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Hundreds of millions of people routinely take photos using their smartphones as point and shoot (PAS) cameras, yet very few would have the photography skills to compose a good shot of a scene. While traditional PAS cameras have built-in…
Visual servoing technology has been well developed and applied in many automated manufacturing tasks, especially in tools' pose alignment. To access a full global view of tools, most applications adopt eye-to-hand configuration or…
Motivated by applications in machine learning, such as subset selection and data summarization, we consider the problem of maximizing a monotone submodular function subject to mixed packing and covering constraints. We present a tight…
The surveillance multisensor placement is an important optimization problem that consists of positioning several sensors of different types to maximize the coverage of a determined area while minimizing the cost of the deployment. In this…
We consider the Max Unique Coverage problem, including applications to the data stream model. The input is a universe of $n$ elements, a collection of $m$ subsets of this universe, and a cardinality constraint, $k$. The goal is to select a…
We develop a unified Fisher-information framework for localization in environments with both Line-of-Sight (LOS) and Non-Line-of-Sight (NLOS) paths, focusing on diffraction-dominated NLOS propagation characteristic of Outdoor-to-Indoor…
The Expectation-Maximization (EM) algorithm has been predominantly used to approximate the maximum likelihood estimation of the location-scale Gaussian mixtures. However, when the models are over-specified, namely, the chosen number of…
Localizing the camera in a known indoor environment is a key building block for scene mapping, robot navigation, AR, etc. Recent advances estimate the camera pose via optimization over the 2D/3D-3D correspondences established between the…
The traditional way of tackling discrete optimization problems is by using local search on suitably defined cost or fitness landscapes. Such approaches are however limited by the slowing down that occurs when the local minima that are a…
Optimization of expensive computer models with the help of Gaussian process emulators in now commonplace. However, when several (competing) objectives are considered, choosing an appropriate sampling strategy remains an open question. We…
Electronic phased-array radars offer new possibilities for radar search pattern optimization by using bi-dimensional beam-forming and beam-steering. Radar search pattern optimization can be approximated as a set cover problem and solved…
Anomaly detection in crowds enables early rescue response. A plug-and-play smart camera for crowd surveillance has numerous constraints different from typical anomaly detection: the training data cannot be used iteratively; there are no…
Essential matrix averaging, i.e., the task of recovering camera locations and orientations in calibrated, multiview settings, is a first step in global approaches to Euclidean structure from motion. A common approach to essential matrix…
Unmanned Aerial Systems (UAS) have gained significant traction for their application in infrastructure inspections. However, considering the enormous scale and complex nature of infrastructure, automation is essential for improving the…
In this paper we consider the problem of maximizing the Area under the ROC curve (AUC) which is a widely used performance metric in imbalanced classification and anomaly detection. Due to the pairwise nonlinearity of the objective function,…
Augmented reality (AR) displays become more and more popular recently, because of its high intuitiveness for humans and high-quality head-mounted display have rapidly developed. To achieve such displays with augmented information, highly…
This paper introduces an active object detection and localization framework that combines a robust untextured object detection and 3D pose estimation algorithm with a novel next-best-view selection strategy. We address the detection and…
Cameras are increasingly being deployed in cities, enterprises and roads world-wide to enable many applications in public safety, intelligent transportation, retail, healthcare and manufacturing. Often, after initial deployment of the…
Estimating the pose of a camera with respect to a 3D reconstruction or scene representation is a crucial step for many mixed reality and robotics applications. Given the vast amount of available data nowadays, many applications constrain…
Autonomous inspection tasks necessitate path-planning algorithms to efficiently gather observations from points of interest (POI). However, localization errors commonly encountered in urban environments can introduce execution uncertainty,…