We develop a new efficient numerical methodology for automated simultaneous registration and intensity correction of images. The approach separates the intensity correction term from the images being registered in a regularized expression. Our formulation is consistent with the existing non-parametric image registration techniques, however, an extra additive intensity correction term is carried...

We define and analyze a linear transformation – the heat transform – that allows to map solutions of hyperbolic equations to solutions of corresponding parabolic equations. The inversion of this mapping can be used to transform an inverse problem for the heat equation to a similar problem for the wave equation. This work is motivated by problems of finding interfaces, boundaries and associated ...

An autonomous mobile robot must face the correspondence or data association problem in order to carry out tasks like place recognition or unknown environment mapping. In order to put into correspondence two maps, most methods estimate the transformation relating the maps from matches established between low level feature extracted from sensor data. However, finding explicit matches between feat...

An autonomous mobile robot must face the correspondence or data association problem in order to carry out tasks like place recognition or unknown environment mapping. In order to put into correspondence two maps, most correspondence methods first extract descriptors of salient features from robot sensor data, then matches between features are searched and finally the transformation that relates...

The identification of parameters in multibody systems governed by ordinary differential equations, given noisy experimental data for only a subset of the system states, is considered in this work. The underlying optimization problem is solved using a combination of the Gauss–Newton and single-shooting methods. A homotopy transformation motivated by the theory of state observers is proposed to a...

In this paper, we propose an inverse optimal design method for the position control of a quadrotor. First, we derive the dynamics of a quadrotor using the Newton-Euler formulation. Second, we present the state transformation technique to derive the position dynamics from the kinematic and dynamic models of a quadrotor. Then, we present the nonlinear inverse optimal position control of a quadrot...

a new approach utilizing newton method and homotopy analysis method (ham) is proposed for solving nonlinear system of equations. accelerating the rate of convergence of ham, and obtaining a global quadratic rate of convergence are the main purposes of this approach. the numerical results demonstrate the efficiency and the performance of proposed approach. the comparison with conventional homoto...

In this paper a symmetric primal-dual transformation for positive semideenite programming is proposed. For standard SDP problems, after this symmetric transformation the primal variables and the dual slacks become identical. In the context of linear programming, existence of such a primal-dual transformation is a well known fact. Based on this symmetric primal-dual transformation we derive Newt...

Examples from Archimedes, Galileo, Newton, Einstein, and others suggest that fundamental laws of physics were-or, at least, could have been-discovered by experiments performed not in the physical world but only in the mind. Although problematic for a strict empiricist, the evolutionary emergence in humans of deeply internalized implicit knowledge of abstract principles of transformation and sym...

It is known that, in the autoregressive model the spectral sensitivity curves are almost flat for the log-area ratios and in this paper it is shown that this property can be useful in adaptive IIR filtering. A new IIR lattice-form algorithm for adaptive filtering is proposed in which the update equation is applied to these parameters instead of the reflection coefficients. This transformation g...