Use computer vision for sensing
The goal of formation control is to move a group of agents in order to achieve and maintain a set of desired relative positions. This problem has a long history, and latest trends emphasize the use of vision-based solution. In this setting, the measurement of the relative direction (i.e., bearing) between two agents can be […]
The images of 3-D points in two views are related by the so-called _essential matrix_. There have been attempts to characterize the space of valid essential matrices as a Riemannian manifold. These approaches either put an unnatural emphasis on one of the two cameras, or do not accurately take into account the geometric meaning of […]
My initial research included the comparison of different algorithms for segmenting multiple moving objects in a monocular video. For this purpose, I created the Hopkins 155 dataset, which, since its introduction, has been used in over 150 scholarly articles and is a de-facto standard benchmark in this field. The following is a frame from the […]