A factorization approach to inertial affine structure from motion

We consider the problem of reconstructing a 3-D scene from a moving camera with high frame rate using the affine projection model. This problem is traditionally known as Affine Structure from Motion (Affine SfM), and can be solved using an elegant low-rank factorization formulation. In this paper, we assume that an accelerometer and gyro are rigidly mounted with the camera, so that synchronized linear acceleration and angular velocity measurements are available together with the image measurements. We extend the standard Affine SfM algorithm to integrate these measurements through the use of image derivatives

Bearing-based formation control with second-order agent dynamics

We consider the distributed formation control problem for a network of agents using visual measurements. We propose solutions that are based on bearing (and optionally distance) measurements, and agents with double integrator dynamics. We assume that a subset of the agents can track, in addition to their neighbors, a set of static features in the environment. These features are not considered to be part of the formation, but they are used to asymptotically control the velocity of the agents. We analyze the convergence properties of the proposed protocols analytically and through simulations.Published versionSupporting documentatio

A Note on Rectangle Covering with Congruent Disks

In this note we prove that, if $S_n$ is the greatest area of a rectangle which can be covered with $n$ unit disks, then $2\leq S_n/n<3 \sqrt{3}/2$, and these are the best constants; moreover, for $\Delta(n):=(3\sqrt{3}/2)n-S_n$, we have $0.727384<\liminf\Delta(n)/\sqrt{n}<2.121321$ and $0.727384<\limsup\Delta(n)/\sqrt{n}<4.165064$.Comment: 8 pages, 3 figures, some corrections made in version

A factorization approach to inertial affine structure from motion

We consider the problem of reconstructing a 3-D scene from a moving camera with high frame rate using the affine projection model. This problem is traditionally known as Affine Structure from Motion (Affine SfM), and can be solved using an elegant low-rank factorization formulation. In this paper, we assume that an accelerometer and gyro are rigidly mounted with the camera, so that synchronized linear acceleration and angular velocity measurements are available together with the image measurements. We extend the standard Affine SfM algorithm to integrate these measurements through the use of image derivatives

PHILOSOPHY AND METHODS OF EXAMINING THE IMPACT OF THE EUROPEAN REGIONAL POLICY

It is a very generally accepted view that financial support received from the European Union generates a large growth surplus. The potential effects of the structural funds calculated in model simulations carried out by the European Commission support theEuropean Union, regional policy, evaluation methods

The space of essential matrices as a Riemannian quotient manifold

The essential matrix, which encodes the epipolar constraint between points in two projective views, is a cornerstone of modern computer vision. Previous works have proposed different characterizations of the space of essential matrices as a Riemannian manifold. However, they either do not consider the symmetric role played by the two views, or do not fully take into account the geometric peculiarities of the epipolar constraint. We address these limitations with a characterization as a quotient manifold which can be easily interpreted in terms of camera poses. While our main focus in on theoretical aspects, we include applications to optimization problems in computer vision.This work was supported by grants NSF-IIP-0742304, NSF-OIA-1028009, ARL MAST-CTA W911NF-08-2-0004, and ARL RCTA W911NF-10-2-0016, NSF-DGE-0966142, and NSF-IIS-1317788

Non-natural metrics on the tangent bundle

Natural metrics provide a way to induce a metric on the tangent bundle from the metric on its base manifold. The most studied type is the Sasaki metric, which applies the base metric separately to the vertical and horizontal components. We study a more general class of metrics which introduces interactions between the vertical and horizontal components, with scalar weights. Additionally, we explicitly clarify how to apply our and other induced metrics on the tangent bundle to vector fields where the vertical component is not constant along the fibers. We give application to the Special Orthogonal Group SO(3) as an example.Published versio

On twisted group C∗^*-algebras associated with FC-hypercentral groups and other related groups

We show that the twisted group C$^*$-algebra associated with a discrete FC-hypercentral group is simple (resp. has a unique tracial state) if and only if Kleppner's condition is satisfied. This generalizes a result of J. Packer for countable nilpotent groups. We also consider a larger class of groups, for which we can show that the corresponding reduced twisted group C$^*$-algebras have a unique tracial state if and only if Kleppner's condition holds.Comment: 16 pages. Some minor changes, mostly in subsection 2.3; two references adde