Abstract: A method is operable to receive an image, where the image includes an input scene, which in turn includes one or more objects. The method associates a non-regular distribution of pins with the input scene, wherein each pin is associated with a respective portion of the input scene, wherein said associating transforms the image into a first deformation domain. The method can receive input specifying symmetry between the one or more objects in the input scene. The method may receive input to deform the input scene, and using that input, map the input scene from the first deformation domain into a second deformation domain, generating a corresponding output scene, while preserving the symmetry. The method detects structural and/or local similarities between the first and the second domain, and transforms the output scene from the second deformation domain into an output image while preserving both the structural and the local similarities.

Abstract: A system and process for laser scan alignment for vehicle trajectories is provided. A representation of the map surface allows multiple scans to be simultaneously aligned to each other. Laser scans are fit to the template surface, and the template surface is re-estimated based on the fit of the scans. The result is a pose trajectory estimate that drifts less than standard approaches, and is more robust to outliers (such as moving objects) in the laser's field of view.

Abstract: A system and process for laser scan alignment for vehicle trajectories is provided. A representation of the map surface allows multiple scans to be simultaneously aligned to each other. Laser scans are fit to the template surface, and the template surface is re-estimated based on the fit of the scans. The result is a pose trajectory estimate that drifts less than standard approaches, and is more robust to outliers (such as moving objects) in the laser's field of view.