Dynamic Rigid Motion Estimation From Weak Perspective

“Weak perspective” represents a simplified projection model that approximates the imaging process when the scene is viewed under a small viewing angle and its depth relief is small relative to its distance from the viewer. We study how to generate dynamic models for estimating rigid 3D motion from weak perspective. A crucial feature in dynamic visual motion estimation is to decouple structure from motion in the estimation model. The reasons are both geometric-to achieve global observability of the model-and practical, for a structure independent motion estimator allows us to deal with occlusions and appearance of new features in a principled way. It is also possible to push the decoupling even further, and isolate the motion parameters that are affected by the so called “bas relief ambiguity” from the ones that are not. We present a novel method for reducing the order of the estimator by decoupling portions of the state space from the time evolution of the measurement constraint. We use this method to construct an estimator of full rigid motion (modulo a scaling factor) on a six dimensional state space, an approximate estimator for a four dimensional subset of the motion space, and a reduced filter with only two states. The latter two are immune to the bas relief ambiguity. We compare strengths and weaknesses of each of the schemes on real and synthetic image sequences

A correlated-polaron electronic propagator: open electronic dynamics beyond the Born-Oppenheimer approximation

In this work we develop a theory of correlated many-electron dynamics dressed by the presence of a finite-temperature harmonic bath. The theory is based on the ab-initio Hamiltonian, and thus well-defined apart from any phenomenological choice of collective basis states or electronic coupling model. The equation-of-motion includes some bath effects non-perturbatively, and can be used to simulate line- shapes beyond the Markovian approximation and open electronic dynamics which are subjects of renewed recent interest. Energy conversion and transport depend critically on the ratio of electron-electron coupling to bath-electron coupling, which is a fitted parameter if a phenomenological basis of many-electron states is used to develop an electronic equation of motion. Since the present work doesn't appeal to any such basis, it avoids this ambiguity. The new theory produces a level of detail beyond the adiabatic Born-Oppenheimer states, but with cost scaling like the Born-Oppenheimer approach. While developing this model we have also applied the time-convolutionless perturbation theory to correlated molecular excitations for the first time. Resonant response properties are given by the formalism without phenomenological parameters. Example propagations with a developmental code are given demonstrating the treatment of electron-correlation in absorption spectra, vibronic structure, and decay in an open system.Comment: 25 pages 7 figure

Gravitational Radiation from Two-Body Systems

Thanks to the new generation of gravitational wave detectors LIGO and VIRGO, the theory of general relativity will face new and important confrontations to observational data with unprecedented precision. Indeed the detection and analysis of the gravitational waves from compact binary star systems requires beforehand a very precise solution of the two-body problem within general relativity. The approximation currently used to solve this problem is the post-Newtonian one, and must be pushed to high order in order to describe with sufficient accuracy (given the sensitivity of the detectors) the inspiral phase of compact bodies, which immediately precedes their final merger. The resulting post-Newtonian ``templates'' are currently known to 3.5PN order, and are used for searching and deciphering the gravitational wave signals in VIRGO and LIGO.Comment: 19 pages, to appear in the Proceedings of the Spanish Relativity Meeting ``A Century of Relativity Physics'' (ERE05), Edited by Lysiane Mornas and Joaquin Diaz-Alons

Horizon-unbiased Investment with Ambiguity

In the presence of ambiguity on the driving force of market randomness, we consider the dynamic portfolio choice without any predetermined investment horizon. The investment criteria is formulated as a robust forward performance process, reflecting an investor's dynamic preference. We show that the market risk premium and the utility risk premium jointly determine the investors' trading direction and the worst-case scenarios of the risky asset's mean return and volatility. The closed-form formulas for the optimal investment strategies are given in the special settings of the CRRA preference

Space and camera path reconstruction for omni-directional vision

In this paper, we address the inverse problem of reconstructing a scene as well as the camera motion from the image sequence taken by an omni-directional camera. Our structure from motion results give sharp conditions under which the reconstruction is unique. For example, if there are three points in general position and three omni-directional cameras in general position, a unique reconstruction is possible up to a similarity. We then look at the reconstruction problem with m cameras and n points, where n and m can be large and the over-determined system is solved by least square methods. The reconstruction is robust and generalizes to the case of a dynamic environment where landmarks can move during the movie capture. Possible applications of the result are computer assisted scene reconstruction, 3D scanning, autonomous robot navigation, medical tomography and city reconstructions