Related papers: Correspondence-Free Fast and Robust Spherical Poin…
Head pose estimation plays a vital role in various applications, e.g., driverassistance systems, human-computer interaction, virtual reality technology, and so on. We propose a novel geometry based algorithm for accurately estimating the…
Based on the Beylkin-Cramer summation rule, we introduce a new fast algorithm that enable us to explore the high order statistics efficiently in large data sets. Central to this technique is to make decomposition both of fields and…
We present a novel solution to the camera pose estimation problem, where rotation and translation of a camera between two views are estimated from matched feature points in the images. The camera pose estimation problem is traditionally…
Point cloud registration is a fundamental and challenging problem for autonomous robots interacting in unstructured environments for applications such as object pose estimation, simultaneous localization and mapping, robot-sensor…
Point set registration is the process of finding the best alignment between two point sets, and it is a common task in different domains, especially in the automotive and mobile robotics domains. Lots of approaches are proposed in the…
In this paper, we compare two optimization algorithms using full Hessian and approximation Hessian to obtain numerical spherical designs through their variational characterization. Based on the obtained spherical design point sets, we…
This paper presents an algorithm for the preprocessing of observation data aimed at improving the robustness of orbit determination tools. Two objectives are fulfilled: obtain a refined solution to the initial orbit determination problem…
Fitting an unknown number of hyperplanes to data is a fundamental yet challenging problem in machine learning, characterized by its non-convexity, non-differentiability, and unknown model order. Existing approaches often struggle with local…
In this work, the problem of 4 degree-of-freedom (3D position and heading) robot-to-robot relative frame transformation estimation using onboard odometry and inter-robot distance measurements is studied. Firstly, we present a theoretical…
Co-registration of multimodal remote sensing images is still an ongoing challenge because of nonlinear radiometric differences (NRD) and significant geometric distortions (e.g., scale and rotation changes) between these images. In this…
We present an efficient program for the exact diagonalization solution of the pairing Hamiltonian in spherical systems with rotational invariance based on the SU(2) quasi-spin algebra. The basis vectors with quasi-spin symmetry considered…
We propose a penalized likelihood framework for estimating multiple precision matrices from different classes. Most existing methods either incorporate no information on relationships between the precision matrices, or require this…
Many areas of science and engineering encounter data defined on spherical manifolds. Modelling and analysis of spherical data often necessitates spherical harmonic transforms, at high degrees, and increasingly requires efficient computation…
Rigidity Percolation is a crucial framework for describing rigidity transitions in amorphous systems. We present a new, efficient algorithm to study central-force Rigidity Percolation in two dimensions. This algorithm combines the Pebble…
The transport of charged particles or photons in a scattering medium can be modelled with a Boltzmann equation. The mathematical treatment for scattering in such scenarios is often simplified if evaluated in a frame where the scattering…
We address rotation averaging (RA) and its application to real-world 3D reconstruction. Local optimisation based approaches are the de facto choice, though they only guarantee a local optimum. Global optimisers ensure global optimality in…
In many Direct and Inverse Scattering problems one has to use a parameter-fitting procedure, because analytical inversion procedures are often not available. In this paper a variety of such methods is presented with a discussion of…
Point cloud registration sits at the core of many important and challenging 3D perception problems including autonomous navigation, SLAM, object/scene recognition, and augmented reality. In this paper, we present a new registration…
Nonrigid point set registration is widely applied in the tasks of computer vision and pattern recognition. Coherent point drift (CPD) is a classical method for nonrigid point set registration. However, to solve spatial transformation…
We present a fast trajectory optimization algorithm for the soft capture of uncooperative tumbling space objects. Our algorithm generates safe, dynamically feasible, and minimum-fuel trajectories for a six-degree-of-freedom servicing…