Related papers: Five-point Fundamental Matrix Estimation for Uncal…
This paper introduces the first minimal solvers that jointly estimate lens distortion and affine rectification from the image of rigidly-transformed coplanar features. The solvers work on scenes without straight lines and, in general, relax…
This paper presents a simple algebraic method to estimate the pose of a camera relative to a planar target from $n \geq 4$ reference points with known coordinates in the target frame and their corresponding bearing measurements in the…
We propose a new structure-from-motion framework to recover accurate camera poses and point clouds from unordered images. Traditional SfM systems typically rely on the successful detection of repeatable keypoints across multiple views as…
We examine 3D reconstruction of architectural scenes in unordered sets of uncalibrated images. We introduce a linear method to self-calibrate and find the metric reconstruction of a camera pair. We assume unknown and different focal lengths…
Visual localization has attracted considerable attention due to its low-cost and stable sensor, which is desired in many applications, such as autonomous driving, inspection robots and unmanned aerial vehicles. However, current visual…
Correspondences between k-tuples of points are key in multiple view geometry and motion analysis. Regular transformations are posed by homographies between two projective planes that serves as structural models for images. Such…
In this paper, we propose a novel approach for recovering focal lengths from three-view homographies. By examining the consistency of normal vectors between two homographies, we derive new explicit constraints between the focal lengths and…
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…
In the few-shot scenario, a learner must effectively generalize to unseen classes given a small support set of labeled examples. While a relatively large amount of research has gone into few-shot learning for image classification, little…
A novel image matching method is proposed that utilizes learned features extracted by an off-the-shelf deep neural network to obtain a promising performance. The proposed method uses pre-trained VGG architecture as a feature extractor and…
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…
We propose a strategy for improving camera location estimation in structure from motion. Our setting assumes highly corrupted pairwise directions (i.e., normalized relative location vectors), so there is a clear room for improving current…
Camera calibration using planar targets has been widely favored, and two types of control points have been mainly considered as measurements: the corners of the checkerboard and the centroid of circles. Since a centroid is derived from…
We propose a foreground segmentation algorithm that does foreground extraction under different scales and refines the result by matting. First, the input image is filtered and resampled to 5 different resolutions. Then each of them is…
This paper presents a novel preconditioning strategy for the classic 8-point algorithm (8-PA) for estimating an essential matrix from 360-FoV images (i.e., equirectangular images) in spherical projection. To alleviate the effect of uneven…
Optical cameras are gaining popularity as the suitable sensor for relative navigation in space due to their attractive sizing, power and cost properties when compared to conventional flight hardware or costly laser-based systems. However, a…
Visual odometry is the process of estimating the position and orientation of a camera by analyzing the images associated to it. This paper develops a quick and accurate approach to visual odometry of a moving RGB-D camera navigating on a…
Wave-front sensing from focal plane multiple images is a promising technique for high-contrast imaging systems. However, the wave-front error of an optics system can be properly reconstructed only when it is very small. This paper presents…
We completely classify all minimal problems for Structure-from-Motion (SfM) where arrangements of points and lines are fully observed by multiple uncalibrated pinhole cameras. We find 291 minimal problems, 73 of which have unique solutions…
Camera-to-robot calibration is crucial for vision-based robot control and requires effort to make it accurate. Recent advancements in markerless pose estimation methods have eliminated the need for time-consuming physical setups for…