This paper addresses the problem of computing the camera motion and the three-dimensional structure of a scene using two uncalibrated images as inputs. The camera motion is calculated by estimating the essential matrix and using approximate values, easily available, for the intrinsic parameters. The classical eight-point algorithm to calculate the essential matrix is known to be very sensitive ...

Moving object segmentation from an image sequence is essential for a robot to interact with its environment. Traditional vision approaches appeal to pure motion analysis on videos without exploiting the source of the background motion. We observe, however, that the background motion (from the robot’s egocentric view) has stronger correlation to the robot’s motor signals than the foreground moti...

The derivation of mean first passage times in Markov chains involves the solution of a family of linear equations. By exploring the solution of a related set of equations, using suitable generalized inverses of the Markovian kernel I – P, where P is the transition matrix of a finite irreducible Markov chain, we are able to derive elegant new results for finding the mean first passage times. As ...

A random matrix is likely to be well conditioned, and motivated by this well known property we employ random matrix multipliers to advance some fundamental matrix computations. This includes numerical stabilization of Gaussian elimination with no pivoting as well as block Gaussian elimination, approximation of the leading and trailing singular spaces of an ill conditioned matrix, associated wit...

The 3D trajectory of the ball is one of the most important performance indicators in ball games. However, it often cannot be measured because of the requirements: synchronized cameras and control points within the playing field. Thus, this paper proposes a method that reconstructs the 3D trajectory of a ball with unsynchronized cameras. The proposed method consists of ball detection, camera cal...