Related papers: An Efficient Algebraic Solution to the Perspective…

This paper studies the relative pose problem for autonomous vehicle driving in highly dynamic and possibly cluttered environments. This is a challenging scenario due to the existence of multiple, large, and independently moving objects in…

This paper investigates singular configurations of the P3P problem. Using local dual space, a systematic algebraic-computational framework is proposed to give a complete geometric stratification for the P3P singular configurations with…

We propose a method for estimating the 3D pose for the camera of a mobile device in outdoor conditions, using only an untextured 2D model. Previous methods compute only a relative pose using a SLAM algorithm, or require many registered…

Robotic eye-in-hand calibration is the task of determining the rigid 6-DoF pose of the camera with respect to the robot end-effector frame. In this paper, we formulate this task as a non-linear optimization problem and introduce an active…

In the context of future manufacturing lines, removing fixtures will be a fundamental step to increase the flexibility of autonomous systems in assembly and logistic operations. Vision-based 3D pose estimation is a necessity to accurately…

Multi-human 3D pose estimation plays a key role in establishing a seamless connection between the real world and the virtual world. Recent efforts adopted a two-stage framework that first builds 2D pose estimations in multiple camera views…

This paper proposes a new method for rigid body pose estimation based on spectrahedral representations of the tautological orbitopes of $SE(2)$ and $SE(3)$. The approach can use dense point cloud data from stereo vision or an RGB-D sensor…

We propose a hybrid image-space/object-space solution to the classical hidden surface removal problem: Given n disjoint triangles in Real^3 and p sample points (``pixels'') in the xy-plane, determine the first triangle directly behind each…

3D inference from monocular vision using neural networks is an important research area of computer vision. Applications of the research area are various with many proposed solutions and have shown remarkable performance. Although many…

We present To The Point (TTP), a method for reconstructing 3D objects from a single image using 2D to 3D correspondences learned from weak supervision. We recover a 3D shape from a 2D image by first regressing the 2D positions corresponding…

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…

We present a means of formulating and solving the well known structure-and-motion problem in computer vision with probabilistic graphical models. We model the unknown camera poses and 3D feature coordinates as well as the observed 2D…

We address the problem of epipolar geometry using the motion of silhouettes. Such methods match epipolar lines or frontier points across views, which are then used as the set of putative correspondences. We introduce an approach that…

We consider the task of estimating 3D human pose and shape from videos. While existing frame-based approaches have made significant progress, these methods are independently applied to each image, thereby often leading to inconsistent…

Many robot manipulation tasks can be framed as geometric reasoning tasks, where an agent must be able to precisely manipulate an object into a position that satisfies the task from a set of initial conditions. Often, task success is defined…

Visual navigation and three-dimensional (3D) scene reconstruction are essential for robotics to interact with the surrounding environment. Large-scale scenes and critical camera motions are great challenges facing the research community to…

This paper formulates the pose estimation problem as nonlinear stochastic filter kinematics evolved directly on the Special Euclidean Group SE(3). Proposed filter guarantees that the errors present in position and Rodriguez vector estimates…

Orbit determination (OD) from three position vectors is one of the classical problems in astrodynamics. Early contributions to this problem were made by J. Willard Gibbs in the late 1800s and OD of this type is known today as ``Gibbs…

We propose a method for room layout estimation that does not rely on the typical box approximation or Manhattan world assumption. Instead, we reformulate the geometry inference problem as an instance detection task, which we solve by…

Predicting the pose of objects from a single image is an important but difficult computer vision problem. Methods that predict a single point estimate do not predict the pose of objects with symmetries well and cannot represent uncertainty.…