This paper presents a method for automatic 3D-reconstruction from a set of images. The main contribution of this paper is a robust integration of the partial correspondences from image pairs provided by an existing correspondence estimator into a reconstruction consistent with all images of the scene. Projective shape and motion is estimated by factorization of a matrix containing the images of...

This paper concerns the robust estimation of non-rigid deformations from feature correspondences. We advance the surprising view that for many realistic physical deformations, the error of the mismatches (outliers) usually dwarfs the effects of the curvature of the manifold on which the correct matches (inliers) lie, to the extent that one can tightly enclose the manifold within the error bound...

The so-called essential matrix relates corresponding points of two images from the same scene in 3D, and allows to solve the relative pose problem for the two cameras up to a global scaling factor, if the camera calibrations are known. We will discuss how Hensel’s lemma from number theory can be used to find geometric approximations to solutions of the equations describing the essential matrix....

General principles for fitting models to data containing "gross" errors in addition to "measurement" errors are presented A fitting technique is described and illustrated by its application to the problem of locating cylinders in range data, two key steps in this process arc fitting ellipses to partial data and fitting lines to sets of three-dimensional points The technique is specifically desi...

This study investigates the potential of satellite altimetry for water level time series estimation of smaller inland waters where only very few measurements above the water surface are available. A new method was developed using off-nadir measurements to estimate the parabola generated by the hooking effect. For this purpose, a new waveform retracker was used as well as an adopted version of t...

In this paper we present a new approach to robustly align facial features to a face image even when the face is partially occluded. Previous methods are vulnerable to partial occlusion of the face, since it is assumed, explicitly or implicitly, that there is no significant occlusion. In order to cope with this difficulty, our approach relies on two schemes: one is explicit multi-modal represent...

We have previously developed a mobile robot system which uses scale invariant visual landmarks to localize and simultaneously build a 3D map of the environment In this paper, we look at global localization, also known as the kidnapped robot problem, where the robot localizes itself globally, without any prior location estimate. This is achieved by matching distinctive landmarks in the current f...

This paper presents a new method for detecting, locating and classifying overhead contact systems (catenary systems) in point clouds collected by mobile mapping systems (MMS) on rail roads. Contrary to many other application types, railway embankments are highly regulated and standardized. Railway infrastructure geometric relations remain roughly unchanged within established regions and have si...

We address the problem of determining where a photo was taken by estimating a full 6-DOF-plus-intrincs camera pose with respect to a large geo-registered 3D point cloud, bringing together research on image localization, landmark recognition, and 3D pose estimation. Our method scales to datasets with hundreds of thousands of images and tens of millions of 3D points through the use of two new tec...

High-frequency vibration of motion platform leads to paired echo for synthetic aperture radar (SAR) imaging, especially in terahertz band due its shorter wave length. Different from most existing parameters estimation methods only considering single component high-frequency vibration, this paper a novel method multi-components model is proposed based on fractional Fourier transform (FrFT) with ...