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We present QUAFF, a new skeleton-based parallel programming library. Its main originality is to rely on C++ template meta-programming techniques to achieve high efficiency. In particular, by performing most of skeleton instantiation and optimization at compile-time, QUAFF can keep the overhead traditionally associated to object-oriented implementations of… (More)

SIMD extensions have been a feature of choice for processor manufacturers for a couple of decades. Designed to exploit data parallelism in applications at the instruction level, these extensions still require a high level of expertise or the use of potentially fragile compiler support or vendor-specific libraries. While a large fraction of their theoretical… (More)

— The paper presents a method for estimating the inverse Jacobian matrix of a function, without computing the direct Jacobian matrix. The resulting inverse Jacobian matrix is shown to perform much better in modelling a relation θ = f −1 (x) than the classical Moore-Penrose inverse J + f. Theoretical insight as well as comparisons in the domain of visual… (More)

— The paper presents a method for estimating the control matrix in visual servoing using approximation up to the second order of the projection function. The classical approach simply uses the first order terms (inverse of the interaction matrix). The resulting control matrix is shown to perform much better than the classical one. Peculiarly, translation… (More)

This paper presents a new method that permits to solve the problem of determination of a modelled 3D-object spatial attitude from a single perspective image and to compute the covariance matrix associated to the attitude parameters. Its principle is based on the interpretation of at least three segments as the perspective projection of linear ridges of the… (More)