Related papers: PLMP -- Point-Line Minimal Problems for Projective…
In this paper, we study the structural state and input observability of continuous-time switched linear time-invariant systems and unknown inputs. First, we provide necessary and sufficient conditions for their structural state and input…
The problem of image registration is finding a transformation that aligns two images, such that the corresponding points are in the same location. This paper introduces a simple, end-to-end trainable algorithm that is implementable in a few…
We consider the problem of finding curves of minimum pointwise-maximum curvature, i.e., curves of minimax curvature, among planar curves of fixed length with prescribed endpoints and tangents at the endpoints. We reformulate the problem in…
A sliding camera inside an orthogonal polygon $P$ is a point guard that travels back and forth along an orthogonal line segment $\gamma$ in $P$. The sliding camera $g$ can see a point $p$ in $P$ if the perpendicular from $p$ onto $\gamma$…
Meaningful comparison between sets of observations often necessitates alignment or registration between them, and the resulting optimization problems range in complexity from those admitting simple closed-form solutions to those requiring…
This paper analyse the properties of minimal solutions for the reconstruction of the lens potential in the singular perturbative approach. These minimal solutions corresponds to an expansion with a minimal degree in Fourier expansion of the…
Motion planning under uncertainty is essential for reliable robot operation. Despite substantial advances over the past decade, the problem remains difficult for systems with complex dynamics. Most state-of-the-art methods perform search…
We study three well-known minimization problems in Hilbert spaces: the weighted least squares problem and the related problems of abstract splines and smoothing. In each case we analyze the solvability of the problem for every point of the…
We consider methods for finding a simple polygon of minimum (Min-Area) or maximum (Max-Area) possible area for a given set of points in the plane. Both problems are known to be NP-hard; at the center of the recent CG Challenge, practical…
This paper proposes a novel algorithm of discovering the structure of a kaleidoscopic imaging system that consists of multiple planar mirrors and a camera. The kaleidoscopic imaging system can be recognized as the virtual multi-camera…
We address the problem of epipolar geometry using the motion of silhouettes. Such methods match epipolar lines or frontier points across views, which are then used as the set of putative correspondences. We introduce an approach that…
We consider the minimum-norm-point (MNP) problem over polyhedra, a well-studied problem that encompasses linear programming. We present a general algorithmic framework that combines two fundamental approaches for this problem: active set…
We consider the geometric optics problem of finding a system of two reflectors that transform a spherical wavefront into a beam of parallel rays with prescribed intensity distribution. Using techniques from optimal transportation theory, it…
One challenge of legged locomotion on uneven terrains is to deal with both the discrete problem of selecting a contact surface for each footstep and the continuous problem of placing each footstep on the selected surface. Consequently,…
This paper addresses the challenge of probabilistic parameter estimation given measurement uncertainty in real-time. We provide a general formulation and apply this to pose estimation for an autonomous visual landing system. We present…
In 3D reconstruction, the recovery of the calibration parameters of the cameras is paramount since it provides metric information about the observed scene, e.g., measures of angles and ratios of distances. Autocalibration enables the…
Optimization of frame structures is formulated as a~non-convex optimization problem, which is currently solved to local optimality. In this contribution, we investigate four optimization approaches: (i) general non-linear optimization, (ii)…
Although Structure-from-Motion (SfM) as a maturing technique has been widely used in many applications, state-of-the-art SfM algorithms are still not robust enough in certain situations. For example, images for inspection purposes are often…
We consider the problem of estimating the locations of a set of points in a k-dimensional euclidean space given a subset of the pairwise distance measurements between the points. We focus on the case when some fraction of these measurements…
Phasor Measurement Units (PMUs) are essential measuring devices for monitoring, control and protection of power systems. The objective of the optimal PMU placement (OPP) problem is to minimize the number of PMUs and select the bus locations…