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- Roberto Tron, René Vidal
- 2007 IEEE Conference on Computer Vision and…
- 2007

Over the past few years, several methods for segmenting a scene containing multiple rigidly moving objects have been proposed. However, most existing methods have been tested on a handful of sequences only, and each method has been often tested on a different set of sequences. Therefore, the comparison of different methods has been fairly limited. In this… (More)

- Shankar R. Rao, Roberto Tron, René Vidal, Yi Ma
- 2008 IEEE Conference on Computer Vision and…
- 2008

We examine the problem of segmenting tracked feature point trajectories of multiple moving objects in an image sequence. Using the affine camera model, this motion segmentation problem can be cast as the problem of segmenting samples drawn from a union of linear subspaces. Due to limitations of the tracker, occlusions and the presence of nonrigid objects in… (More)

- Shankar R. Rao, Roberto Tron, René Vidal, Yi Ma
- IEEE Transactions on Pattern Analysis and Machine…
- 2010

In this paper, we study the problem of segmenting tracked feature point trajectories of multiple moving objects in an image sequence. Using the affine camera model, this problem can be cast as the problem of segmenting samples drawn from multiple linear subspaces. In practice, due to limitations of the tracker, occlusions, and the presence of nonrigid… (More)

- René Vidal, Roberto Tron, Richard I. Hartley
- International Journal of Computer Vision
- 2007

We consider the problem of segmenting multiple rigid-body motions from point correspondences in multiple affine views. We cast this problem as a subspace clustering problem in which point trajectories associated with each motion live in a linear subspace of dimension two, three or four. Our algorithm involves projecting all point trajectories onto a… (More)

- Roberto Tron, René Vidal
- CDC
- 2009

We consider the problem of distributed estimation of the poses of N cameras in a camera sensor network using image measurements only. The relative rotation and translation (up to a scale factor) between pairs of neighboring cameras can be estimated using standard computer vision techniques. However, due to noise in the image measurements, these estimates… (More)

- Roberto Tron, René Vidal
- CVPR
- 2011

Traditional computer vision and machine learning algorithms have been largely studied in a centralized setting, where all the processing is performed at a single central location. However, a distributed approach might be more appropriate when a network with a large number of cameras is used to analyze a scene. In this paper we show how centralized… (More)

- Roberto Tron, René Vidal
- IEEE Trans. Automat. Contr.
- 2014

- Luca Carlone, Roberto Tron, Kostas Daniilidis, Frank Dellaert
- 2015 IEEE International Conference on Robotics…
- 2015

Pose graph optimization is the non-convex optimization problem underlying pose-based Simultaneous Localization and Mapping (SLAM). If robot orientations were known, pose graph optimization would be a linear least-squares problem, whose solution can be computed efficiently and reliably. Since rotations are the actual reason why SLAM is a difficult problem,… (More)

- Roberto Tron, Bijan Afsari, René Vidal
- CDC
- 2012

In this paper we propose a discrete time protocol to align the states of a network of agents evolving in the space of rotations SO(3). The starting point of our work is Riemannian consensus, a general and intrinsic extension of classical consensus algorithms to Riemannian manifolds. Unfortunately, this algorithm is guaranteed to align the states only when… (More)

- Roberto Tron, René Vidal
- IEEE Signal Processing Magazine
- 2011

The development of distributed computer vision algorithms promises to significantly advance the state of the art in computer vision systems by improving their efficiency and scalability (through the efficient integration of local information with global optimality guarantees) as well as their robustness to outliers and node failures (because of the use of… (More)