Robust and efficient visual localization is essential for numerous robotic applications. However, it remains a challenging problem especially when significant environmental or perspective changes are present, as there high percentage of outliers, i.e., incorrect feature matches between the query image map. In this article, we propose novel 2-entity random sample consensus (RANSAC) framework usi...

This paper deals with a method of quantifying the harmonic contribution each source to system voltage distortion. Assessing individual sources is essential for mitigating and managing levels. Harmonic contributions can be evaluated using principle superposition equivalent models sources. In general, parameters are estimated numerically because it difficult measure them directly. this paper, we ...

This paper describes a solution to the application of rapid detection of bicycles in low resolution video. In particular, the application addressed is from video recorded in a live environment. The future aim from the results in this paper is to investigate a full year of video data. Hence, processing speed is of great concern. The proposed solution involves the use of an object detector and a ...

In this paper, we propose a method for estimating object motion by three-dimensional scene flow using multiple cameras. The scene flow is regularized by applying subspace constraints and then object motion is estimated using RANSAC estimation. Regularizing the scene flow using subspace constraints results in highly accurate scene flow because it eliminates the effect of noise caused by computin...

A perennial problem in recovering 3-D models from images is repeated structures common in modern cities. The problem can be traced to the feature matcher which needs to match less distinctive features (permitting wide-baselines and avoiding broken sequences), while simultaneously avoiding incorrect matching of ambiguous repeated features. To meet this need, we develop RepMatch, an epipolar guid...

This paper presents an approach for applying a dual quaternion hand– eye calibration algorithm on an endoscopic surgery robot. Special focus is on robustness, since the error of position and orientation data provided by the robot can be large depending on the movement actually executed. Another inherent problem to all hand–eye calibration methods is that non–parallel rotation axes must be used;...

A. Proof that dmax(p) Attains a Local Minimum at p = p 1 A.1. Calculating rmin(p) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 A.2. The function ψ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 A.3. Derivatives of F (p, dmax(p)) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...

Many mathematical techniques have been presented for classifying feature point trajectories over multibody motion video sequences into different motions, and most are applied to the Hopkins155 database for evaluating their performance. In this paper, we point out that Hopkins155 has problems and that it cannot necessarily evaluate the performance correctly. We create a new database by removing ...

This paper proposes a novel robust approach to perform inter-camera and ground-camera calibration in the context of visual monitoring of human-populated areas. By supposing that the monitored agents evolve on a single plane and that the cameras intrinsic parameters are known, we use the image trajectories of moving objects as tracked by standard trackers in a RANSAC paradigm to estimate the ext...

Articulated motions are partially dependent. Most of the existing segmentation methods, e.g. Costeira and Kanade[2], can not be applied to articulated motions. We propose a novel algorithm for articulated motion segmentation called RANSAC with priors. It does not require prior knowledge of the number of articulated parts. It is both robust and efficient. Its robustness comes from its RANSAC nat...