Related papers: Minimal Solvers for Monocular Rolling Shutter Comp…
In low-level sensory systems, it is still unclear how the noisy information collected locally by neurons may give rise to a coherent global percept. This is well demonstrated for the detection of motion in the aperture problem: as luminance…
Compact and low-cost devices are needed for autonomous driving to image and measure distances to objects 360-degree around. We have been developing an omnidirectional stereo camera exploiting two hyperbolic mirrors and a single set of a…
Camera shake during exposure is a major problem in hand-held photography, as it causes image blur that destroys details in the captured images.~In the real world, such blur is mainly caused by both the camera motion and the complex scene…
A Kepler solver is an analytical method used to solve a two-body problem. In this paper, we propose a new correction method by slightly modifying the Kepler solver. The only change to the analytical solutions is that the obtainment of the…
The conventional methods for estimating camera poses and scene structures from severely blurry or low resolution images often result in failure. The off-the-shelf deblurring or super-resolution methods may show visually pleasing results.…
Despite the increasing prevalence of rotating-style capture (e.g., surveillance cameras), conventional stereo rectification techniques frequently fail due to the rotation-dominant motion and small baseline between views. In this paper, we…
In this paper, we address common error sources for 3D Gaussian Splatting (3DGS) including blur, imperfect camera poses, and color inconsistencies, with the goal of improving its robustness for practical applications like reconstructions…
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…
Multi-scale (MS) approaches have been widely investigated for blind single image / video deblurring that sequentially recovers deblurred images in low spatial scale first and then in high spatial scale later with the output of lower scales.…
Sharing virtual content among multiple smart glasses wearers is an essential feature of a seamless Collaborative Augmented Reality experience. To enable the sharing, local coordinate systems of the underlying 6D ego-pose trackers, running…
Vision-based perception systems are typically exposed to large orientation changes in different robot applications. In such conditions, their performance might be compromised due to the inherent complexity of processing data captured under…
We tackle the problem of estimating a Manhattan frame, i.e. three orthogonal vanishing points, and the unknown focal length of the camera, leveraging a prior vertical direction. The direction can come from an Inertial Measurement Unit that…
Blind image deblurring is a particularly challenging inverse problem where the blur kernel is unknown and must be estimated en route to recover the deblurred image. The problem is of strong practical relevance since many imaging devices…
We can only allow human-robot-cooperation in a common work cell if the human integrity is guaranteed. A surveillance system with multiple cameras can detect collisions without contact to the human collaborator. A failure safe system needs…
In the robotic industry, specular and textureless metallic components are ubiquitous. The 6D pose estimation of such objects with only a monocular RGB camera is difficult because of the absence of rich texture features. Furthermore, the…
Localization using a single range anchor combined with onboard optical-inertial odometry offers a lightweight solution that provides multidimensional measurements for the positioning of unmanned aerial vehicles. Unfortunately, the…
Multiple lidars are prevalently used on mobile vehicles for rendering a broad view to enhance the performance of localization and perception systems. However, precise calibration of multiple lidars is challenging since the feature…
With the advent of self-driving vehicles, autonomous driving systems will have to rely on a vast number of heterogeneous sensors to perform dynamic perception of the surrounding environment. Synthetic Aperture Radar (SAR) systems increase…
Previous methods for 3D human motion recovery from monocular images often fall short due to reliance on camera coordinates, leading to inaccuracies in real-world applications. The limited availability and diversity of focal length labels…
Monocular camera systems are prevailing in intelligent transportation systems, but by far they have rarely been used for dimensional purposes such as to accurately estimate the localization information of a vehicle. In this paper, we show…