The granularity of spatial calculi and the resulting mathematical properties have always been a major question in solving spatial tasks qualitatively. In this paper we present the Oriented Point Relation Algebra (OPRAm), a new orientation calculus with adjustable granularity. Since our calculus is a relation algebra in the sense of Tarski, fast standard inference methods can be applied. One of ...

An approaclr is described for automatic relative orientation of a stereopair of digital aerial images. The concept and the implementation are based on practical conditions with respect to available a priori knowledge, speed of computation, and obtainable accuracy. Feature-based image matching using point features extracted with a modified version of the Moravec operator and a coarse-to-fine str...

Statistical analysis of the relative alignment of inner and outer orbits in triple systems resulting from a dynamical decay of small-N clusters (N ≤ 10) is presented and compared to the statistics of real multiple stars. The distribution of the relative angle Φ between the angular momentum vectors of inner and outer orbits in triple stars formed by decay is shown to depend on the initial cluste...

In this paper the problem of controlling the spatial position and orientation of a robotic platform based on the image data obtained from a video camera mounted on that platform is considered. More speci cally, we propose control laws that generate translational and angular velocities that will cause the robot to achieve and maintain a xed position and orientation with respect to a set of featu...

The paper proposes a new image mosaic algorithm based on relative orientation. In view of image registration errors in existing image mosaic algorithms, the relative orientation method is introduced. The parameters of relative orientation are obtained by parsing stereo image pairs, and the transformation model of ideal image pairs are generated. The paper uses mean parallax method to register t...

This paper presents a novel version of the five-point relative orientation algorithm given in Nistér (2004). The name of the algorithm arises from the fact that it can operate even on the minimal five point correspondences required for a finite number of solutions to relative orientation. For the minimal five correspondences the algorithm returns up to ten real solutions. The algorithm can also...