autonomous systems require identifying the environment and it has a long way to go before putting it safely into practice. In autonomous driving systems, the detection of obstacles and traffic lights are of importance as well as lane…
For intelligent vehicles, sensing the 3D environment is the first but crucial step. In this paper, we build a real-time advanced driver assistance system based on a low-power mobile platform. The system is a real-time multi-scheme…
Recently, it has become popular to deploy sensors such as LiDARs on the roadside to monitor the passing traffic and assist autonomous vehicle perception. Unlike autonomous vehicle systems, roadside sensors are usually affiliated with…
We present a framework for automatically reconfiguring images of street scenes by populating, depopulating, or repopulating them with objects such as pedestrians or vehicles. Applications of this method include anonymizing images to enhance…
Object detection is a computer vision task that has become an integral part of many consumer applications today such as surveillance and security systems, mobile text recognition, and diagnosing diseases from MRI/CT scans. Object detection…
In this paper, we focus on traffic camera calibration and a visual speed measurement from a single monocular camera, which is an important task of visual traffic surveillance. Existing methods addressing this problem are difficult to…
In this paper, we focus on fully automatic traffic surveillance camera calibration, which we use for speed measurement of passing vehicles. We improve over a recent state-of-the-art camera calibration method for traffic surveillance based…
Visual-Inertial (VI) sensors are popular in robotics, self-driving vehicles, and augmented and virtual reality applications. In order to use them for any computer vision or state-estimation task, a good calibration is essential. However,…
Compute and memory constraints have historically prevented traffic simulation software users from fully utilizing the predictive models underlying them. When calibrating car-following models, particularly, accommodations have included 1)…
Designing robust activity detectors for fixed camera surveillance video requires knowledge of the 3-D scene. This paper presents an automatic camera calibration process that provides a mechanism to reason about the spatial proximity between…
Adaptive (or deformable) mirrors are widely used as wavefront correctors in adaptive optics systems. The optical calibration of an adaptive mirror is a fundamental step during its life-cycle: the process is in facts required to compute a…