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The equivalence between the natural minimization of energy in a dynamical system and the minimization of an objective function characterizing a combinatorial optimization problem offers a promising approach to designing dynamical…
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…
Determining the position and orientation of a calibrated camera from a single image with respect to a 3D model is an essential task for many applications. When 2D-3D correspondences can be obtained reliably, perspective-n-point solvers can…
Current differentiable renderers provide light transport gradients with respect to arbitrary scene parameters. However, the mere existence of these gradients does not guarantee useful update steps in an optimization. Instead, inverse…
Collisions are common in many dynamical systems with real applications. They can be formulated as hybrid dynamical systems with discontinuities automatically triggered when states transverse certain manifolds. We present an algorithm for…
The measurement of Doppler velocity shifts in spectra is a ubiquitous theme in astronomy, usually handled by computing the cross-correlation of the signals, and finding the location of its maximum. This paper addresses the problem of the…
Tracking by Deblatting stands for solving an inverse problem of deblurring and image matting for tracking motion-blurred objects. We propose non-causal Tracking by Deblatting which estimates continuous, complete and accurate object…
The problem of tracking self-motion as well as motion of objects in the scene using information from a camera is known as multi-body visual odometry and is a challenging task. This paper proposes a robust solution to achieve accurate…
Event cameras trigger events asynchronously and independently upon a sufficient change of the logarithmic brightness level. The neuromorphic sensor has several advantages over standard cameras including low latency, absence of motion blur,…
This paper looks into the problem of pedestrian tracking using a monocular, potentially moving, uncalibrated camera. The pedestrians are located in each frame using a standard human detector, which are then tracked in subsequent frames.…
Event or Neuromorphic cameras are novel biologically inspired sensors that record data based on the change in light intensity at each pixel asynchronously. They have a temporal resolution of microseconds. This is useful for scenes with fast…
Tracking motions of humans or objects in the surroundings of the robot is essential to improve safe robot motions and reactions. In this work, we present an approach for scene flow estimation from low-density and noisy point clouds acquired…
Contrast maximisation estimates the motion captured in an event stream by maximising the sharpness of the motion compensated event image. To carry out contrast maximisation, many previous works employ iterative optimisation algorithms, such…
In this paper we present four cases of minimal solutions for two-view relative pose estimation by exploiting the affine transformation between feature points and we demonstrate efficient solvers for these cases. It is shown, that under the…
During about 30 years, a lot of research teams have worked on the big challenge of detection of moving objects in various challenging environments. First applications concern static cameras but with the rise of the mobile sensors studies on…
This paper proposes CAMOT, a simple camera angle estimator for multi-object tracking to tackle two problems: 1) occlusion and 2) inaccurate distance estimation in the depth direction. Under the assumption that multiple objects are located…
Reliable self-localization is a foundational skill for many intelligent mobile platforms. This paper explores the use of event cameras for motion tracking thereby providing a solution with inherent robustness under difficult dynamics and…
We present a complete classification of minimal problems for generic arrangements of points and lines in space observed partially by three calibrated perspective cameras when each line is incident to at most one point. This is a large class…
We consider the problem of tracking a target whose dynamics is modeled by a continuous It\=o semi-martingale. The aim is to minimize both deviation from the target and tracking efforts. We establish the existence of asymptotic lower bounds…
In this work, we develop a collection of novel methods for the entropic-regularised optimal transport problem, which are inspired by existing mirror descent interpretations of the Sinkhorn algorithm used for solving this problem. These are…