Related papers: A New Solution to the Relative Orientation Problem…
This paper deals with the problem of full state estimation for vehicles navigating in a three dimensional space. We assume that the vehicle is equipped with an Inertial Measurement Unit (IMU) providing body-frame measurements of the angular…
In this paper, we propose a fully convolutional network for 3D human pose estimation from monocular images. We use limb orientations as a new way to represent 3D poses and bind the orientation together with the bounding box of each limb…
This paper addresses the problem of navigation using only relative direction measurements (i.e., relative distances are unknown) under field of view constraints. We present a novel navigation vector field for the bearing-based visual homing…
We propose a novel approach to jointly perform 3D shape retrieval and pose estimation from monocular images.In order to make the method robust to real-world image variations, e.g. complex textures and backgrounds, we learn an embedding…
We present a lightweight solution to recover 3D pose from multi-view images captured with spatially calibrated cameras. Building upon recent advances in interpretable representation learning, we exploit 3D geometry to fuse input images into…
The problem of identifying the 3D pose of a known object from a given 2D image has important applications in Computer Vision ranging from robotic vision to image analysis. Our proposed method of registering a 3D model of a known object on a…
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…
The internal calibration of a pinhole camera is given by five parameters that are combined into an upper-triangular $3\times 3$ calibration matrix. If the skew parameter is zero and the aspect ratio is equal to one, then the camera is said…
We aim at estimating the fundamental matrix in two views from five correspondences of rotation invariant features obtained by e.g.\ the SIFT detector. The proposed minimal solver first estimates a homography from three correspondences…
Erwin Kruppa's 1913 paper, Erwin Kruppa, "Zur Ermittlung eines Objektes aus zwei Perspektiven mit innerer Orientierung", Sitzungsberichte der Mathematisch-Naturwissenschaftlichen Kaiserlichen Akademie der Wissenschaften, Vol. 122 (1913),…
Re-localizing a camera from a single image in a previously mapped area is vital for many computer vision applications in robotics and augmented/virtual reality. In this work, we address the problem of estimating the 6 DoF camera pose…
We introduce new linear mathematical formulations to calculate the focal length of a camera in an active platform. Through mathematical derivations, we show that the focal lengths in each direction can be estimated using only one point…
We present a new learning-based framework to recover vehicle pose in SO(3) from a single RGB image. In contrast to previous works that map from local appearance to observation angles, we explore a progressive approach by extracting…
Visual localization aims to determine the camera pose of a query image relative to a database of posed images. In recent years, deep neural networks that directly regress camera poses have gained popularity due to their fast inference…
Initial orbit determination (IOD) from line-of-sight (i.e., bearing) measurements is a classical problem in astrodynamics. Indeed, there are many well-established methods for performing the IOD task when given three line-of-sight…
Using the properties of the angular momentum, we develop a new geometrical technique to study relative equilibria for a system of $3$--bodies with positive masses, moving on the two sphere under the influence of an attractive potential…
Pose estimation is one of the most important problems in computer vision. It can be divided in two different categories -- absolute and relative -- and may involve two different types of camera models: central and non-central.…
Face alignment aims to estimate the locations of a set of landmarks for a given image. This problem has received much attention as evidenced by the recent advancement in both the methodology and performance. However, most of the existing…
Vision based localization is the problem of inferring the pose of the camera given a single image. One solution to this problem is to learn a deep neural network to infer the pose of a query image after learning on a dataset of images with…
In this paper we present a fast minimal solver for absolute camera pose estimation from four known points that lie in a plane. We assume a perspective camera model with unknown focal length and unknown radial distortion. The radial…