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Binary embedding is the problem of mapping points from a high-dimensional space to a Hamming cube in lower dimension while preserving pairwise distances. An efficient way to accomplish this is to make use of fast embedding techniques…
We address the problem of camera-to-laser-scanner calibration using a checkerboard and multiple image-laser scan pairs. Distinguishing which laser points measure the checkerboard and which lie on the background is essential to any such…
This paper presents an approach for applying camera perception techniques to spinning LiDAR data. To improve the robustness of long-term change detection from a 3D LiDAR, range and intensity information are rendered into virtual…
This article presents the formal proof of correctness for a plane Delaunay triangulation algorithm. It consists in repeating a sequence of edge flippings from an initial triangulation until the Delaunay property is achieved. To describe…
Computer vision techniques play a central role in the perception stack of autonomous vehicles. Such methods are employed to perceive the vehicle surroundings given sensor data. 3D LiDAR sensors are commonly used to collect sparse 3D point…
Triangulation refers to the problem of finding a 3D point from its 2D projections on multiple camera images. For solving this problem, it is the common practice to use so-called optimal triangulation method, which we call the L2 method in…
Inverse rendering of outdoor scenes from unconstrained image collections is a challenging task, particularly illumination/albedo ambiguities and occlusion of the illumination environment (shadowing) caused by geometry. However, there are…
Camera calibration using planar targets has been widely favored, and two types of control points have been mainly considered as measurements: the corners of the checkerboard and the centroid of circles. Since a centroid is derived from…
This paper discusses a problem that consists of $n$ "lighthouses" which are circles with radius 1, placed around a common center, equidistant at $n$ units away from the placement center. Consecutive lighthouses are separated by the same…
The problem of navigating a formation of interconnected tethered drones, named STEM (System of TEthered Multicopters), in an unknown environment is considered. The tethers feed electrical power from a ground station to the drones and also…
Time-of-flight cameras provide depth information, which is complementary to the photometric appearance of the scene in ordinary images. It is desirable to merge the depth and colour information, in order to obtain a coherent scene…
This paper presents a distributed approach for exploring and triangulating an unknown region using a multi- robot system. The objective is to produce a covering of an unknown workspace by a fixed number of robots such that the covered…
Flips in triangulations of convex polygons arise in many different settings. They are isomorphic to rotations in binary trees, define edges in the 1-skeleton of the Associahedron and cover relations in the Tamari Lattice. The complexity of…
This paper attacks the following problem. We are given a large number $N$ of rectangles in the plane, each with horizontal and vertical sides, and also a number $r<N$. The given list of $N$ rectangles may contain duplicates. The problem is…
Consider a set $P$ of $n$ points picked uniformly and independently from $[0,1]^d$ for a constant dimension $d$ -- such a point set is extremely well behaved in many aspects. For example, for a fixed $r \in [0,1]$, we prove a new…
Images are an important source of information for spacecraft navigation and for three-dimensional reconstruction of observed space objects. Both of these applications take the form of a triangulation problem when the camera has a known…
This work proposes a jointly optimized trajectory generation and camera control approach, enabling an autonomous agent, such as an unmanned aerial vehicle (UAV) operating in 3D environments, to plan and execute coverage trajectories that…
We propose methods that use specular, multibounce lidar returns to detect and map specular surfaces that might be invisible to conventional lidar systems that rely on direct, single-scatter returns. We derive expressions that relate the…
The ability to know what is hidden around a corner or behind a wall provides a crucial advantage when physically going around the obstacle is impossible or dangerous. Previous solutions to this challenge were constrained e.g. by their…
We introduce series-triangular graph embeddings and show how to partition point sets with them. This result is then used to improve the upper bound on the number of Steiner points needed to obtain compatible triangulations of point sets.…