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Autonomous underwater vehicles (AUV) are important resources to be used in the oil exploration industry in deep waters as well as a platform for scanning devices used in open sea regions of difficult human access. This work aims to analyze through computer simulations the influence of marine currents on the maneuverability of a flatfish shaped AUV. The 3D realistic scale simulations were performed...
One of the key points in any localization proposal for indoor environments is to determine in a precise way whether a device is inside or outside a particular building. That preliminary step of binary classification is required, for example, in order to send sensor readings to a location-based service. In this paper, we present a binary classifier, based on the well-known machine learning meta-algorithm...
We present a featureless pose estimation method that, in contrast to current Perspective-n-Point (PnP) approaches, it does not require n point correspondences to obtain the camera pose, allowing for pose estimation from natural shapes that do not necessarily have distinguished features like corners or intersecting edges. Instead of using n correspondences (e.g. extracted with a feature detector) we...
We present a real time algorithm for estimating the pose of non-planar objects on which we have placed a visual marker. It is designed to overcome the limitations of small aerial robots, such as slow CPUs, low image resolution and geometric distortions produced by wide angle lenses or viewpoint changes. The method initially registers the shape of a known marker to the contours extracted in an image...
Multilinear algebra is a powerful theoretical tool for visual geometry, but widespread usage of traditional typographical notation often hides its conceptual elegance and simplicity. As demonstrated in other scientific fields, we can take full advantage of multilinear methods using graphical notation. In this paper we adapt standard tensor diagrammatic techniques to the specific requirements of visual...
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