Author: Supun Samarasekera
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Stable Vision-Aided Navigation for Large-Area Augmented Reality
In this paper, we present a unified approach for a drift-free and jitter-reduced vision-aided navigation system.
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Seamless Indoor/Outdoor 6 DOF Tracking of Trainees and Weapons
In this paper we present a system for tracking the trainee’s location, head orientation, and weapon orientation that provides high precision and does not require an instrumented site.
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Multi-Modal Sensor Fusion Algorithm for Ubiquitous Infrastructure-Free Localization in Vision-Impaired Environments
In this paper, we present a unified approach for a camera tracking system based on an error-state Kalman filter algorithm.
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GPU Accelerated Realtime Stereo for Augmented Reality
This paper presents a realtime, robust, and accurate stereo matching algorithm based on a coarse-to-fine architecture.
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Robust Visual Path Following for Heterogeneous Mobile Platforms
We present an innovative path following system based upon multi-camera visual odometry and visual landmark matching.
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Monocular Structure from Motion for Near to Long Ranges
This paper describes a sensing system for estimating range and detecting the shape of objects from a few meters to a few kilometers away.
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VideoTrek: A Vision System for a Tag-Alone Robot
We present a system that combines multiple visual navigation techniques to achieve GPS-denied, non-line-of-sight SLAM capability for heterogeneous platforms.
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Infrastructure Free 6 DOF Location and Pose Estimation for Mixed Reality Systems
Mixed reality training systems using Head Mounted Displays (HMDs) require very high precision knowledge of the 3D location and 3D orientation of the user’s head.
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Matching Vehicles Under Large Pose Transformations Using Approximate 3D Models and Piecewise MRF Model
We propose a robust object recognition method based on approximate 3D models that can effectively match objects under large viewpoint changes and partial occlusion.
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Building Segmentation for Densely Built Urban Regions Using Aerial LIDAR Data
We present a novel building segmentation system for densely built areas, containing thousands of buildings per square kilometer.
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Real-Time Global Localization with a Pre-Built Visual Landmark Database
In this paper, we study how to build a vision-based system for global localization with accuracies within 10 cm. for robots and humans operating both indoors and outdoors over wide areas covering many square kilometers.
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Visual Odometry System Using Multiple Stereo Cameras and Inertial Measurement Unit
In this paper, we present a robust method that addresses these challenges using a human wearable system with two pairs of backward and forward looking stereo cameras together with an inertial measurement unit (IMU).