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Accurate registration of 2D imagery with point clouds is a key technology for image-LiDAR point cloud fusion, camera to laser scanner calibration and camera localization. Despite continuous improvements, automatic registration of 2D and 3D…
We introduce a new formalism and a number of new results in the context of geometric computational vision. The classical scope of the research in geometric computer vision is essentially limited to static configurations of points and lines…
We examine the metrics that arise when a finite set of points is embedded in the real line, in such a way that the distance between each pair of points is at least 1. These metrics are closely related to some other known metrics in the…
Extracting planes from a 3D scene is useful for downstream tasks in robotics and augmented reality. In this paper we tackle the problem of estimating the planar surfaces in a scene from posed images. Our first finding is that a surprisingly…
We study the set of lines that meet a fixed line and are tangent to two spheres and classify the configurations consisting of a single line and three spheres for which there are infinitely many lines tangent to the three spheres that also…
We address the problem of generating images across two drastically different views, namely ground (street) and aerial (overhead) views. Image synthesis by itself is a very challenging computer vision task and is even more so when generation…
We examine 3D reconstruction of architectural scenes in unordered sets of uncalibrated images. We introduce a linear method to self-calibrate and find the metric reconstruction of a camera pair. We assume unknown and different focal lengths…
Image feature matching is a fundamental part of many geometric computer vision applications, and using multiple images can improve performance. In this work, we formulate multi-image matching as a graph embedding problem then use a Graph…
Prior panorama stitching approaches heavily rely on pairwise feature correspondences and are unable to leverage geometric consistency across multiple views. This leads to severe distortion and misalignment, especially in challenging scenes…
This paper proposes a novel algorithm of discovering the structure of a kaleidoscopic imaging system that consists of multiple planar mirrors and a camera. The kaleidoscopic imaging system can be recognized as the virtual multi-camera…
Image matching, which establishes correspondences between two-view images to recover 3D structure and camera geometry, serves as a cornerstone in computer vision and underpins a wide range of applications, including visual localization, 3D…
We provide criteria for deciding whether a given planar curve is an image of a given spatial curve, obtained by a central or a parallel projection with unknown parameters. These criteria reduce the projection problem to a certain…
Multi-camera systems offer rich observation capabilities for visual navigation and 3D scene reconstruction; however, the resulting feature redundancy often compromises computational efficiency. This challenge is particularly pronounced…
Camera calibration is an essential prerequisite for event-based vision applications. Current event camera calibration methods typically involve using flashing patterns, reconstructing intensity images, and utilizing the features extracted…
Cross-camera image data association is essential for many multi-camera computer vision tasks, such as multi-camera pedestrian detection, multi-camera multi-target tracking, 3D pose estimation, etc. This association task is typically stated…
We introduce $\pi^3$, a feed-forward neural network that offers a novel approach to visual geometry reconstruction, breaking the reliance on a conventional fixed reference view. Previous methods often anchor their reconstructions to a…
Spatial consistency is a fundamental property of the visual world and a key requirement for models that aim to understand physical reality. Despite recent advances, multimodal large language models (MLLMs) often struggle to reason about 3D…
Segment matching is an important intermediate task in computer vision that establishes correspondences between semantically or geometrically coherent regions across images. Unlike keypoint matching, which focuses on localized features,…
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…
An image line segment is a fundamental low-level visual feature that delineates straight, slender, and uninterrupted portions of objects and scenarios within images. Detection and description of line segments lay the basis for numerous…