This article introduces a new method for surface parameterization for texture mapping. In the first step of the algorithm we compute a planar triangulation of the faceted surface, using an Angle Based Flattening (ABF) formulation. This provides a mapping function from a three-dimensional surface to the plane. The ABF formulation defines the flattening problem as a constrained minimization probl...

This thesis describes a new representation and algorithm for cooperative and persistent simultaneous localization and mapping (SLAM) using multiple robots. Recent pose graph representations have proven very successful for single robot mapping and localization. Among these methods, iSAM (incremental smoothing and mapping) gives an exact incremental solution to the SLAM problem by solving a full ...

This paper addresses application mapping technique targeted for large-scale Network-on-chip (NoC). The increasing number of intellectual property (IP) cores in multi-processor System-on-Chips (MPSoCs) makes NoC application mapping more challenging to find optimum core-to-topology mapping. The factorial increase in possible mappings space requires a mapping algorithm to efficiently look for pote...

The semantic mapping problem is probably the main obstacle to computer-to-computer communication. If computer A knows that its concept X is the same as computer B’s concept Y, then the two machines can communicate. They will in effect be talking the same language. This paper describes a relatively straightforward way of enhancing the semantic descriptions of Web Service interfaces by using onli...

Software architectures constitute a crucial factor for the development and evolution of software systems because they have to sustain their quality properties like flexibility, scalability, or security. A software architecture has to reflect the transition from the problem space with quality goals and requirements on one side to the solution space with technical solutions on the other side. A m...

Texture mapping with vector graphics, rather than raster graphics generates better rendering quality. This paper discusses a fully developed approach of texture mapping 3D objects with vector graphics. First, the vector graphics is rendered to generate the corresponding raster graphics, which is temporarily stored in the back framebuffer. Then, using the newly generated raster graphics, a pyram...

susceptibility maps obtained with the CF solution (Rho = 0.94, r = 0.97) on the regions of interest, GP -globus pallidus, SN susbtantia nigra, C caudate, RN red nucleus, P putamen, FM forceps major, IFOF inferior fronto-occipital fasciculus Fig. 1 shows error of QSM maps in respect to Ground Truth (zero being lowest reconstruction error) as a function of the regularization parameters λ (see Eq....

Computer simulations provide useful predictions of complex system dynamics, but they cannot be easily inverted for use in control and optimization. When the computational time to run a single prediction is high, approximate models with reduced computation are required. These models must be straightforward to build and have quantified bounds on their accuracy. With support from this grant two au...

The main contribution of this paper is the reformulation of the simultaneous localization and mapping (SLAM) problem for mobile robots such that the mapping and localization can be treated as two concurrent yet separated processes: D-SLAM (decoupled SLAM). It is shown that SLAM with a range and bearing sensor in an environment populated with point features can be decoupled into solving a nonlin...

The solution to the biharmonic equation in a simply connected region in the plane is computed in terms of the Goursat functions. The boundary conditions are conformally transplanted to the disk with a numerical conformal map. A linear system is obtained for the Taylor coeecients of the Goursat functions. The coeecient matrix of the linear system can be put in the form I + K where K is the discr...