Related papers: Bound and Conquer: Improving Triangulation by Enfo…

Marker-based motion capture (MoCap) systems can be composed by several dozens of cameras with the purpose of reconstructing the trajectories of hundreds of targets. With a large amount of cameras it becomes interesting to determine the…

Triangulation refers to the problem of finding a 3D point from its 2D projections on multiple camera images. For solving this problem, it is the common practice to use so-called optimal triangulation method, which we call the L2 method in…

We propose a novel camera pose estimation or perspective-n-point (PnP) algorithm, based on the idea of consistency regions and half-space intersections. Our algorithm has linear time-complexity and a squared reconstruction error that…

We study the set of image tuples arising from fixed cameras observing varying planar 3-dimensional point configurations. We derive a formula for the number of complex critical points of the triangulation problem, which seeks to reconstruct…

Current traditional methods for LiDAR-camera extrinsics estimation depend on offline targets and human efforts, while learning-based approaches resort to iterative refinement for calibration results, posing constraints on their…

For decades, it has been widely accepted that the gold standard for two-view triangulation is to minimize the cost based on reprojection errors. In this work, we challenge this idea. We propose a novel alternative to the classic midpoint…

Multi-camera systems offer rich observation capabilities for visual navigation and 3D scene reconstruction; however, the resulting feature redundancy often compromises computational efficiency. This challenge is particularly pronounced…

This paper proposes a method to compute camera 6Dof poses to achieve a user defined coverage. The camera placement problem is modeled as a combinatorial optimization where given the maximum number of cameras, a camera set is selected from a…

We propose a robust and efficient method for multiview triangulation and uncertainty estimation. Our contribution is threefold: First, we propose an outlier rejection scheme using two-view RANSAC with the midpoint method. By prescreening…

Estimating camera intrinsic parameters without prior scene knowledge is a fundamental challenge in computer vision. This capability is particularly important for applications such as autonomous driving and vehicle platooning, where…

In this work, we propose using camera arrays coupled with coherent illumination as an effective method of improving spatial resolution in long distance images by a factor of ten and beyond. Recent advances in ptychography have demonstrated…

Accurate distance estimation from monocular cameras is essential for intelligent monitoring systems. In many deployments, image coordinates are mapped to ground positions using planar homographies initialized by manual selection of…

3D Gaussian Splatting is crucial for real-time novel view synthesis due to its efficiency and ability to render photorealistic images. However, building a 3D Gaussian is guided solely by photometric loss, which can result in inconsistencies…

In this paper we present methods for triangulation of infinite cylinders from image line silhouettes. We show numerically that linear estimation of a general quadric surface is inherently a badly posed problem. Instead we propose to…

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…

Triangulation of a three-dimensional point from at least two noisy 2-D images can be formulated as a quadratically constrained quadratic program. We propose an algorithm to extract candidate solutions to this problem from its semidefinite…

To address the issue of increased triangulation uncertainty caused by selecting views with small camera baselines in Structure from Motion (SFM) view selection, this paper proposes a robust error-resistant view selection method. The method…

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…

We address the challenging problem of dense dynamic scene reconstruction and camera pose estimation from multiple freely moving cameras -- a setting that arises naturally when multiple observers capture a shared event. Prior approaches…

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…