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Over the past decade, tremendous amount of research activity has focused around the problem of localization in GPS denied environments. Challenges with localization are highlighted in human wearable systems where the operator can freely move through both indoors and outdoors. In this paper, we present a robust method that addresses these challenges using a(More)
This paper presents a method to detect and construct a 3D geometric model of an urban area with complex buildings using aerial LIDAR (Light Detection and Ranging) data. The LIDAR data collected from a nadir direction is a point cloud containing surface samples of not only the building roofs and terrain but also undesirable clutter from trees, cars, etc. The(More)
Given two arbitrary views of a scene under central projection, if the motion of points on a parametric surface is compensated, the residual parallax displacement eld on the reference image is an epipolar eld. If the surface aligned is a plane, the parallax magnitude at an image point is directly proportional to the height of the point from the plane and(More)
Multiple images of a scene are related through 2DD3D view transformations and linear and non-linear camera transformations. In the traditional techniques to compute these transformations, especially the ones relying on direct intensity gradients, one image and its coordinate system have been assumed to beideal and distortion free. In this paper, we present(More)
Videos and 3D models have traditionally existed in separate worlds and as distinct representations. Although texture maps for 3D models have been traditionally derived from multiple still images, real-time mapping of live videos as textures on 3D models has not been attempted. This paper presents a system for rendering multiple live videos in real-time over(More)
We propose a novel method for identifying road vehicles between two nonoverlapping cameras. The problem is formulated as a same-different classification problem: probability of two vehicle images from two distinct cameras being from the same vehicle or from different vehicles. The key idea is to compute the probability without matching the two vehicle(More)
We propose a robust object recognition method based on approximate 3D models that can effectively match objects under large viewpoint changes and partial occlusion. The specific problem we solve is: given two views of an object, determine if the views are for the same or different object. Our domain of interest is vehicles, but the approach can be(More)
Recently, there has been a growing interest in the use of mosaic images to represent the information contained in video sequences. This paper systematically investigates how to go beyond thinking of the mosaic simply as a visualization device, but rather as a basis for an eecient and complete representation of video sequences. We describe two diierent types(More)
The problem of piecing together individual frames in a video sequence to create seamless panoramas (video mosaics) has attracted increasing attention in recent times. One challenge in this domain has been to rapidly and automatically create high quality seamless mosaics using inexpensive cameras and relatively free hand motions. In order to capture a wide(More)