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The problem of pose estimation arises in many areas of computer vision, including object recognition, object tracking, site inspection and updating, and autonomous navigation when scene models are available. We present a new algorithm, called SoftPOSIT, for determining the pose of a 3D object from a single 2D image when correspondences between model points(More)
We present a new robust line matching algorithm for solving the model-to-image registration problem. Given a model consisting of 3D lines and a cluttered perspective image of this model, the algorithm simultaneously estimates the pose of the model and the correspondences of model lines to image lines. The algorithm combines softassign for determining(More)
— Building facade detection is an important problem in computer vision, with applications in mobile robotics and semantic scene understanding. In particular, mobile platform localization and guidance in urban environments can be enabled with an accurate segmentation of the various building facades in a scene. Toward that end, we present a system for(More)
— Localization and modeling of stairways by mobile robots can enable multi-floor exploration for those platforms capable of stair traversal. Existing approaches focus on either stairway detection or traversal, but do not address these problems in the context of path planning for the autonomous exploration of multi-floor buildings. We propose a system for(More)
Building facade detection is an important problem in computer vision, with applications in mobile robotics and semantic scene understanding. In particular, mobile platform localization and guidance in urban environments can be enabled with accurate models of the various building facades in a scene. Toward that end, we present a system for detection,(More)
A new continuous-time multi-stage noise-shaping delta-sigma modulator has been designed. This modulator provides high resolution and robust stability characteristics which are the primary advantages of the conventional multi-stage noise-shaping architecture. At the same time, previous critical challenges that degraded the overall performance of multi-stage(More)
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