A Flexible Implementation of a Matrix Laurent Series-Based 16-Point Fast Fourier and Hartley Transforms

This paper describes a flexible architecture for implementing a new fast computation of the discrete Fourier and Hartley transforms, which is based on a matrix Laurent series. The device calculates the transforms based on a single bit selection operator. The hardware structure and synthesis are presented, which handled a 16-point fast transform in 65 nsec, with a Xilinx SPARTAN 3E device.Comment: 4 pages, 4 figures. IEEE VI Southern Programmable Logic Conference 201

Flexible Stereo: Constrained, Non-rigid, Wide-baseline Stereo Vision for Fixed-wing Aerial Platforms

This paper proposes a computationally efficient method to estimate the time-varying relative pose between two visual-inertial sensor rigs mounted on the flexible wings of a fixed-wing unmanned aerial vehicle (UAV). The estimated relative poses are used to generate highly accurate depth maps in real-time and can be employed for obstacle avoidance in low-altitude flights or landing maneuvers. The approach is structured as follows: Initially, a wing model is identified by fitting a probability density function to measured deviations from the nominal relative baseline transformation. At run-time, the prior knowledge about the wing model is fused in an Extended Kalman filter~(EKF) together with relative pose measurements obtained from solving a relative perspective N-point problem (PNP), and the linear accelerations and angular velocities measured by the two inertial measurement units (IMU) which are rigidly attached to the cameras. Results obtained from extensive synthetic experiments demonstrate that our proposed framework is able to estimate highly accurate baseline transformations and depth maps.Comment: Accepted for publication in IEEE International Conference on Robotics and Automation (ICRA), 2018, Brisban

Note on improvement precision of recursive function simulation in floating point standard

An improvement on precision of recursive function simulation in IEEE floating point standard is presented. It is shown that the average of rounding towards negative infinite and rounding towards positive infinite yields a better result than the usual standard rounding to the nearest in the simulation of recursive functions. In general, the method improves one digit of precision and it has also been useful to avoid divergence from a correct stationary regime in the logistic map. Numerical studies are presented to illustrate the method.Comment: DINCON 2017 - Conferencia Brasileira de Dinamica, Controle e Aplicacoes - Sao Jose do Rio Preto - Brazil. 8 page

Hierarchical structure-and-motion recovery from uncalibrated images

This paper addresses the structure-and-motion problem, that requires to find camera motion and 3D struc- ture from point matches. A new pipeline, dubbed Samantha, is presented, that departs from the prevailing sequential paradigm and embraces instead a hierarchical approach. This method has several advantages, like a provably lower computational complexity, which is necessary to achieve true scalability, and better error containment, leading to more stability and less drift. Moreover, a practical autocalibration procedure allows to process images without ancillary information. Experiments with real data assess the accuracy and the computational efficiency of the method.Comment: Accepted for publication in CVI