Related papers: An Algorithmic Solution to the Five-Point Pose Pro…
We address the problem of epipolar geometry using the motion of silhouettes. Such methods match epipolar lines or frontier points across views, which are then used as the set of putative correspondences. We introduce an approach that…
The estimation of the relative pose of two camera views is a fundamental problem in computer vision. Kneip et al. proposed to solve this problem by introducing the normal epipolar constraint (NEC). However, their approach does not take into…
Estimating the position and orientation of a camera with respect to an observed scene is one of the central problems in computer vision, particularly in the context of camera calibration and multi-sensor systems. This paper addresses the…
This paper presents new efficient solutions to the rolling shutter camera absolute pose problem. Unlike the state-of-the-art polynomial solvers, we approach the problem using simple and fast linear solvers in an iterative scheme. We present…
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…
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…
Estimating relative camera poses from consecutive frames is a fundamental problem in visual odometry (VO) and simultaneous localization and mapping (SLAM), where classic methods consisting of hand-crafted features and sampling-based outlier…
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 $N$…
In this paper, we propose the first minimal solutions for estimating the semi-generalized homography given a perspective and a generalized camera. The proposed solvers use five 2D-2D image point correspondences induced by a scene plane. One…
We present novel, convex relaxations for rotation and pose estimation problems that can a posteriori guarantee global optimality for practical measurement noise levels. Some such relaxations exist in the literature for specific problem…
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.…
We propose three novel solvers for estimating the relative pose of a multi-camera system from affine correspondences (ACs). A new constraint is derived interpreting the relationship of ACs and the generalized camera model. Using the…
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…
We consider the problem of unsupervised camera pose estimation. Given an input video sequence, our goal is to estimate the camera pose (i.e. the camera motion) between consecutive frames. Traditionally, this problem is tackled by placing…
This paper deals with the problem of recovering the unknown norm of relative translations between cameras based on the knowledge of relative rotations and translation directions. We provide theoretical conditions for the solvability of such…
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 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…
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…
Solving non-linear least-squares problem for pose estimation (rotation and translation) is often a time consuming yet fundamental problem in several real-time computer vision applications. With an adequate rotation parametrization, the…
This paper proposes the geometric relationship of epipolar geometry and orientation- and scale-covariant, e.g., SIFT, features. We derive a new linear constraint relating the unknown elements of the fundamental matrix and the orientation…