Related papers: Minimal Solvers for Monocular Rolling Shutter Comp…
We design a multiscopic vision system that utilizes a low-cost monocular RGB camera to acquire accurate depth estimation for robotic applications. Unlike multi-view stereo with images captured at unconstrained camera poses, the proposed…
Monocular simultaneous localization and mapping (SLAM) is emerging in advanced driver assistance systems and autonomous driving, because a single camera is cheap and easy to install. Conventional monocular SLAM has two major challenges…
In this paper, we describe how the electronic rolling shutter in CMOS image sensors can be exploited using a bright, modulated light source (e.g., an inexpensive, off-the-shelf laser), to inject fine-grained image disruptions. We…
Images obtained by drift-scanning with a stationary telescope are affected by the declination-dependent curvature of star trails. The image displacement to curvature and drift rate variation increases with the angular field of view and can…
We propose a robust and fast bundle adjustment solution that estimates the 6-DoF pose of the camera and the geometry of the environment based on measurements from a rolling shutter (RS) camera. This tackles the challenges in the existing…
Depth estimation plays a important role in SLAM, odometry, and autonomous driving. Especially, monocular depth estimation is profitable technology because of its low cost, memory, and computation. However, it is not a sufficiently…
We address the problem of finding the current position and heading angle of an autonomous vehicle in real-time using a single camera. Compared to methods which require LiDARs and high definition (HD) 3D maps in real-time, the proposed…
A compensator (null-corrector) for testing aspheric optical surfaces is proposed, which enables i) independent verification of optical elements and assembling of the compensator itself, and ii) ascertaining the compensator position in a…
We propose a robust method for estimating road curb 3D parameters (size, location, orientation) using a calibrated monocular camera equipped with a fisheye lens. Automatic curb detection and localization is particularly important in the…
Visual navigation devices require precise calibration to achieve high-precision localization and navigation, which includes camera and attitude calibration. To address the limitations of time-consuming camera calibration and complex…
Motion blur caused by camera shake, particularly under large or rotational movements, remains a major challenge in image restoration. We propose a deep learning framework that jointly estimates the latent sharp image and the underlying…
This work presents two novel solvers for estimating the relative poses among views with known vertical directions. The vertical directions of camera views can be easily obtained using inertial measurement units (IMUs) which have been widely…
The curvature regularities are well-known for providing strong priors in the continuity of edges, which have been applied to a wide range of applications in image processing and computer vision. However, these models are usually non-convex,…
Modern manipulators are acclaimed for their precision but often struggle to operate in confined spaces. This limitation has driven the development of hyper-redundant and continuum robots. While these present unique advantages, they face…
The minimal path method has proven to be particularly useful and efficient in tubular structure segmentation applications. In this paper, we propose a new minimal path model associated with a dynamic Riemannian metric embedded with an…
Modern consumer cameras commonly employ the rolling shutter (RS) imaging mechanism, via which images are captured by scanning scenes row-by-row, resulting in RS distortion for dynamic scenes. To correct RS distortion, existing methods adopt…
We present a new insight into the systematic generation of minimal solvers in computer vision, which leads to smaller and faster solvers. Many minimal problem formulations are coupled sets of linear and polynomial equations where image…
Because image sensor chips have a finite bandwidth with which to read out pixels, recording video typically requires a trade-off between frame rate and pixel count. Compressed sensing techniques can circumvent this trade-off by assuming…
Videos obtained by rolling-shutter (RS) cameras result in spatially-distorted frames. These distortions become significant under fast camera/scene motions. Undoing effects of RS is sometimes addressed as a spatial problem, where objects…
The frame rates of most 3D LIDAR sensors used in intelligent vehicles are substantially lower than current cameras installed in the same vehicle. This research suggests using a mono camera to virtually enhance the frame rate of LIDARs,…