Related papers: A dyadic solution of relative pose problems
A $p$-adic variation of the Ran(dom) Sa(mple) C(onsensus) method for solving the relative pose problem in stereo vision is developped. From two 2-adically encoded images a random sample of five pairs of corresponding points is taken, and…
We propose an approach for estimating the relative pose between calibrated image pairs by jointly exploiting points, lines, and their coincidences in a hybrid manner. We investigate all possible configurations where these data modalities…
In this work we present a unified method of relative camera pose estimation from points and lines correspondences. Given a set of 2D points and lines correspondences in three views, of which two are known, a method has been developed for…
We give a new algorithmic solution to the well-known five-point relative pose problem. Our approach does not deal with the famous cubic constraint on an essential matrix. Instead, we use the Cayley representation of rotations in order to…
We present a novel method to compute the relative pose of multi-camera systems using two affine correspondences (ACs). Existing solutions to the multi-camera relative pose estimation are either restricted to special cases of motion, have…
Relative pose estimation using point correspondences (PC) is a widely used technique. A minimal configuration of six PCs is required for two views of generalized cameras. In this paper, we present several minimal solvers that use six PCs to…
We revisit certain problems of pose estimation based on 3D--2D correspondences between features which may be points or lines. Specifically, we address the two previously-studied minimal problems of estimating camera extrinsics from $p \in…
The point correspondence (PC) and affine correspondence (AC) are widely used for relative pose estimation. An AC consists of a PC across two views and an affine transformation between the small patches around this PC. Previous work…
We present a method for solving two minimal problems for relative camera pose estimation from three views, which are based on three view correspondences of i) three points and one line and the novel case of ii) three points and two lines…
We propose two minimal solutions to the problem of relative pose estimation of (i) a calibrated camera from four points in two views and (ii) a calibrated generalized camera from five points in two views. In both cases, the relative…
We propose a new deep learning based approach for camera relocalization. Our approach localizes a given query image by using a convolutional neural network (CNN) for first retrieving similar database images and then predicting the relative…
This paper presents a new algorithm to estimate absolute camera pose given an axis of the camera's rotation matrix. Current algorithms solve the problem via algebraic solutions on limited input domains. This paper shows that the problem can…
We present a fast and accurate solution to the perspective $n$-points problem, by way of a new approach to the n=4 case. Our solution hinges on a novel separation of variables: given four 3D points and four corresponding 2D points on the…
Most of the existing 3D human pose estimation approaches mainly focus on predicting 3D positional relationships between the root joint and other human joints (local motion) instead of the overall trajectory of the human body (global…
We present a new method for estimating the 6D pose of rigid objects with available 3D models from a single RGB input image. The method is applicable to a broad range of objects, including challenging ones with global or partial symmetries.…
We propose a new method for estimating the relative pose between two images, where we jointly learn keypoint detection, description extraction, matching and robust pose estimation. While our architecture follows the traditional pipeline for…
We consider the classical camera pose estimation problem that arises in many computer vision applications, in which we are given n 2D-3D correspondences between points in the scene and points in the camera image (some of which are incorrect…
Solving Perspective-n-Point (PnP) problems is a traditional way of estimating object poses. Given outlier-contaminated data, a pose of an object is calculated with PnP algorithms of n = {3, 4} in the RANSAC-based scheme. However, the…
We propose a minimal solution for pose estimation using both points and lines for a multi-perspective camera. In this paper, we treat the multi-perspective camera as a collection of rigidly attached perspective cameras. These type of…
Creating mobile robots which are able to find and manipulate objects in large environments is an active topic of research. These robots not only need to be capable of searching for specific objects but also to estimate their poses often…