Related papers: Closed-Form Optimal Two-View Triangulation Based o…
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…
This work proposes a non-iterative, scalable, and statistically optimal way to triangulate called \texttt{LOSTU}. Unlike triangulation algorithms that minimize the reprojection ($L_2$) error, LOSTU will still provide the maximum likelihood…
Two-view triangulation is a problem of minimizing a quadratic polynomial under an equality constraint. We derive a polynomial that encodes the local minimizers of this problem using the theory of Lagrange multipliers. This offers a simpler…
A new closed-form solver is proposed minimizing the algebraic error optimally, in the least-squares sense, to estimate the relative planar motion of two calibrated cameras. The main objective is to solve the over-determined case, i.e., when…
A major challenge in single particle reconstruction from cryo-electron microscopy is to establish a reliable ab-initio three-dimensional model using two-dimensional projection images with unknown orientations. Common-lines based methods…
Although recent learning-based calibration methods can predict extrinsic and intrinsic camera parameters from a single image, the accuracy of these methods is degraded in fisheye images. This degradation is caused by mismatching between the…
The paper describes a continuous second-variation algorithm to solve optimal control problems where the control is defined on a closed set. A second order expansion of a Lagrangian provides linear updates of the control to construct a…
The perspective-$n$-point (P$n$P) problem is important for robotic pose estimation. It is well studied for optical cameras, but research is lacking for 2D forward-looking sonar (FLS) in underwater scenarios due to the vastly different…
Rotation estimation plays a fundamental role in computer vision and robot tasks, and extremely robust rotation estimation is significantly useful for safety-critical applications. Typically, estimating a rotation is considered a non-linear…
In this paper we explore the role of duality principles within the problem of rotation averaging, a fundamental task in a wide range of computer vision applications. In its conventional form, rotation averaging is stated as a minimization…
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…
In this paper, a statistically optimal solution to the Perspective-n-Point (PnP) problem is presented. Many solutions to the PnP problem are geometrically optimal, but do not consider the uncertainties of the observations. In addition, it…
We propose a novel method for estimating the global rotations of the cameras independently of their positions and the scene structure. When two calibrated cameras observe five or more of the same points, their relative rotation can be…
Our work considers the optimization of the sum of a non-smooth convex function and a finite family of composite convex functions, each one of which is composed of a convex function and a bounded linear operator. This type of problem is…
Distributed control problems under some specific information constraints can be formulated as (possibly infinite dimensional) convex optimization problems. The underlying motivation of this work is to develop an understanding of the optimal…
Mobile devices equipped with a multi-camera system and an inertial measurement unit (IMU) are widely used nowadays, such as self-driving cars. The task of relative pose estimation using visual and inertial information has important…
This paper presents a novel convex optimization-based method for finding the globally optimal solutions of a class of mixed-integer non-convex optimal control problems. We consider problems with non-convex constraints that restrict the…
Most consumer cameras are equipped with electronic rolling shutter, leading to image distortions when the camera moves during image capture. We explore a surprisingly simple camera configuration that makes it possible to undo the rolling…
We present two novel solutions for multi-view 3D human pose estimation based on new learnable triangulation methods that combine 3D information from multiple 2D views. The first (baseline) solution is a basic differentiable algebraic…
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…