Related papers: Non-Central Catadioptric Cameras Pose Estimation u…

Vision based object grasping and manipulation in robotics require accurate estimation of object's 6D pose. The 6D pose estimation has received significant attention in computer vision community and multiple datasets and evaluation metrics…

We present a novel solution to the camera pose estimation problem, where rotation and translation of a camera between two views are estimated from matched feature points in the images. The camera pose estimation problem is traditionally…

6D pose estimation is a central problem in robot vision. Compared with pose estimation based on point correspondences or its robust versions, correspondence-free methods are often more flexible. However, existing correspondence-free methods…

This paper presents a new algorithm to estimate absolute camera pose given an axis of the camera's rotation matrix. Current algorithms solve the problem via algebraic solutions on limited input domains. This paper shows that the problem can…

Detecting 3D lanes from the camera is a rising problem for autonomous vehicles. In this task, the correct camera pose is the key to generating accurate lanes, which can transform an image from perspective-view to the top-view. With this…

In this paper, we focus on motion estimation dedicated for non-holonomic ground robots, by probabilistically fusing measurements from the wheel odometer and exteroceptive sensors. For ground robots, the wheel odometer is widely used in pose…

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…

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…

This paper proposes a new extrinsic calibration of kaleidoscopic imaging system by estimating normals and distances of the mirrors. The problem to be solved in this paper is a simultaneous estimation of all mirror parameters consistent…

Pose estimation is a widely explored problem, enabling many robotic tasks such as grasping and manipulation. In this paper, we tackle the problem of pose estimation for objects that exhibit rotational symmetry, which are common in man-made…

We present a novel technique to estimate the 6D pose of objects from single images where the 3D geometry of the object is only given approximately and not as a precise 3D model. To achieve this, we employ a dense 2D-to-3D correspondence…

We introduce FocalPose, a neural render-and-compare method for jointly estimating the camera-object 6D pose and camera focal length given a single RGB input image depicting a known object. The contributions of this work are twofold. First,…

The recent years have given rise to a large number of techniques for "looking around corners", i.e., for reconstructing occluded objects from time-resolved measurements of indirect light reflections off a wall. While the direct view of…

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…

This paper addresses the problem of mirror surface reconstruction, and proposes a solution based on observing the reflections of a moving reference plane on the mirror surface. Unlike previous approaches which require tedious calibration,…

3D human pose estimation is frequently seen as the task of estimating 3D poses relative to the root body joint. Alternatively, we propose a 3D human pose estimation method in camera coordinates, which allows effective combination of 2D…

We propose two minimal solutions to the problem of relative pose estimation of (i) a calibrated camera from four points in two views and (ii) a calibrated generalized camera from five points in two views. In both cases, the relative…

Camera, and associated with its objects within the field of view, localization could benefit many computer vision fields, such as autonomous driving, robot navigation, and augmented reality (AR). In this survey, we first introduce specific…

This paper proposes a method to estimate the pose of a sensor mounted on a vehicle as the vehicle moves through the world, an important topic for autonomous driving systems. Based on a set of commonly deployed vehicular odometric sensors,…

We introduce new linear mathematical formulations to calculate the focal length of a camera in an active platform. Through mathematical derivations, we show that the focal lengths in each direction can be estimated using only one point…