Related papers: The Five Points Pose Problem : A New and Accurate …
This paper introduces a highly efficient algorithm capable of jointly estimating scale and rotation between two images with sub-pixel precision. Image alignment serves as a critical process for spatially registering images captured from…
In this paper we address the problem of matching two images with two different resolutions: a high-resolution image and a low-resolution one. The difference in resolution between the two images is not known and without loss of generality…
Estimating relative camera poses between images has been a central problem in computer vision. Methods that find correspondences and solve for the fundamental matrix offer high precision in most cases. Conversely, methods predicting pose…
A new closed-form solver is proposed minimizing the algebraic error optimally, in the least-squares sense, to estimate the relative planar motion of two calibrated cameras. The main objective is to solve the over-determined case, i.e., when…
Planar markers are useful in robotics and computer vision for mapping and localisation. Given a detected marker in an image, a frequent task is to estimate the 6DOF pose of the marker relative to the camera, which is an instance of planar…
How to efficiently and accurately handle image matching outliers is a critical issue in two-view relative estimation. The prevailing RANSAC method necessitates that the minimal point pairs be inliers. This paper introduces a linear relative…
This paper introduces the first minimal solvers that jointly solve for affine-rectification and radial lens distortion from coplanar repeated patterns. Even with imagery from moderately distorted lenses, plane rectification using the…
We address the task of estimating 6D camera poses from sparse-view image sets (2-8 images). This task is a vital pre-processing stage for nearly all contemporary (neural) reconstruction algorithms but remains challenging given sparse views,…
In this work, we present an algebraic solution to the classical perspective-3-point (P3P) problem for determining the position and attitude of a camera from observations of three known reference points. In contrast to previous approaches,…
We propose three novel metrics for evaluating the accuracy of a set of estimated camera poses given the ground truth: Translation Alignment Score (TAS), Rotation Alignment Score (RAS), and Pose Alignment Score (PAS). The TAS evaluates the…
6D pose estimation aims at determining the object pose that best explains the camera observation. The unique solution for non-ambiguous objects can turn into a multi-modal pose distribution for symmetrical objects or when occlusions of…
A minimal solution using two affine correspondences is presented to estimate the common focal length and the fundamental matrix between two semi-calibrated cameras - known intrinsic parameters except a common focal length. To the best of…
Stereo rectification is the determination of two image transformations (or homographies) that map corresponding points on the two images, projections of the same point in the 3D space, onto the same horizontal line in the transformed…
This paper presents a convolutional neural network based approach for estimating the relative pose between two cameras. The proposed network takes RGB images from both cameras as input and directly produces the relative rotation and…
A viewing graph is a set of unknown camera poses, as the vertices, and the observed relative motions, as the edges. Solving the viewing graph is an essential step in a Structure-from-Motion procedure, where a set of relative motions is…
We introduce FocalPose, a neural render-and-compare method for jointly estimating the camera-object 6D pose and camera focal length given a single RGB input image depicting a known object. The contributions of this work are twofold. First,…
The essential matrix incorporates relative rotation and translation parameters of two calibrated cameras. The well-known algebraic characterization of essential matrices, i.e. necessary and sufficient conditions under which an arbitrary…
Most geometric approaches to monocular Visual Odometry (VO) provide robust pose estimates, but sparse or semi-dense depth estimates. Off late, deep methods have shown good performance in generating dense depths and VO from monocular images…
Finding relative pose between two calibrated images is a fundamental task in computer vision. Given five point correspondences, the classical five-point methods can be used to calculate the essential matrix efficiently. For the case of $N$…
We give a non-iterative solution to a particular case of the four-point three-views pose problem when three camera centers are collinear. Using the well-known Cayley representation of orthogonal matrices, we derive from the epipolar…