, in many practical applications, some a priori knowledge exists which considerably simplifies the problem. In visual navigation, for example, the motion between successive positions is usually approximately known. From this initial estimate, our algorithm computes observer motion with very good precision

of a single uncontrolled camera, achieving real time but drift-free performance inaccessible to Structure from Motion approaches. The core of the approach is the online creation of a sparse but persistent map of natural landmarks within a probabilistic framework. Our key novel contributions include

, contingent-claims pricing is most readily accomplished by pricing derivatives under the so-called risk-neutral measure, where all traded securities have an expected return equal to the risk-free rate (see Cox and Ross (1976) and Harrison and Kreps (1979)). In particular, the value of the debt claim

: A three parameter stochastic process, termed the variance gamma process, that generalizes Brownian motion is developed as a model for the dynamics of log stock prices. The process is obtained by evaluating Brownian motion with drift at a random time given by a gamma process. The two additional

In free-viewpoint video, the viewer can interactively choose his viewpoint in 3-D space to observe the action of a dynamic realworld scene from arbitrary perspectives. The human body and its motion plays a central role in most visual media and its structure can be exploited for robust motion

Abstract. This paper has two goals. The first is to develop a variety of robust methods for the computation of the Fundamental Matrix, the calibration-free representation of camera motion. The methods are drawn from the principal categories of robust estimators, viz. case deletion diagnostics, M-estimators

stereo vision system, these landmarks are localized and robot ego-motion is estimated by least-squares minimization of the matched landmarks. Feature viewpoint variation and occlusion are taken into account by maintaining a view direction for each landmark. Experiments show that these visual landmarks

In this paper we address the constructive controllability problem for drift-free, leftinvariant systems on finite-dimensional Lie groups with fewer controls than state dimension. We consider small (ffl) amplitude, low-frequency, periodically time-varying controls and derive average solutions

We introduce Coherent Point Drift (CPD), a novel probabilistic method for non-rigid registration of point sets. The registration is treated as a Maximum Likelihood (ML) estimation problem with motion coher-ence constraint over the velocity field such that one point set moves coherently to align

A structure from motion algorithm is described which recovers structure and camera position, modulo a projective ambiguity. Camera calibration is not required, and camera parameters such as focal length can be altered freely during motion. The structure is updated sequentially over an image