Related papers: An Algorithmic Solution to the Five-Point Pose Pro…

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…

Relative pose estimation is a fundamental problem in computer vision and it has been studied for conventional global shutter cameras for decades. However, recently, a rolling shutter camera has been widely used due to its low cost imaging…

This paper presents a new method to recover the relative pose between two images, using three points and the vertical direction information. The vertical direction can be determined in two ways: 1- using direct physical measurement like IMU…

Multi-camera systems offer rich observation capabilities for visual navigation and 3D scene reconstruction; however, the resulting feature redundancy often compromises computational efficiency. This challenge is particularly pronounced…

Line features are valid complements for point features in man-made environments. 3D-2D constraints provided by line features have been widely used in Visual Odometry (VO) and Structure-from-Motion (SfM) systems. However, how to accurately…

The estimation of the camera poses associated with a set of images commonly relies on feature matches between the images. In contrast, we are the first to address this challenge by using objectness regions to guide the pose estimation…

The rolling shutter camera has received great attention due to its low cost imaging capability, however, the estimation of relative pose between rolling shutter cameras still remains a difficult problem owing to its line-by-line image…

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 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…

The estimation of 6D poses of rigid objects is a fundamental problem in computer vision. Traditionally pose estimation is concerned with the determination of a single best estimate. However, a single estimate is unable to express visual…

In this paper, we present a novel linear algorithm to estimate the 6 DoF relative pose from consecutive frames of stereo rolling shutter (RS) cameras. Our method is derived based on the assumption that stereo cameras undergo motion with…

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…

This paper presents a generic 6DOF camera pose estimation method, which can be used for both the pinhole camera and the fish-eye camera. Different from existing methods, relative positions of 3D points rather than absolute coordinates in…

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…

In this paper, we aim to estimate the relative pose and focal length between two views with known intrinsic parameters except for an unknown focal length from two affine correspondences (ACs). Cameras are commonly used in combination with…

We present a new insight into the systematic generation of minimal solvers in computer vision, which leads to smaller and faster solvers. Many minimal problem formulations are coupled sets of linear and polynomial equations where image…

Accurately estimating camera motion from image sequences poses a significant challenge in computer vision and robotics. Many computer vision methods first compute the essential matrix associated with a motion and then extract orientation…

We propose a new method for constructing elimination templates for efficient polynomial system solving of minimal problems in structure from motion, image matching, and camera tracking. We first construct a particular affine…

This paper studies the saddle point problem of polynomials. We give an algorithm for computing saddle points. It is based on solving Lasserre's hierarchy of semidefinite relaxations. Under some genericity assumptions on defining…

In this paper we present four cases of minimal solutions for two-view relative pose estimation by exploiting the affine transformation between feature points and we demonstrate efficient solvers for these cases. It is shown, that under the…