相关论文: Spectral Motion Synchronization in SE(3)
Rotation averaging is a key subproblem in applications of computer vision and robotics. Many methods for solving this problem exist, and there are also several theoretical results analyzing difficulty and optimality. However, one aspect…
In this paper, we establish an initial theory regarding the Second Order Asymptotical Regularization (SOAR) method for the stable approximate solution of ill-posed linear operator equations in Hilbert spaces, which are models for linear…
In this work we study orbit recovery over $SO(3)$, where the goal is to recover a function on the sphere from noisy, randomly rotated copies of it. We assume that the function is a linear combination of low-degree spherical harmonics. This…
Motion represents one of the major challenges in magnetic resonance imaging (MRI). Since the MR signal is acquired in frequency space, any motion of the imaged object leads to complex artefacts in the reconstructed image in addition to…
This paper provides new results for a tracking control of the attitude dynamics of a rigid body. Both of the attitude dynamics and the proposed control system are globally expressed on the special orthogonal group, to avoid complexities and…
Piecewise constant curvature is a popular kinematics framework for continuum robots. Computing the model parameters from the desired end pose, known as the inverse kinematics problem, is fundamental in manipulation, tracking and planning…
This article is written to serve as an introduction and survey of imaging with synthetic aperture radar (SAR). The reader will benefit from having some familiarity with harmonic analysis, electromagnetic radiation, and inverse problems.…
Image registration is a fundamental task in medical image analysis. Recently, deep learning based image registration methods have been extensively investigated due to their excellent performance despite the ultra-fast computational time.…
In this paper, an approach is developed to solve the three body problem involving masses which posses spherical symmetry. The problem dates back to the times of Poincare, and is undoubtedly one of the oldest of unsolved problems of…
We introduce a method for manifold alignment of different modalities (or domains) of remote sensing images. The problem is recurrent when a set of multitemporal, multisource, multisensor and multiangular images is available. In these…
A mechanism is described to symmetrize the ultraspherical spectral method for self-adjoint problems. The resulting discretizations are symmetric and banded. An algorithm is presented for an adaptive spectral decomposition of self-adjoint…
In this work, we consider a group of robots working together to manipulate a rigid object to track a desired trajectory in $SE(3)$. The robots do not know the mass or friction properties of the object, or where they are attached to the…
We introduce motions as real six-dimensional vectors. A motion means a rotation and a translation. We define a motion operator which maps unit dual quaternions to motions, and a UDQ operator which maps motions to unit dual quaternions. By…
A method for the fast and accurate solution of the radiative transfer equation in plane-parallel media with coherent isotropic scattering is presented. This largely analytical approach uses the formalism of meromorphic functions in order to…
Single-pixel imaging (SPI) exhibits cost-effectiveness, broad spectrum, and stable sub-Nyquist sampling reconstruction, enabling applications across diverse imaging fields.However, due to the inherent reconstruction mechanism, SPI is not…
We present a novel approach for the reconstruction of dynamic geometric shapes using a single hand-held consumer-grade RGB-D sensor at real-time rates. Our method does not require a pre-defined shape template to start with and builds up the…
Rotation Averaging is a non-convex optimization problem that determines orientations of a collection of cameras from their images of a 3D scene. The problem has been studied using a variety of distances and robustifiers. The intrinsic (or…
Network alignment consists of finding a structure-preserving correspondence between the nodes of two correlated, but not necessarily identical, networks. This problem finds applications in a wide variety of fields, from the alignment of…
The paper analyzes the rotation averaging problem as a minimization problem for a potential function of the corresponding gradient system. This dynamical system is one generalization of the famous Kuramoto model on special orthogonal group…
This paper presents a novel approach to the problem of almost global attitude stabilization. The reduced attitude is steered along a geodesic path on the n-sphere. Meanwhile, the full attitude is stabilized on SO(n). This action,…