相关论文: RANSAC based three points algorithm for ellipse fi…
In this paper we present a novel approach to global localization using an RGB-D camera in maps of visual features. For large maps, the performance of pure image matching techniques decays in terms of robustness and computational cost.…
Current methods for 3D object reconstruction from a set of planar cross-sections still struggle to capture detailed topology or require a considerable number of cross-sections. In this paper, we present, to the best of our knowledge the…
Perspective-$n$-Point (P$n$P) stands as a fundamental algorithm for pose estimation in various applications. In this paper, we present a new approach to the P$n$P problem with relaxed constraints, eliminating the need for precise 3D…
Full 3D scanning can efficiently be obtained using structured light scanning combined with a rotation stage. In this setting it is, however, necessary to reposition the object and scan it in different poses in order to cover the entire…
Our contribution in this paper is two folded. We consider first the case of linear programming with real coefficients and give a method which allows the computation of a new upper bound on the distance from the origin to a feasible point.…
This paper investigates the shape reconstructions of sub-wavelength objects from near-field measurements in transverse electromagnetic scattering. This geometric inverse problem is notoriously ill-posed and challenging. We develop a novel…
In this paper, we present a new ellipsoid-type algorithm for solving nonsmooth problems with convex structure. Examples of such problems include nonsmooth convex minimization problems, convex-concave saddle-point problems and variational…
Writing an uncomplicated, robust, and scalable three-dimensional convex hull algorithm is challenging and problematic. This includes, coplanar and collinear issues, numerical accuracy, performance, and complexity trade-offs. While there are…
A simple procedure is developed to determine orbital elements of an object orbiting in a central force field which contribute more than three independent celestial positions. By manipulation of formal three point Gauss method of orbit…
We revisit the problem of assigning a score (a quality of fit) to candidate geometric models -- one of the key components of RANSAC for robust geometric fitting. In a non-robust setting, the ``gold standard'' scoring function, known as the…
To overcome these obstacles and improve computational accuracy and efficiency, this paper presents the Randomized Radial Basis Function Neural Network (RRNN), an innovative approach explicitly crafted for solving multiscale elliptic…
We explore the potential of our novel triaxial modeling machinery in recovering the viewing angles, the shape and the orbit distribution of galaxies by using a high-resolution $N$-body merger simulation. Our modelling technique includes…
The normalized eight-point algorithm has been widely viewed as the cornerstone in two-view geometry computation, where the seminal Hartley's normalization has greatly improved the performance of the direct linear transformation algorithm. A…
Robotic grasping of arbitrary objects even in completely known environments still remains a challenging problem. Most previously developed algorithms had focused on fingertip grasp, failing to solve the problem even for fully actuated…
While most current RGB-D-based category-level object pose estimation methods achieve strong performance, they face significant challenges in scenes lacking depth information. In this paper, we propose a novel category-level object pose…
High-resolution geometric prediction is essential for robust perception in autonomous driving, robotics, and AR/MR, but current foundation models are fundamentally limited by their scalability to real-world, high-resolution scenarios.…
This manuscript provides a collection of new methods for the automated detection of non-overlapping ellipses from edge points. The methods introduce new developments in: (i) robust Monte Carlo-based ellipse fitting to 2-dimensional (2D)…
This paper is about 3D pose estimation on LiDAR scans with extremely minimal storage requirements to enable scalable mapping and localisation. We achieve this by clustering all points of segmented scans into semantic objects and…
We present the analytical framework for converting projected light distributions with a S\'ersic profile into three-dimensional light distributions for stellar systems of arbitrary triaxial shape. The main practical result is the definition…
We present a general algorithm for finding the overlap area between two ellipses. The algorithm is based on finding a segment area (the area between an ellipse and a secant line) given two points on the ellipse. The Gauss-Green formula is…