相关论文: A Direct Algorithm for Multi-Gyroscope Infield Cal…
We study the Maximum Independent Set of Rectangles (MISR) problem, where we are given a set of axis-parallel rectangles in the plane and the goal is to select a subset of non-overlapping rectangles of maximum cardinality. In a recent…
The Fast Reciprocal Square Root Algorithm is a well-established approximation technique consisting of two stages: first, a coarse approximation is obtained by manipulating the bit pattern of the floating point argument using integer…
Accurate global localization is crucial for autonomous navigation and planning. To this end, various GPS-aided Visual-Inertial Odometry (GPS-VIO) fusion algorithms are proposed in the literature. This paper presents a novel GPS-VIO system…
We present improved algorithms for fast calculation of the inverse square root for single-precision floating-point numbers. The algorithms are much more accurate than the famous fast inverse square root algorithm and have the same or…
We give a precise theoretical description of initially aligned sets of orthogonal gyroscopes which are transported along different paths from some initial point to the same final point in spacetime. These gyroscope systems can be used to…
Most existing visual-inertial odometry (VIO) initialization methods rely on accurate pre-calibrated extrinsic parameters. However, during long-term use, irreversible structural deformation caused by temperature changes, mechanical…
The most prevalent routine for camera calibration is based on the detection of well-defined feature points on a purpose-made calibration artifact. These could be checkerboard saddle points, circles, rings or triangles, often printed on a…
Algorithm unrolling methods have proven powerful for solving the regularized least squares problem in computational magnetic resonance imaging (MRI). These approaches unfold an iterative algorithm with a fixed number of iterations,…
Many iterative methods in applied mathematics can be thought of as fixed-point iterations, and such algorithms are usually analyzed analytically, with inequalities. In this paper, we present a geometric approach to analyzing contractive and…
Robust parameter estimation is a crucial task in several 3D computer vision pipelines such as Structure from Motion (SfM). State-of-the-art algorithms for robust estimation, however, still suffer from difficulties in converging to…
In this paper, we propose a variationally consistent technique for decreasing the maximum eigenfrequencies of structural dynamics related finite element formulations. Our approach is based on adding a symmetric positive-definite term to the…
This paper studies binary quadratic programs in which the objective is defined by a Euclidean distance matrix, subject to a general polyhedral constraint set. This class of nonconcave maximisation problems includes the capacitated,…
Factorization of matrices where the rank of the two factors diverges linearly with their sizes has many applications in diverse areas such as unsupervised representation learning, dictionary learning or sparse coding. We consider a setting…
Because physical phenomena on Earth's surface occur on many different length scales, it makes sense when seeking an efficient approximation to start with a crude global approximation, and then make a sequence of corrections on finer and…
A non-iterative auto-calibration algorithm is presented. It deals with a minimal set of six scene points in three views taken by a camera with fixed but unknown intrinsic parameters. Calibration is based on the image correspondences only.…
We propose a factorizability ansatz for angular bispectra which permits fast algorithms for forecasting, analysis, and simulation, yet is general enough to encompass many interesting CMB bispectra. We describe a suite of general algorithms…
The paper presents a two-dimensional geometrically nonlinear formulation of a beam element that can accommodate arbitrarily large rotations of cross sections. The formulation is based on the integrated form of equilibrium equations, which…
The present work is devoted to massive gauge fields in special relativity with two fundamental constants-the velocity of light, and the Planck length, so called doubly special relativity (DSR). The two invariant scales are accounted for by…
Consider the design based situation where an $r$-regular set is sampled on a random lattice. A fast algorithm for estimating the integrated mean curvature based on this observation is to use a weighted sum of $2\times \dotsm \times 2$…
Optimal estimation is a promising tool for estimation of payloads' inertial parameters and localization of robots in the presence of multiple contacts. To harness its advantages in robotics, it is crucial to solve these large and…