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Global methods to Structure from Motion have gained popularity in recent years. A significant drawback of global methods is their sensitivity to collinear camera settings. In this paper, we introduce an analysis and algorithms for averaging…
Camera calibration is a crucial step in photogrammetry and 3D vision applications. In practical scenarios with a long working distance to cover a wide area, target-based calibration methods become complicated and inflexible due to site…
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…
We reveal a complete set of constraints that need to be imposed on a set of 3-by-3 matrices to ensure that the matrices represent genuine homographies associated with multiple planes between two views. We also show how to exploit the…
The motion of planar ground vehicles is often non-holonomic, and as a result may be modelled by the 2 DoF Ackermann steering model. We analyse the feasibility of estimating such motion with a downward facing camera that exerts…
Polarization-based vision has gained increasing attention for providing richer physical cues beyond RGB images. While achieving single-shot capture is highly desirable for practical applications, existing Division-of-Focal-Plane (DoFP)…
In this paper, we propose a global method for estimating the motion of a camera which films a static scene. Our approach is direct, fast and robust, and deals with adjacent frames of a sequence. It is based on a quadratic approximation of…
Homographies are among the most prevalent transformations occurring in geometric computer vision and projective geometry, and homography estimation is consequently a crucial step in a wide assortment of computer vision tasks. When working…
Local features are essential to many modern downstream applications. Therefore, it is of interest to determine the properties of local features that contribute to the downstream performance for a better design of feature detectors and…
Pose estimation is one of the most important problems in computer vision. It can be divided in two different categories -- absolute and relative -- and may involve two different types of camera models: central and non-central.…
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…
This paper presents a method for metric rectification of planar objects that preserves angles and length ratios. An inner structure of an object is assumed to follow the laws of Manhattan World i.e. the majority of line segments are aligned…
We propose a novel method to accurately reconstruct a set of images representing a single scene from few linear multi-view measurements. Each observed image is modeled as the sum of a background image and a foreground one. The background…
This paper studies the problem of recovering a low-rank matrix from several noisy random linear measurements. We consider the setting where the rank of the ground-truth matrix is unknown a priori and use an objective function built from a…
Finding local features that are repeatable across multiple views is a cornerstone of sparse 3D reconstruction. The classical image matching paradigm detects keypoints per-image once and for all, which can yield poorly-localized features and…
In general it requires at least 7 point correspondences to compute the fundamental matrix between views. We use the cross ratio invariance between corresponding epipolar lines, stemming from epipolar line homography, to derive a simple…
How to efficiently and accurately handle image matching outliers is a critical issue in two-view relative estimation. The prevailing RANSAC method necessitates that the minimal point pairs be inliers. This paper introduces a linear relative…
We propose a minimal solution for pose estimation using both points and lines for a multi-perspective camera. In this paper, we treat the multi-perspective camera as a collection of rigidly attached perspective cameras. These type of…
In this paper, we introduce a general framework for analyzing the numerical conditioning of minimal problems in multiple view geometry, using tools from computational algebra and Riemannian geometry. Special motivation comes from the fact…
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…