Related papers: A unified approach for multi-object triangulation,…

Camera calibration is a crucial technique which significantly influences the performance of many robotic systems. Robustness and high precision have always been the pursuit of diverse calibration methods. State-of-the-art calibration…

Many interventional surgical procedures rely on medical imaging to visualise and track instruments. Such imaging methods not only need to be real-time capable, but also provide accurate and robust positional information. In ultrasound…

Monocular cameras are one of the most commonly used sensors in the automotive industry for autonomous vehicles. One major drawback using a monocular camera is that it only makes observations in the two dimensional image plane and can not…

Multi-object tracking (MOT) in video sequences remains a challenging task, especially in scenarios with significant camera movements. This is because targets can drift considerably on the image plane, leading to erroneous tracking outcomes.…

We present ObjectMatch, a semantic and object-centric camera pose estimator for RGB-D SLAM pipelines. Modern camera pose estimators rely on direct correspondences of overlapping regions between frames; however, they cannot align camera…

Object tracking is a key aspect in many applications such as augmented reality in medicine (e.g. tracking a surgical instrument) or robotics. Squared planar markers have become popular tools for tracking since their pose can be estimated…

Multi-perspective cameras are quickly gaining importance in many applications such as smart vehicles and virtual or augmented reality. However, a large system size or absence of overlap in neighbouring fields-of-view often complicate their…

Accurate camera-LiDAR calibration is a prerequisite for robust multi-modal perception in robotics. Recent target-less approaches based on deep point correspondences achieve remarkable performance for extrinsic calibration but assume…

Inspired by the complementarity between conventional frame-based and bio-inspired event-based cameras, we propose a multi-modal based approach to fuse visual cues from the frame- and event-domain to enhance the single object tracking…

We address the task of 6D multi-object pose: given a set of known 3D objects and an RGB or RGB-D input image, we detect and estimate the 6D pose of each object. We propose a new approach to 6D object pose estimation which consists of an…

Most of the correlation filter based tracking algorithms can achieve good performance and maintain fast computational speed. However, in some complicated tracking scenes, there is a fatal defect that causes the object to be located…

We propose a system that learns to detect objects and infer their 3D poses in RGB-D images. Many existing systems can identify objects and infer 3D poses, but they heavily rely on human labels and 3D annotations. The challenge here is to…

Identifying the same individual across different scenes is an important yet difficult task in intelligent video surveillance. Its main difficulty lies in how to preserve similarity of the same person against large appearance and structure…

We address the problem of tracking the 6-DoF pose of an object while it is being manipulated by a human or a robot. We use a dynamic Bayesian network to perform inference and compute a posterior distribution over the current object pose.…

PHD filtering is a common and effective multiple object tracking (MOT) algorithm used in scenarios where the number of objects and their states are unknown. In scenarios where each object can generate multiple measurements per scan, some…

An algorithm for the estimation of multiple targets from partial and corrupted observations is introduced based on the concept of partially-distinguishable multi-target system. It combines the advantages of engineering solutions like MHT…

This paper considers homography estimation in a Bayesian filtering framework using rate gyro and camera measurements. The use of rate gyro measurements facilitates a more reliable estimate of homography in the presence of occlusions, while…

Flying Triangulation sensors enable a free-hand and motion-robust 3D data acquisition of complex shaped objects. The measurement principle is based on a multi-line light-sectioning approach and uses sophisticated algorithms for real-time…

Non-overlapping multi-camera visual object tracking typically consists of two steps: single camera object tracking and inter-camera object tracking. Most of tracking methods focus on single camera object tracking, which happens in the same…

The most prevalent routine for camera calibration is based on the detection of well-defined feature points on a purpose-made calibration artifact. These could be checkerboard saddle points, circles, rings or triangles, often printed on a…