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Many computer vision applications require robust estimation of the underlying geometry, in terms of camera motion and 3D structure of the scene. These robust methods often rely on running minimal solvers in a RANSAC framework. In this paper we show how we can make polynomial solvers based on the action matrix method faster, by careful selection of the monomial bases. These monomial bases have trad
To estimate the 6-DoF extrinsic pose of a pinhole camera with partially unknown intrinsic parameters is a critical sub-problem in structure-from-motion and camera localization. In most of existing camera pose estimation solvers, the principal point is assumed to be in the image center. Unfortunately, this assumption is not always true, especially for asymmetrically cropped images. In this paper, w
This paper introduces the first minimal solvers that jointly solve for affine-rectification and radial lens distortion from coplanar repeated patterns. Even with imagery from moderately distorted lenses, plane rectification using the pinhole camera model is inaccurate or invalid. The proposed solvers incorporate lens distortion into the camera model and extend accurate rectification to wide-angle
The problem of graph matching under node and pairwise constraints is fundamental in areas as diverse as combinatorial optimization, machine learning or computer vision, where representing both the relations between nodes and their neighborhood structure is essential. We present an end-to-end model that makes it possible to learn all parameters of the graph matching process, including the unary and
We introduce new, fine-grained action and emotion recognition tasks defined on non-staged videos, recorded during robot-assisted therapy sessions of children with autism. The tasks present several challenges: a large dataset with long videos, a large number of highly variable actions, children that are only partially visible, have different ages and may show unpredictable behaviour, as well as non
We propose drl-RPN, a deep reinforcement learning-based visual recognition model consisting of a sequential region proposal network (RPN) and an object detector. In contrast to typical RPNs, where candidate object regions (RoIs) are selected greedily via class-agnostic NMS, drl-RPN optimizes an objective closer to the final detection task. This is achieved by replacing the greedy RoI selection pro
In this paper we explore the role of duality principles within the problem of rotation averaging, a fundamental task in a wide range of computer vision applications. In its conventional form, rotation averaging is stated as a minimization over multiple rotation constraints. As these constraints are non-convex, this problem is generally considered challenging to solve globally. We show how to circu
This research investigates the behavior of intrinsically disordered proteins (IDPs) in solution, especially the self-associating saliva protein Statherin, by a combined computational and experimental approach. For the computational part, a bead necklace model previously parameterised for Histatin 5 was used. This model was shown to be applicable to a range of monomeric intrinsically disordered pro
Visual localization enables autonomous vehicles to navigate in their surroundings and augmented reality applications to link virtual to real worlds. Practical visual localization approaches need to be robust to a wide variety of viewing condition, including day-night changes, as well as weather and seasonal variations, while providing highly accurate 6 degree-of-freedom (6DOF) camera pose estimate
Humanity is facing increasingly complex sustainability challenges. It is now clear that they cannot be resolved by new technology, policy or governance approaches alone. They require a broader, cultural shift. Consequently, the role of human beings' "inner dimensions" (e.g., their mindsets, worldviews, beliefs, social values, and motivations) and their potential "inner transformation" (embodied in
Chemerin is a recently discovered adipokine shown to be involved in both inflammatory and metabolic processes. Here, we demonstrate that chemerin serum levels are elevated in patients with multiple myeloma and that it increases with disease progression. We found that chemerin is expressed by stromal cells and preadipocytes, whereas its receptor CCRL2 is expressed by primary myeloma cells, suggesti
Acute myeloid leukemia (AML) has poor prognosis due to various mutations, e.g., in the FLT3 gene. Therefore, it is important to identify pathways regulated by the activated Flt3 receptor for the discovery of new therapeutic targets. The Myc network of oncogenes and tumor suppressor genes is involved in mechanisms regulating proliferation and survival of cells, including that of the hematopoietic
With the elimination of Soviet state communism in the early 1990s, the ideational foundation of politics in the five Central Asian former Soviet republics had to undergo fundamental rebuilding. Instead of the defunct basis of Soviet-style Marxism-Leninism, the rulers of the suddenly independent Central Asian states urgently had to identify other ways and means of legitimizing their hold on power.
Y. Hashimoto, D. Yatou, T. Yamada, H. Yamamoto, R. Johansson, , , pp. 2P1-W06:1-4.
This paper discusses static stability of a planar object grasped by multifingers with three joints. Each individual joint (prismatic joint or revolute joint) is modeled as a linear spring stiffness. The object mass and the link masses are also included. We consider not only pure rolling contact but also frictionless sliding contact. The grasp stability is investigated using the potential energy me
