In Defense of the Eight-Point Algorithm

Abstract—The fundamental matrix is a basic tool in the analysis of scenes taken with two uncalibrated cameras, and the eight-point algorithm is a frequently cited method for computing the fundamental matrix from a set of eight or more point matches. It has the advantage of simplicity of implementation. The prevailing view is, however, that it is extremely susceptible to noise and hence virtually useless for most purposes. This paper challenges that view, by showing that by preceding the algorithm with a very simple normalization (translation and scaling) of the coordinates of the matched points, results are obtained comparable with the best iterative algorithms. This improved performance is justified by theory and verified by extensive experiments on real images. Index Terms—Fundamental matrix, eight-point algorithm, condition number, epipolar structure, stereo vision

Optimizing Engagement Simulations Through the Advanced Framework for Simulation, Integration, and Modeling (AFSIM) Software

The ability to effectively model and simulate military missions holds the potential to save lives, money, and resources for the United States. The Advanced Framework for Simulation, Integration, and Modeling (AFSIM) software is a tool used to rapidly simulate and model new technologies and mission level scenarios. In this thesis, our objective is to integrate a closed loop optimization routine with AFSIM to identify an effective objective function to assess optimal inputs for engagement scenarios. Given the many factors which impact a mission level engagement, we developed a tool which interfaces with AFSIM to observe the effects from multiple inputs in an engagement scenario. Our tool operates under the assumption that simulation results have met an acceptable convergence threshold. The objective function evaluates the effectiveness and associated cost with a scenario using a genetic algorithm and a particle swarm optimization algorithm. From this, a statistical analysis was performed to assess risk from the distribution of effectiveness and cost at each point. The method allows an optimal set of inputs to be selected for a desired result from the selected engagement scenario.No embargoAcademic Major: Mechanical Engineerin

Statistical Assertions for Validating Patterns and Finding Bugs in Quantum Programs

In support of the growing interest in quantum computing experimentation, programmers need new tools to write quantum algorithms as program code. Compared to debugging classical programs, debugging quantum programs is difficult because programmers have limited ability to probe the internal states of quantum programs; those states are difficult to interpret even when observations exist; and programmers do not yet have guidelines for what to check for when building quantum programs. In this work, we present quantum program assertions based on statistical tests on classical observations. These allow programmers to decide if a quantum program state matches its expected value in one of classical, superposition, or entangled types of states. We extend an existing quantum programming language with the ability to specify quantum assertions, which our tool then checks in a quantum program simulator. We use these assertions to debug three benchmark quantum programs in factoring, search, and chemistry. We share what types of bugs are possible, and lay out a strategy for using quantum programming patterns to place assertions and prevent bugs.Comment: In The 46th Annual International Symposium on Computer Architecture (ISCA '19). arXiv admin note: text overlap with arXiv:1811.0544