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

We study the problem of rotating a simple polygon to contain the maximum number of elements from a given point set in the plane. We consider variations of this problem where the rotation center is a given point or lies on a line segment, a…

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 present KDFNet, a novel method for 6D object pose estimation from RGB images. To handle occlusion, many recent works have proposed to localize 2D keypoints through pixel-wise voting and solve a Perspective-n-Point (PnP) problem for pose…

We propose two novel solvers for estimating the egomotion of a calibrated camera mounted to a moving vehicle from a single affine correspondence via recovering special homographies. For the first class of solvers, the sought plane is…

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…

A broad range of inverse problems can be abstracted into the problem of minimizing the sum of several convex functions in a Hilbert space. We propose a proximal decomposition algorithm for solving this problem with an arbitrary number of…

Estimating camera geometry typically involves solving minimal problems formulated as systems of multivariate polynomial equations, which often pose computational challenges when using existing Gr\"obner-basis or resultant-based methods due…

In this paper a method for camera pose estimation from a sequence of images is presented. The method assumes camera is calibrated (intrinsic parameters are known) which allows to decrease a number of required pairs of corresponding points…

We present two algorithms for large-scale low-rank Euclidean distance matrix completion problems, based on semidefinite optimization. Our first method works by relating cliques in the graph of the known distances to faces of the positive…

We present a new convex method to estimate 3D pose from mixed combinations of 2D-3D point and line correspondences, the Perspective-n-Points-and-Lines problem (PnPL). We merge the contributions of each point and line into a unified…

Visual localization is the problem of estimating a camera within a scene and a key component in computer vision applications such as self-driving cars and Mixed Reality. State-of-the-art approaches for accurate visual localization use…

The inverse of a large matrix can often be accurately approximated by a polynomial of degree significantly lower than the order of the matrix. The iteration polynomial generated by a run of the GMRES algorithm is a good candidate, and its…

6D pose estimation of textureless objects is a valuable but challenging task for many robotic applications. In this work, we propose a framework to address this challenge using only RGB images acquired from multiple viewpoints. The core…

Learning methods for relative camera pose estimation have been developed largely in isolation from classical geometric approaches. The question of how to integrate predictions from deep neural networks (DNNs) and solutions from geometric…

We study the ubiquitous super-resolution problem, in which one aims at localizing positive point sources in an image, blurred by the point spread function of the imaging device. To recover the point sources, we propose to solve a convex…

Visual localization, i.e., determining the position and orientation of a vehicle with respect to a map, is a key problem in autonomous driving. We present a multicamera visual inertial localization algorithm for large scale environments. To…

Real-time robotic grasping, supporting a subsequent precise object-in-hand operation task, is a priority target towards highly advanced autonomous systems. However, such an algorithm which can perform sufficiently-accurate grasping with…

This paper addresses the challenge of 6DoF pose estimation from a single RGB image under severe occlusion or truncation. Many recent works have shown that a two-stage approach, which first detects keypoints and then solves a…

Accurate 6D object pose estimation from images is a key problem in object-centric scene understanding, enabling applications in robotics, augmented reality, and scene reconstruction. Despite recent advances, existing methods often produce…

Visual localization is the task of accurate camera pose estimation in a known scene. It is a key problem in computer vision and robotics, with applications including self-driving cars, Structure-from-Motion, SLAM, and Mixed Reality.…