Related papers: RANSAC based three points algorithm for ellipse fi…
This paper proposes a RANSAC-based algorithm for determining the axial rotation angle of an object from a pair of its tomographic projections. An equation is derived for calculating the rotation angle using one correct keypoints…
We propose a new algorithm for real-time detection and tracking of elliptic patterns suitable for real-world robotics applications. The method fits ellipses to each contour in the image frame and rejects ellipses that do not yield a good…
Circular targets are widely used in LiDAR-camera extrinsic calibration due to their geometric consistency and ease of detection. However, achieving accurate 3D-2D circular center correspondence remains challenging. Existing methods often…
We present an approach to solving hard geometric optimization problems in the RANSAC framework. The hard minimal problems arise from relaxing the original geometric optimization problem into a minimal problem with many spurious solutions.…
Matching two images while estimating their relative geometry is a key step in many computer vision applications. For decades, a well-established pipeline, consisting of SIFT, RANSAC, and 8-point algorithm, has been used for this task.…
This study presents a generalised least squares based method for fitting polygons and ellipses to data points. The method is based on a trigonometric fitness function that approximates a unit shape accurately, making it applicable to…
Detecting elliptical objects from an image is a central task in robot navigation and industrial diagnosis where the detection time is always a critical issue. Existing methods are hardly applicable to these real-time scenarios of limited…
We present a novel method to infer, in closed-form, a general 3D spatial occupancy and orientation of a collection of rigid objects given 2D image detections from a sequence of images. In particular, starting from 2D ellipses fitted to…
In this paper, an outlier elimination algorithm for ellipse/ellipsoid fitting is proposed. This two-stage algorithm employs a proximity-based outlier detection algorithm (using the graph Laplacian), followed by a model-based outlier…
In this paper, we propose a method for coarse camera pose computation which is robust to viewing conditions and does not require a detailed model of the scene. This method meets the growing need of easy deployment of robotics or augmented…
Ellipse and ellipsoid fitting has been extensively researched and widely applied. Although traditional fitting methods provide accurate estimation of ellipse parameters in the low-noise case, their performance is compromised when the noise…
Humans perceive and construct the surrounding world as an arrangement of simple parametric models. In particular, man-made environments commonly consist of volumetric primitives such as cuboids or cylinders. Inferring these primitives is an…
In this paper, we propose a method for initial camera pose estimation from just a single image which is robust to viewing conditions and does not require a detailed model of the scene. This method meets the growing need of easy deployment…
Solving Perspective-n-Point (PnP) problems is a traditional way of estimating object poses. Given outlier-contaminated data, a pose of an object is calculated with PnP algorithms of n = {3, 4} in the RANSAC-based scheme. However, the…
A new algorithm is proposed to accelerate RANSAC model quality calculations. The method is based on partitioning the joint correspondence space, e.g., 2D-2D point correspondences, into a pair of regular grids. The grid cells are mapped by…
Convolutional neural network (CNN) based architectures, such as Mask R-CNN, constitute the state of the art in object detection and segmentation. Recently, these methods have been extended for model-based segmentation where the network…
We present a fast and accurate solution to the perspective $n$-points problem, by way of a new approach to the n=4 case. Our solution hinges on a novel separation of variables: given four 3D points and four corresponding 2D points on the…
We describe a generalised method for ellipsoid fitting against a minimum set of data points. The proposed method is numerically stable and applies to a wide range of ellipsoidal shapes, including highly elongated and arbitrarily oriented…
In computer vision, camera pose estimation from correspondences between 3D geometric entities and their projections into the image has been a widely investigated problem. Although most state-of-the-art methods exploit low-level primitives…
This paper presents a method to estimate the 3D object position and occupancy given a set of object detections in multiple images and calibrated cameras. This problem is modelled as the estimation of a set of quadrics given 2D conics fit to…