Related papers: Efficient Globally-Optimal Correspondence-Less Vis…
Scale ambiguity is a fundamental problem in monocular visual odometry. Typical solutions include loop closure detection and environment information mining. For applications like self-driving cars, loop closure is not always available, hence…
Our goal is to provide a novel method of representing 2D shapes, where each shape will be assigned a unique fingerprint - a computable approximation to a conformal map of the given shape to a canonical shape in 2D or 3D space (see page 22…
In this paper, we propose a new variational model for image reconstruction by minimizing the $L^1$ norm of the \emph{Weingarten map} of image surface $(x,y,f(x,y))$ for a given image $f:{\mathrm{\Omega}}\rightarrow \mathbb R$. We…
Optimization on Hadamard manifolds -- the natural Riemannian setting for globally geodesically convex problems -- relies on exponential maps to retract tangent vectors and parallel transport to connect tangent spaces across the manifold.…
This paper presents a framework for the targetless extrinsic calibration of stereo cameras and Light Detection and Ranging (LiDAR) sensors with a non-overlapping Field of View (FOV). In order to solve the extrinsic calibrations problem…
Although the performance of 3D human pose and shape estimation methods has improved significantly in recent years, existing approaches typically generate 3D poses defined in camera or human-centered coordinate system. This makes it…
We provide methods which recover planar scene geometry by utilizing the transient histograms captured by a class of close-range time-of-flight (ToF) distance sensor. A transient histogram is a one dimensional temporal waveform which encodes…
When robots are able to see and respond to their surroundings, a whole new world of possibilities opens up. To bring these possibilities to life, the robotics industry is increasingly adopting camera-based vision systems, especially when a…
The problem of identifying the 3D pose of a known object from a given 2D image has important applications in Computer Vision ranging from robotic vision to image analysis. Our proposed method of registering a 3D model of a known object on a…
This paper presents an approach to radar odometry on $SE(3)$ which utilizes a constant acceleration motion prior. The motion prior is integrated into a sliding window optimization scheme. We use the Magnus expansion to accurately integrate…
Branch-and-bound-based consensus maximization stands out due to its important ability of retrieving the globally optimal solution to outlier-affected geometric problems. However, while the discovery of such solutions caries high scientific…
In this paper, we develop a systematical approach in applying an asymptotic method of moving planes to investigate qualitative properties of positive solutions for fractional parabolic equations. We first obtain a series of needed key…
In this paper, we investigate the problem of estimating the 4-DOF (three-dimensional position and orientation) robot-robot relative frame transformation using odometers and distance measurements between robots. Firstly, we apply a two-step…
In this work we solve the position-aided 3D navigation problem using a nonlinear estimation scheme. More precisely, we propose a nonlinear observer to estimate the full state of the vehicle (position, velocity, orientation and gyro bias)…
Many real-world sequences cannot be conveniently categorized as general or degenerate; in such cases, imposing a false dichotomy in using the fundamental matrix or homography model for motion segmentation would lead to difficulty. Even when…
This paper proposes a method to extract the position and pose of vehicles in the 3D world from a single traffic camera. Most previous monocular 3D vehicle detection algorithms focused on cameras on vehicles from the perspective of a driver,…
This paper introduces an approach to produce accurate 3D detection boxes for objects on the ground using single monocular images. We do so by merging 2D visual cues, 3D object dimensions, and ground plane constraints to produce boxes that…
Absolute pose estimation is a fundamental problem in computer vision, and it is a typical parameter estimation problem, meaning that efforts to solve it will always suffer from outlier-contaminated data. Conventionally, for a fixed…
We propose a novel method for non-rigid 3-D motion correction of orthogonally raster-scanned optical coherence tomography angiography volumes. This is the first approach that aligns predominantly axial structural features like retinal…
Generating motions for robots interacting with objects of various shapes is a complex challenge, further complicated by the robot geometry and multiple desired behaviors. While current robot programming tools (such as inverse kinematics,…