Related papers: Adversarial Path Planning for Optimal Camera Posit…

We address the problem of finding the current position and heading angle of an autonomous vehicle in real-time using a single camera. Compared to methods which require LiDARs and high definition (HD) 3D maps in real-time, the proposed…

We propose a novel learning-based formulation for visual localization of vehicles that can operate in real-time in city-scale environments. Visual localization algorithms determine the position and orientation from which an image has been…

This paper investigates the problem of computing a two-dimensional optimal curvature straight line (CS) shortest path for an unmanned aerial vehicle (UAV) to intercept a moving target, with both the UAV (pursuer) and target travelling at…

Visibility plays an important role for decision making in cluttered, uncertain environments. This paper considers the problem of identifying optimal hiding spots for an agent against line-of-sight detection by an adversary whose location is…

Image segmentation is an inherently ill-posed problem and thus requires regularization in order to limit the search space to reasonable solutions. A majority of segmentation methods integrates these regularization terms in one way or the…

An autonomous robot with a limited vision range finds a path to the goal in an unknown environment in 2D avoiding polygonal obstacles. In the process of discovering the environmental map, the robot has to return to some positions marked…

This paper studies the time-optimal path tracking problem for a team of cooperating robotic manipulators carrying an object. Considering the problem for rigidly grasped objects, we show that it can be cast as a convex optimization problem…

Deep Learning algorithms have achieved the state-of-the-art performance for Image Classification and have been used even in security-critical applications, such as biometric recognition systems and self-driving cars. However, recent works…

An optimization method is proposed in this paper for novel deployment of given number of directional landmarks (location and pose) within a given region in the 3-D task space. This new deployment technique is built on the geometric models…

This paper addresses the visual localization problem in Global Positioning System (GPS)-denied environments, where computational resources are often limited. To achieve efficient and robust performance under these constraints, we propose a…

We propose an approach for estimating the relative pose between calibrated image pairs by jointly exploiting points, lines, and their coincidences in a hybrid manner. We investigate all possible configurations where these data modalities…

We consider the problem of cooperative intersection management. It arises in automated transportation systems for people or goods but also in multi-robots environment. Therefore many solutions have been proposed to avoid collisions. The…

To increase efficiency in automotive manufacturing, newly produced vehicles can move autonomously from the production line to the distribution area. This requires an optimal placement of sensors to ensure full coverage while minimizing the…

This paper studies the relative pose problem for autonomous vehicle driving in highly dynamic and possibly cluttered environments. This is a challenging scenario due to the existence of multiple, large, and independently moving objects in…

This paper presents an inverse optimality method to solve the Hamilton-Jacobi-Bellman equation for a class of nonlinear problems for which the cost is quadratic and the dynamics are affine in the input. The method is inverse optimal because…

Camera, and associated with its objects within the field of view, localization could benefit many computer vision fields, such as autonomous driving, robot navigation, and augmented reality (AR). In this survey, we first introduce specific…

We present a novel solution to the camera pose estimation problem, where rotation and translation of a camera between two views are estimated from matched feature points in the images. The camera pose estimation problem is traditionally…

We consider the problem of optimal path planning on a manifold which is the image of a smooth function. Optimal path-planning is of crucial importance for motion planning, image processing, and statistical data analysis. In this work, we…

Image recognition systems have demonstrated tremendous progress over the past few decades thanks, in part, to our ability of learning compact and robust representations of images. As we witness the wide spread adoption of these systems, it…

We study the problem of image alignment for panoramic stitching. Unlike most existing approaches that are feature-based, our algorithm works on pixels directly, and accounts for errors across the whole images globally. Technically, we…