Related papers: Localization from Pseudoranges: Quadrics and Duali…
We consider the gathering problem for asynchronous and oblivious robots that cannot communicate explicitly with each other, but are endowed with visibility sensors that allow them to see the positions of the other robots. Most of the…
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…
Space-time light structuring has emerged as a very powerful tool for controlling the propagation dynamics of pulsed beam. The ability to manipulate and generate space-time distributions of light has been remarkably enhanced in past few…
A new class of solutions of three-dimensional equations from the Boussinesq paradigm are considered. The corresponding profiles are not localized functions in the sense of the integrability of the square over an infinite domain. For the new…
Global localization is essential for robot navigation, of which the first step is to retrieve a query from the map database. This problem is called place recognition. In recent years, LiDAR scan based place recognition has drawn attention…
Doubly Special Relativity (DSR) models are characterized by the deformation of relativistic symmetries at the Planck scale and constitute one of the cornerstones for quantum gravity phenomenology research, due to the possibility of testing…
The goal of this paper is to estimate directly the rotation and translation between two stereoscopic images with the help of five homologous points. The methodology presented does not mix the rotation and translation parameters, which is…
This paper investigates singular configurations of the P3P problem. Using local dual space, a systematic algebraic-computational framework is proposed to give a complete geometric stratification for the P3P singular configurations with…
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…
Simultaneous matrix diagonalization is used as a subroutine in many machine learning problems, including blind source separation and paramater estimation in latent variable models. Here, we extend algorithms for performing joint…
In this paper we consider the problem of high accuracy localization of mobile nodes in a multipath-rich environment where sub-meter accuracies are required. We employ a peer to peer framework where the vehicles/nodes can get pairwise…
We propose an algorithm for the Wireless Sensor Network localization problem, which is based on the well-known algorithmic framework of Alternating Minimization. We start with a non-smooth and non-convex minimization, and transform it into…
In this paper we introduce the notion of cofrontal mappings, as the dual objects to frontal mappings, and study their basic local and global properties. Cofrontals are very special mappings and far from generic nor stable except for the…
We address the visual relocalization problem of predicting the location and camera orientation or pose (6DOF) of the given input scene. We propose a method based on how humans determine their location using the visible landmarks. We define…
In this article, we discuss the semicontinuity problem of certain properties on fibers for a morphism of schemes. One aspect of this problem is local. Namely, we consider properties of schemes at the level of local rings, in which the main…
Existence and stability of Dirac points in the dispersion relation of operators periodic with respect to the hexagonal lattice is investigated for different sets of additional symmetries. The following symmetries are considered: rotation by…
We examine the utility of the quadratic pseudospectrum in photonics and condensed matter. Specifically, the quadratic pseudospectrum represents a method for approaching systems with incompatible observables, as it both minimizes the…
We investigate the behavior of the solutions of the ray equation in isotropic media. We discuss local and global transversals and wavefronts and give examples of rays without wavefronts.
A popular class of lidar-based grid mapping algorithms computes for each map cell the probability that it reflects an incident laser beam. These algorithms typically determine the map as the set of reflection probabilities that maximizes…
Self-stabilization is a versatile technique to withstand any transient fault in a distributed system. Mobile robots (or agents) are one of the emerging trends in distributed computing as they mimic autonomous biologic entities. The…