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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…

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,…

We present an approach to estimating camera rotation in crowded, real-world scenes from handheld monocular video. While camera rotation estimation is a well-studied problem, no previous methods exhibit both high accuracy and acceptable…

Robust estimation of object poses in robotic manipulation is often addressed using foundational general estimators, that aim to handle diverse error sources naively within a single model. Still, they struggle due to environmental…

Circular markers are planar markers which offer great performances for detection and pose estimation. For an uncalibrated camera with an unknown focal length, at least the images of at least two coplanar circles are generally required to…

Our work addresses the problem of egocentric human pose estimation from downwards-facing cameras on head-mounted devices (HMD). This presents a challenging scenario, as parts of the body often fall outside of the image or are occluded.…

We present gP4Pc, a new method for computing the absolute pose of a generalized camera with unknown internal scale from four corresponding 3D point-and-ray pairs. Unlike most pose-and-scale methods, gP4Pc is based on constraints arising…

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…

Structure from Motion (SfM) is a critical task in computer vision, aiming to recover the 3D scene structure and camera motion from a sequence of 2D images. The recent pose-only imaging geometry decouples 3D coordinates from camera poses and…

Accurate camera pose estimation is a fundamental requirement for numerous applications, such as autonomous driving, mobile robotics, and augmented reality. In this work, we address the problem of estimating the global 6 DoF camera pose from…

Accurate and robust pose estimation plays a crucial role in many robotic systems. Popular algorithms for pose estimation typically rely on high-fidelity and high-frequency signals from various sensors. Inclusion of these sensors makes the…

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…

We address the problem of camera pose estimation in visual localization. Current regression-based methods for pose estimation are trained and evaluated scene-wise. They depend on the coordinate frame of the training dataset and show a low…

6D object pose estimation aims to infer the relative pose between the object and the camera using a single image or multiple images. Most works have focused on predicting the object pose without associated uncertainty under occlusion and…

Camera calibration is a crucial step in robotics and computer vision. Accurate camera parameters are necessary to achieve robust applications. Nowadays, camera calibration process consists of adjusting a set of data to a pin-hole model,…

Color in an image is resolved into 3 or 4 color components and 2-Dimages of these components are stored in separate channels. Most of the color image enhancement algorithms are applied channel-by-channel on each image. But such a system of…

Although many advances have been made in light-field and camera-array image processing, there is still a lack of thorough analysis of the localisation accuracy of different multi-camera systems. By considering the problem from a…

In this paper, we introduce a novel approach to fine-grained cross-view geo-localization. Our method aligns a warped ground image with a corresponding GPS-tagged satellite image covering the same area using homography estimation. We first…

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 threefold.…

The rolling shutter camera has received great attention due to its low cost imaging capability, however, the estimation of relative pose between rolling shutter cameras still remains a difficult problem owing to its line-by-line image…