Related papers: Inertial-aided Rolling Shutter Relative Pose Estim…
We present an algorithm to estimate the rotation pole of a principal-axis rotator using silhouette images collected from multiple camera poses. First, a set of images is stacked to form a single silhouette-stack image, where the object's…
While camera-based capture systems remain the gold standard for recording human motion, learning-based tracking systems based on sparse wearable sensors are gaining popularity. Most commonly, they use inertial sensors, whose propensity for…
Estimating robot pose from RGB images is a crucial problem in computer vision and robotics. While previous methods have achieved promising performance, most of them presume full knowledge of robot internal states, e.g. ground-truth robot…
Estimating the relative pose between two cameras is a fundamental step in many applications such as Structure-from-Motion. The common approach to relative pose estimation is to apply a minimal solver inside a RANSAC loop. Highly efficient…
We present a direct visual-inertial odometry (VIO) method which estimates the motion of the sensor setup and sparse 3D geometry of the environment based on measurements from a rolling-shutter camera and an inertial measurement unit (IMU).…
Air-bearing platforms for simulating the rotational dynamics of satellites require highly precise ground truth systems. Unfortunately, commercial motion capture systems used for this scope are complex and expensive. This paper shows a novel…
Most consumer cameras are equipped with electronic rolling shutter, leading to image distortions when the camera moves during image capture. We explore a surprisingly simple camera configuration that makes it possible to undo the rolling…
The point correspondence (PC) and affine correspondence (AC) are widely used for relative pose estimation. An AC consists of a PC across two views and an affine transformation between the small patches around this PC. Previous work…
Smartphones, tablets and camera systems used, e.g., in cars and UAVs, are typically equipped with IMUs (inertial measurement units) that can measure the gravity vector accurately. Using this additional information, the $y$-axes of the…
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…
We propose a novel method for estimating the global rotations of the cameras independently of their positions and the scene structure. When two calibrated cameras observe five or more of the same points, their relative rotation can be…
This paper presents new efficient solutions to the rolling shutter camera absolute pose problem. Unlike the state-of-the-art polynomial solvers, we approach the problem using simple and fast linear solvers in an iterative scheme. We present…
Creating mobile robots which are able to find and manipulate objects in large environments is an active topic of research. These robots not only need to be capable of searching for specific objects but also to estimate their poses often…
Relative pose estimation using point correspondences (PC) is a widely used technique. A minimal configuration of six PCs is required for two views of generalized cameras. In this paper, we present several minimal solvers that use six PCs to…
6D object pose estimation is an important task that determines the 3D position and 3D rotation of an object in camera-centred coordinates. By utilizing such a task, one can propose promising solutions for various problems related to scene…
In this work we present a unified method of relative camera pose estimation from points and lines correspondences. Given a set of 2D points and lines correspondences in three views, of which two are known, a method has been developed for…
This paper tackles the problem of estimating the relative position, orientation, and velocity between a UAV and a planar platform undergoing arbitrary 3D motion during approach and landing. The estimation relies on measurements from…
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…
Rotation estimation plays a fundamental role in many computer vision and robot tasks. However, efficiently estimating rotation in large inputs containing numerous outliers (i.e., mismatches) and noise is a recognized challenge. Many robust…
This paper investigates the estimation problem of the pose (orientation and position) and linear velocity of a rigid body, as well as the landmark positions, using an inertial measurement unit (IMU) and a monocular camera. First, we propose…