Related papers: PLMP -- Point-Line Minimal Problems for Projective…
Creating 3D models through the Structure from Motion technique is a recognized, efficient, cost-effective structural monitoring strategy. This technique is applied in several engineering fields, particularly for creating models of large…
In point-line SLAM systems, the utilization of line structural information and the optimization of lines are two significant problems. The former is usually addressed through structural regularities, while the latter typically involves…
This paper is concerned with recovery of motion and structure parameters from multiframes under orthogonal projection when only points are traced. The main question is how many points and/or how many frames are necessary for the task. It is…
We study the problem of determining whether a given frame is scalable, and when it is, understanding the set of all possible scalings. We show that for most frames this is a relatively simple task in that the frame is either not scalable or…
We introduce and study the Minimum Feasible Tileset problem: Given a set of symbols and subsets of these symbols (scenarios), find a smallest possible number of pairs of symbols (tiles) such that each scenario can be formed by selecting at…
Event cameras respond primarily to edges--formed by strong gradients--and are thus particularly well-suited for line-based motion estimation. Recent work has shown that events generated by a single line each satisfy a polynomial constraint…
In the minimum constraint removal ($MCR$), there is no feasible path to move from the starting point towards the goal and, the minimum constraints should be removed in order to find a collision-free path. It has been proved that $MCR$…
In this paper, we study spline trajectory generation via the solution of two optimisation problems: (i) a quadratic program (QP) with linear equality constraints and (ii) a nonlinear and nonconvex optimisation program. We propose an…
The (axis-parallel) stabbing number of a given set of line segments is the maximum number of segments that can be intersected by any one (axis-parallel) line. This paper deals with finding perfect matchings, spanning trees, or…
Consider a sliding camera that travels back and forth along an orthogonal line segment $s$ inside an orthogonal polygon $P$ with $n$ vertices. The camera can see a point $p$ inside $P$ if and only if there exists a line segment containing…
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…
This paper addresses problems on the structural design of control systems taking explicitly into consideration the possible application to large-scale systems. We provide an efficient and unified framework to solve the following major…
Polynomial and rational functions are the number one choice when it comes to modeling of radial distortion of lenses. However, several extrapolation and numerical issues may arise while using these functions that have not been covered by…
Event-based cameras are ideal for line-based motion estimation, since they predominantly respond to edges in the scene. However, accurately determining the camera displacement based on events continues to be an open problem. This is because…
We give explicit parametric equations for all irreducible plane projective sextic curves which have at most double points and whose total Milnor number is maximal (is equal to 19). In each case we find a parametrization over a number field…
This paper studies the robustness of observability of a linear time-invariant system under sensor failures from a computational perspective. To be precise, the problem of determining the minimum number of sensors whose removal can destroy…
We provide exact and approximation methods for solving a geometric relaxation of the Traveling Salesman Problem (TSP) that occurs in curve reconstruction: for a given set of vertices in the plane, the problem Minimum Perimeter Polygon (MPP)…
Joint object matching, also known as multi-image matching, namely, the problem of finding consistent partial maps among all pairs of objects within a collection, is a crucial task in many areas of computer vision. This problem subsumes…
We study supersolvable line arrangements in ${\mathbb P}^2$ over the reals and over the complex numbers, as the first step toward a combinatorial classification. Our main results show that a nontrivial (i.e., not a pencil or near pencil)…
Pose estimation is one of the most important problems in computer vision. It can be divided in two different categories -- absolute and relative -- and may involve two different types of camera models: central and non-central.…