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We provide a complete pipeline for the detection of patterns of interest in an image. In our approach, the patterns are assumed to be adequately modeled by a known template, and are located at unknown positions and orientations that we aim…
Loop closure based on camera images provides excellent results on benchmarking datasets, but might struggle in real-world adverse weather conditions like direct sun, rain, fog, or just darkness at night. In automotive applications, the…
We present a new multi-layer peeling technique to cluster points in a metric space. A well-known non-parametric objective is to embed the metric space into a simpler structured metric space such as a line (i.e., Linear Arrangement) or a…
We introduce a new approach for the adaptation of the Maximal Internal Envelope method, extended to address the Largest Empty Sphere problem within unstructured 3D point clouds. We explore the identification of the Largest Empty Sphere by…
Aerial mapping systems are important for many surveying applications (e.g., industrial inspection or agricultural monitoring). Aerial platforms that can fly GPS-guided preplanned missions semi-autonomously are already widely available but…
Autonomous operation of UAVs in a closed environment requires precise and reliable pose estimate that can stabilize the UAV without using external localization systems such as GNSS. In this work, we are concerned with estimating the pose…
The kd-tree and Bounding Volume Hierarchy (BVH) are well-known data structures for computing ray-object intersections. Less known is the Constrained Convex Space Partitioning (CCSP), which partitions space and makes the geometric primitives…
Signal decomposition is a classical problem in signal processing, which aims to separate an observed signal into two or more components each with its own property. Usually each component is described by its own subspace or dictionary.…
In this paper we describe the design and characterization of the optical system of LSPE/Strip, a coherent polarimeter array that will observe the microwave sky from the Teide Observatory in Tenerife in two frequency bands centred at 43 and…
Constructing precise global maps is a key task in robotics and is required for localization, surveying, monitoring, or constructing digital twins. To build accurate maps, data from mobile 3D LiDAR sensors is often used. Mapping requires…
This paper uses mathematics to analyze the challenges of geometrically noisy environments on triangulation. Given widely accepted algorithmic triangulation methods, such as O (n ln n) or a simpler O (n^3) method, we can mathematically prove…
Self-supervised surround-view depth estimation enables dense, low-cost 3D perception with a 360{\deg} field of view from multiple minimally overlapping images. Yet, most existing methods suffer from depth estimates that are inconsistent…
We present a method for detecting and mapping trees in noisy stereo camera point clouds, using a learned 3-D object detector. Inspired by recent advancements in 3-D object detection using a pseudo-lidar representation for stereo data, we…
We show that if a disc triangulation has all internal vertex degrees at least 6, then the full triangulation may be determined from the pairwise graph distance between boundary vertices. A similar result holds for quadrangulations with all…
Removing camera motion blur from a single light field is a challenging task since it is highly ill-posed inverse problem. The problem becomes even worse when blur kernel varies spatially due to scene depth variation and high-order camera…
We discuss the design, construction, and use of a new class of scanning camera that eliminates a critical limitation of standard CCD drift-scan observations. A standard scan, which involves no correction for the differential drift rates and…
Recent progress in the automated driving system (ADS) and advanced driver assistant system (ADAS) has shown that the combined use of 3D light detection and ranging (LiDAR) and the camera is essential for an intelligent vehicle to perceive…
LiDAR-camera calibration is a precondition for many heterogeneous systems that fuse data from LiDAR and camera. However, the constraint from common field of view and the requirement for strict time synchronization make the calibration a…
The goal of blind image deblurring is to recover sharp image from one input blurred image with an unknown blur kernel. Most of image deblurring approaches focus on developing image priors, however, there is not enough attention to the…
Safe motion planning in robotics requires planning into space which has been verified to be free of obstacles. However, obtaining such environment representations using lidars is challenging by virtue of the sparsity of their depth…