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

This note contains two remarks. The first remark concerns the extension of the well-known Cayley representation of rotation matrices by skew symmetric matrices to rotation matrices admitting -1 as an eigenvalue and then to all orthogonal…

Describing the solutions of inverse problems arising in signal or image processing is an important issue both for theoretical and numerical purposes. We propose a principle which describes the solutions to convex variational problems…

We present an exact and complete algorithm to isolate the real solutions of a zero-dimensional bivariate polynomial system. The proposed algorithm constitutes an elimination method which improves upon existing approaches in a number of…

Outlier rejection and equivalently inlier set optimization is a key ingredient in numerous applications in computer vision such as filtering point-matches in camera pose estimation or plane and normal estimation in point clouds. Several…

Camera-to-robot calibration is crucial for vision-based robot control and requires effort to make it accurate. Recent advancements in markerless pose estimation methods have eliminated the need for time-consuming physical setups for…

Predicting the pose of objects from a single image is an important but difficult computer vision problem. Methods that predict a single point estimate do not predict the pose of objects with symmetries well and cannot represent uncertainty.…

In this paper we study the problem of estimating the semi-generalized pose of a partially calibrated camera, i.e., the pose of a perspective camera with unknown focal length w.r.t. a generalized camera, from a hybrid set of 2D-2D and 2D-3D…

Given 2D point correspondences between an image pair, inferring the camera motion is a fundamental issue in the computer vision community. The existing works generally set out from the epipolar constraint and estimate the essential matrix,…

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…

Two-view relative pose estimation and structure reconstruction is a classical problem in computer vision. The typical methods usually employ the singular value decomposition of the essential matrix to get multiple solutions of the relative…

Pose Graph Optimization involves the estimation of a set of poses from pairwise measurements and provides a formalization for many problems arising in mobile robotics and geometric computer vision. In this paper, we consider the case in…

Person re identification is a challenging retrieval task that requires matching a person's acquired image across non overlapping camera views. In this paper we propose an effective approach that incorporates both the fine and coarse pose…

Central configurations and relative equilibria are an important facet of the study of the $N$-body problem, but become very difficult to rigorously analyze for $N>3$. In this paper we focus on a particular but interesting class of…

Affine correspondences have traditionally been used to improve feature matching over wide baselines. While recent work has successfully used affine correspondences to solve various relative camera pose estimation problems, less attention…

Visual re-localization means using a single image as input to estimate the camera's location and orientation relative to a pre-recorded environment. The highest-scoring methods are "structure based," and need the query camera's intrinsics…

We present gP4Pc, a new method for computing the absolute pose of a generalized camera with unknown internal scale from four corresponding 3D point-and-ray pairs. Unlike most pose-and-scale methods, gP4Pc is based on constraints arising…

The Perspective-Three-Point Problem (P3P) is solved by first focusing on determining the directions of the lines through pairs of control points, relative to the camera, rather than the distances from the camera to the control points. The…

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…

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…

Planar markers are useful in robotics and computer vision for mapping and localisation. Given a detected marker in an image, a frequent task is to estimate the 6DOF pose of the marker relative to the camera, which is an instance of planar…