The problem of simultaneously estimating affine deformations between multiple objects occur in many applications. Herein, a direct method is proposed which provides the result as a solution of a linear system of equations without establishing correspondences between the objects. The key idea is to construct enough linearly independent equations using covariant functions, and then finding the so...

This paper describes a vision-based, large-area, simultaneous localization and mapping (SLAM) algorithm that respects the low-overlap imagery constraints typical of underwater vehicles while exploiting the inertial sensor information that is routinely available on such platforms. We present a novel strategy for efficiently accessing and maintaining consistent covariance bounds within a SLAM inf...

This report describes modifications to the MODEL language and processor to facilitate automatic implementation of solution procedures for systems of simultaneous equations. MODEL is a very high level nonprocedural language for specifying computational tasks. The MODEL processor compiles a specification in the MODEL language into a computer program in PL/I . The purpose of the current modificati...