Related papers: A Direct Algorithm for Multi-Gyroscope Infield Cal…
Automatic calibration of multi-camera systems, namely the accurate estimation of spatial extrinsic parameters, is fundamental for 3D reconstruction, panoramic perception, and multi-view data fusion. Existing methods typically rely on…
A fault detection and isolation method for satellite rate gyros is proposed based on using the satellite-to-satellite measurements such as relative position beside orbit parameters of the primary satellite. By finding a constant of motion,…
We study the estimation of a high dimensional approximate factor model in the presence of both cross sectional dependence and heteroskedasticity. The classical method of principal components analysis (PCA) does not efficiently estimate the…
This letter proposes an extrinsic calibration approach for a pair of monocular camera and prism-spinning solid-state LiDAR. The unique characteristics of the point cloud measured resulting from the flower-like scanning pattern is first…
Modern autonomous systems typically use several sensors for perception. For best performance, accurate and reliable extrinsic calibration is necessary. In this research, we propose a reliable technique for the extrinsic calibration of…
The internal calibration of a pinhole camera is given by five parameters that are combined into an upper-triangular $3\times 3$ calibration matrix. If the skew parameter is zero and the aspect ratio is equal to one, then the camera is said…
The problem of fitting concentric ellipses is a vital problem in image processing, pattern recognition, and astronomy. Several methods have been developed but all address very special cases. In this paper, this problem has been investigated…
In this paper, the problem of target localization in the presence of outlying sensors is tackled. This problem is important in practice because in many real-world applications the sensors might report irrelevant data unintentionally or…
We consider systems of stochastic differential equations with multiple scales and small noise and assume that the coefficients of the equations are ergodic and stationary random fields. Our goal is to construct provably-efficient importance…
This paper investigates a category of constrained fractional optimization problems that emerge in various practical applications. The objective function for this category is characterized by the ratio of a numerator and denominator, both…
A new closed-form solver is proposed minimizing the algebraic error optimally, in the least-squares sense, to estimate the relative planar motion of two calibrated cameras. The main objective is to solve the over-determined case, i.e., when…
In the non-uniform $k$-center problem, the objective is to cover points in a metric space with specified number of balls of different radii. Chakrabarty, Goyal, and Krishnaswamy [ICALP 2016, Trans. on Algs. 2020] (CGK, henceforth) give a…
Geometric medians on product manifolds are sensitive to the relative scaling of factor metrics because the median objective couples the factors rather than separating them. We study this scale-selection problem and first prove that naive…
In this paper, we present a user-friendly LiDAR-camera calibration toolkit that is compatible with various LiDAR and camera sensors and requires only a single pair of laser points and a camera image in targetless environments. Our approach…
Advances in autonomous driving are inseparable from sensor fusion. Heterogeneous sensors are widely used for sensor fusion due to their complementary properties, with radar and camera being the most equipped sensors. Intrinsic and extrinsic…
In this paper, we discuss an efficient algorithm for computing the growth distance between two compact convex sets with representable support functions. The growth distance between two sets is the minimum scaling factor such that the sets…
We present a new mathematical formulation to estimate the intrinsic parameters of a camera in active or robotic platforms. We show that the focal lengths can be estimated using only one point correspondence that relates images taken before…
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…
In this paper, robust detection, tracking and geometry estimation methods are developed and combined into a system for estimating time-difference estimates, microphone localization and sound source movement. No assumptions on the 3D…
We investigate the calibration of estimations to increase performance with an optimal monotone transform on the estimator outputs. We start by studying the traditional square error setting with its weighted variant and show that the optimal…