Revisiting Viewing Graph Solvability: an Effective Approach Based on Cycle Consistency

In the structure from motion, the viewing graph is a graph where the vertices correspond to cameras (or images) and the edges represent the fundamental matrices. We provide a new formulation and an algorithm for determining whether a viewing graph is solvable, i.e., uniquely determines a set of projective cameras. The known theoretical conditions either do not fully characterize the solvability of all viewing graphs, or are extremely difficult to compute because they involve solving a system of polynomial equations with a large number of unknowns. The main result of this paper is a method to reduce the number of unknowns by exploiting cycle consistency. We advance the understanding of solvability by (i) finishing the classification of all minimal graphs up to 9 nodes, (ii) extending the practical verification of solvability to minimal graphs with up to 90 nodes, (iii) finally answering an open research question by showing that finite solvability is not equivalent to solvability, and (iv) formally drawing the connection with the calibrated case (i.e., parallel rigidity). Finally, we present an experiment on real data that shows that unsolvable graphs may appear in practice

Design and modeling of an upper extremity exoskeleton

Abstract-This paper presents the design and modeling results of an upper extremity exoskeleton mounted on a wheel chair. This new device is dedicated to regular and efficient rehabilitation training for weak and injured people without the continuous presence of a therapist. The exoskeleton being a wearable robotic device attached to the human arm, the user provides information signals to the controller in order to generate the appropriate control signals for different training strategies and paradigms. This upper extremity exoskeleton covers four basic degrees of freedom of the shoulder and the elbow joints with three additional adaptability degrees of freedom in order to match the arm anatomy of different users

Numerical inversion of SRNFs for efficient elastic shape analysis of star-shaped objects

The elastic shape analysis of surfaces has proven useful in several application areas, including medical image analysis, vision, and graphics. This approach is based on defining new mathematical representations of parameterized surfaces, including the square root normal field (SRNF), and then using the L2 norm to compare their shapes. Past work is based on using the pullback of the L2 metric to the space of surfaces, performing statistical analysis under this induced Riemannian metric. However, if one can estimate the inverse of the SRNF mapping, even approximately, a very efficient framework results: the surfaces, represented by their SRNFs, can be efficiently analyzed using standard Euclidean tools, and only the final results need be mapped back to the surface space. Here we describe a procedure for inverting SRNF maps of star-shaped surfaces, a special case for which analytic results can be obtained. We test our method via the classification of 34 cases of ADHD (Attention Deficit Hyperactivity Disorder), plus controls, in the Detroit Fetal Alcohol and Drug Exposure Cohort study. We obtain state-of-the-art results

Image-Based Monte-Carlo Localisation without a Map

In this paper, we propose a way to fuse the image-based localisation approach with the Monte-Carlo localisation approach. The method we propose does not suffer of the major limitation of the two separated methods: the need of a metric map of the environment for the Monte-Carlo localisation and the failure of the image-based approach in environments with spatial periodicity (perceptual aliasing). The approach we developed exploits the properties of the Fourier Transform of the omnidirectional images and uses the similarity between the images to weights the beliefs about the robot position. Successful experiments in large indoor environment are presented in which we do not used a priory information on the metrical map of the environment

Special Issue on Omnidirectional Robot Vision

Special Issue on Omnidirectional Robot Visio

Omnidirectional robot vision

Editorial the Omnidirectional robot vision special issu

2nd. Workshop on Omnidirectional Robot Vision

Proceedings of the 2nd. Workshop on Omnidirectional Robot Vision A workshop of the 2010 IEEE International Conference on Robotics and Automation (ICRA2010) Anchorage, Alaska, USA, May 7, 2010

Geometry of Two-Slit Camera.

Available from STL Prague, CZ / NTK - National Technical LibrarySIGLECZCzech Republi