Related papers: A New Solution to the Relative Orientation Problem…

We present an algorithm to estimate the rotation pole of a principal-axis rotator using silhouette images collected from multiple camera poses. First, a set of images is stacked to form a single silhouette-stack image, where the object's…

Monocular depth estimation (MDE) models have undergone significant advancements over recent years. Many MDE models aim to predict affine-invariant relative depth from monocular images, while recent developments in large-scale training and…

We consider the problem of relative pose regression in visual relocalization. Recently, several promising approaches have emerged in this area. We claim that even though they demonstrate on the same datasets using the same split to train…

The accuracy of monocular 3D human pose estimation depends on the viewpoint from which the image is captured. While freely moving cameras, such as on drones, provide control over this viewpoint, automatically positioning them at the…

In this work we solve the position-aided 3D navigation problem using a nonlinear estimation scheme. More precisely, we propose a nonlinear observer to estimate the full state of the vehicle (position, velocity, orientation and gyro bias)…

Both in the plane and in space, we invert the nonlinear Ullman transformation for 3 points and 3 orthographic cameras. While Ullman's theorem assures a unique reconstruction modulo a reflection for 3 cameras and 4 points, we find a locally…

This paper proposes a fine-grained self-localization method for outdoor robotics that utilizes a flexible number of onboard cameras and readily accessible satellite images. The proposed method addresses limitations in existing cross-view…

An algorithm for pose and motion estimation using corresponding features in omnidirectional images and a digital terrain map is proposed. In previous paper, such algorithm for regular camera was considered. Using a Digital Terrain (or…

This paper proposes a generalizable, end-to-end deep learning-based method for relative pose regression between two images. Given two images of the same scene captured from different viewpoints, our method predicts the relative rotation and…

We revisit the classical Perspective-Three-Point (P3P) problem, which aims to recover the absolute pose of a calibrated camera from three 2D-3D correspondences. It has long been known that P3P can be reduced to a quartic polynomial with…

We propose a fully automated system that simultaneously estimates the camera intrinsics, the ground plane, and physical distances between people from a single RGB image or video captured by a camera viewing a 3-D scene from a fixed vantage…

We consider the unrestricted problem of two mutually attracting rigid bodies, an uniform sphere (or a point mass) and an axially symmetric body. We present a global, geometric approach for finding all relative equilibria (stationary…

We demonstrate that, under orthographic projection and with a camera fixated on a point located on a rigid body, the rotation of that body can be analytically obtained by tracking only one other feature in the image. With some exceptions,…

Minimal solutions for relative rotation and translation estimation tasks have been explored in different scenarios, typically relying on the so-called co-visibility graph. However, how to build direct rotation relationships between two…

Visual relocalization is the task of estimating the camera pose given an image it views. Absolute pose regression offers a solution to this task by training a neural network, directly regressing the camera pose from image features. While an…

Human pose and shape estimation from RGB images is a highly sought after alternative to marker-based motion capture, which is laborious, requires expensive equipment, and constrains capture to laboratory environments. Monocular vision-based…

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…

Object pose recovery has gained increasing attention in the computer vision field as it has become an important problem in rapidly evolving technological areas related to autonomous driving, robotics, and augmented reality. Existing…

One major challenge for 3D pose estimation from a single RGB image is the acquisition of sufficient training data. In particular, collecting large amounts of training data that contain unconstrained images and are annotated with accurate 3D…

6D object pose estimation is an important task that determines the 3D position and 3D rotation of an object in camera-centred coordinates. By utilizing such a task, one can propose promising solutions for various problems related to scene…