相关论文: Spectral Motion Synchronization in SE(3)
Many objects, especially these made by humans, are symmetric, e.g. cars and aeroplanes. This paper addresses the estimation of 3D structures of symmetric objects from multiple images of the same object category, e.g. different cars, seen…
The problem of synchronization over a group $\mathcal{G}$ aims to estimate a collection of group elements $G^*_1, \dots, G^*_n \in \mathcal{G}$ based on noisy observations of a subset of all pairwise ratios of the form $G^*_i {G^*_j}^{-1}$.…
We address the problem of scene flow: given a pair of stereo or RGB-D video frames, estimate pixelwise 3D motion. We introduce RAFT-3D, a new deep architecture for scene flow. RAFT-3D is based on the RAFT model developed for optical flow…
We demonstrate that, under orthographic projection and with a camera fixated on a point located on a rigid body, the rotation of that body can be analytically obtained by tracking only one other feature in the image. With some exceptions,…
A classical approach to the restricted three-body problem is to analyze the dynamics of the massless body in the synodic reference frame. A different approach is represented by the perturbative treatment: in particular the averaged problem…
In this work we study permutation synchronisation for the challenging case of partial permutations, which plays an important role for the problem of matching multiple objects (e.g. images or shapes). The term synchronisation refers to the…
This paper investigates the problem of pose synchronization for multiple rigid body systems evolving on the matrix Lie group $\SE(3)$. We propose a distributed hybrid feedback control scheme with global asymptotic stability guarantees using…
Although 3D shape matching and interpolation are highly interrelated, they are often studied separately and applied sequentially to relate different 3D shapes, thus resulting in sub-optimal performance. In this work we present a unified…
Full understanding of synchronous behavior in coupled dynamical systems beyond the identical case requires an explicit construction of the generalized synchronization manifold, whether we wish to compare the systems, or to understand their…
Permutation synchronization is an important problem in computer science that constitutes the key step of many computer vision tasks. The goal is to recover $n$ latent permutations from their noisy and incomplete pairwise measurements. In…
Considering the kinematics of the moving frame associated with a constant mean curvature surface immersed in S^3 we derive a linear problem with the spectral parameter corresponding to elliptic sinh-Gordon equation. The spectral parameter…
Spectral decomposition of matrices is a recurring and important task in applied mathematics, physics and engineering. Many application problems require the consideration of matrices of size three with spectral decomposition over the real…
This paper presents an approach to radar odometry on $SE(3)$ which utilizes a constant acceleration motion prior. The motion prior is integrated into a sliding window optimization scheme. We use the Magnus expansion to accurately integrate…
The $\mathrm{SE}(3)$ invariants of a pose include its rotation angle and screw translation. In this paper, we present a complete comprehensive study of the relative pose estimation problem for a calibrated camera constrained by known…
This paper contributes towards the development of motion tracking algorithms for time-critical applications, proposing an infrastructure for solving dynamically the inverse kinematics of highly articulate systems such as humans. We present…
This article deals with approximating steady-state particle-resolved fluid flow around a fixed particle of interest under the influence of randomly distributed stationary particles in a dispersed multiphase setup using Convolutional Neural…
An approximate equation of motion is proposed for screw and edge dislocations, which accounts for retardation and for relativistic effects in the subsonic range. Good quantitative agreement is found, in accelerated or in decelerated…
Synchronization of coupled harmonic oscillators is investigated. Coupling considered here is pairwise, unidirectional, and described by a nonlinear function (whose graph resides in the first and third quadrants) of some projection of the…
We propose the problem of point-level 3D scene interpolation, which aims to simultaneously reconstruct a 3D scene in two states from multiple views, synthesize smooth point-level interpolations between them, and render the scene from novel…
We propose an approach to assess the synchronization of rigidly mounted sensors based on their rotational motion. Using function similarity measures combined with a sliding window approach, our approach is capable of estimating time-varying…