Parallel point reprojection

Journal ArticleImprovements in hardware have recently made interactive ray tracing practical for some applications. However, when the scene complexity or rendering algorithm cost is high, the frame rate is too low in practice. Researchers have attempted to solve this problem by caching results from ray tracing and using these results in multiple frames via reprojection. However, the reprojection can become too slow when the number of samples that are reused is high, so previous systems have been limited to small images or a sparse set of computed pixels. To overcome this problem we introduce techniques to perform this reprojection in a scalable fashion on multiple processors

Parallel point reprojection

Journal ArticleImprovements in hardware have recently made interactive ray tracing practical for some applications. However, when the scene complexity or rendering algorithm cost is high, the frame rate is too low in practice. Researchers have attempted to solve this problem by caching results from ray tracing and using these results in multiple frames via reprojection. However, the reprojection can become too slow when the number of samples that are reused is high, so previous systems have been limited to small images or a sparse set of computed pixels

Relative localization for aerial manipulation with PL-SLAM

The final publication is available at link.springer.comThis chapter explains a precise SLAM technique, PL-SLAM, that allows to simultaneously process points and lines and tackle situations where point-only based methods are prone to fail, like poorly textured scenes or motion blurred images where feature points are vanished out. The method is remarkably robust against image noise, and that it outperforms state-of-the-art methods for point based contour alignment. The method can run in real-time and in a low cost hardware.Peer ReviewedPostprint (author's final draft

Montage: a grid portal and software toolkit for science-grade astronomical image mosaicking

Montage is a portable software toolkit for constructing custom, science-grade mosaics by composing multiple astronomical images. The mosaics constructed by Montage preserve the astrometry (position) and photometry (intensity) of the sources in the input images. The mosaic to be constructed is specified by the user in terms of a set of parameters, including dataset and wavelength to be used, location and size on the sky, coordinate system and projection, and spatial sampling rate. Many astronomical datasets are massive, and are stored in distributed archives that are, in most cases, remote with respect to the available computational resources. Montage can be run on both single- and multi-processor computers, including clusters and grids. Standard grid tools are used to run Montage in the case where the data or computers used to construct a mosaic are located remotely on the Internet. This paper describes the architecture, algorithms, and usage of Montage as both a software toolkit and as a grid portal. Timing results are provided to show how Montage performance scales with number of processors on a cluster computer. In addition, we compare the performance of two methods of running Montage in parallel on a grid.Comment: 16 pages, 11 figure

UcoSLAM: Simultaneous Localization and Mapping by Fusion of KeyPoints and Squared Planar Markers

This paper proposes a novel approach for Simultaneous Localization and Mapping by fusing natural and artificial landmarks. Most of the SLAM approaches use natural landmarks (such as keypoints). However, they are unstable over time, repetitive in many cases or insufficient for a robust tracking (e.g. in indoor buildings). On the other hand, other approaches have employed artificial landmarks (such as squared fiducial markers) placed in the environment to help tracking and relocalization. We propose a method that integrates both approaches in order to achieve long-term robust tracking in many scenarios. Our method has been compared to the start-of-the-art methods ORB-SLAM2 and LDSO in the public dataset Kitti, Euroc-MAV, TUM and SPM, obtaining better precision, robustness and speed. Our tests also show that the combination of markers and keypoints achieves better accuracy than each one of them independently.Comment: Paper submitted to Pattern Recognitio