Related papers: PLMP -- Point-Line Minimal Problems in Complete Mu…
We present a complete classification of minimal problems for generic arrangements of points and lines in space observed partially by three calibrated perspective cameras when each line is incident to at most one point. This is a large class…
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…
We introduce a new family of minimal problems for reconstruction from multiple views. Our primary focus is a novel approach to autocalibration, a long-standing problem in computer vision. Traditional approaches to this problem, such as…
We present a new insight into the systematic generation of minimal solvers in computer vision, which leads to smaller and faster solvers. Many minimal problem formulations are coupled sets of linear and polynomial equations where image…
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…
We revisit certain problems of pose estimation based on 3D--2D correspondences between features which may be points or lines. Specifically, we address the two previously-studied minimal problems of estimating camera extrinsics from $p \in…
Camera calibration is a crucial prerequisite in many applications of computer vision. In this paper, a new, geometry-based camera calibration technique is proposed, which resolves two main issues associated with the widely used Zhang's…
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…
In 3D reconstruction, the recovery of the calibration parameters of the cameras is paramount since it provides metric information about the observed scene, e.g., measures of angles and ratios of distances. Autocalibration enables the…
A non-iterative auto-calibration algorithm is presented. It deals with a minimal set of six scene points in three views taken by a camera with fixed but unknown intrinsic parameters. Calibration is based on the image correspondences only.…
A minimalist vision system uses the smallest number of pixels needed to solve a vision task. While traditional cameras use a large grid of square pixels, a minimalist camera uses freeform pixels that can take on arbitrary shapes to increase…
Relative pose estimation using point correspondences (PC) is a widely used technique. A minimal configuration of six PCs is required for two views of generalized cameras. In this paper, we present several minimal solvers that use six PCs to…
We present an approach to solving hard geometric optimization problems in the RANSAC framework. The hard minimal problems arise from relaxing the original geometric optimization problem into a minimal problem with many spurious solutions.…
The problem of calibration from straight lines is fundamental in geometric computer vision, with well-established theoretical foundations. However, its practical applicability remains limited, particularly in real-world outdoor scenarios.…
We present a new framework for multi-view geometry in computer vision. A camera is a mapping between $\mathbb{P}^3$ and a line congruence. This model, which ignores image planes and measurements, is a natural abstraction of traditional…
Understanding perspective is fundamental to human visual perception, yet the extent to which multimodal large language models (MLLMs) internalize perspective geometry remains unclear. We introduce MMPerspective, the first benchmark…
Camera calibration is an essential first step in setting up 3D Computer Vision systems. Commonly used parametric camera models are limited to a few degrees of freedom and thus often do not optimally fit to complex real lens distortion. In…
Let $P$ be an orthogonal polygon. Consider a sliding camera that travels back and forth along an orthogonal line segment $s\in P$ as its \emph{trajectory}. The camera can see a point $p\in P$ if there exists a point $q\in s$ such that $pq$…
Blind Perspective-n-Point (PnP) is the problem of estimating the position and orientation of a camera relative to a scene, given 2D image points and 3D scene points, without prior knowledge of the 2D-3D correspondences. Solving for pose and…
Multi-view understanding, the ability to reconcile visual information across diverse viewpoints for effective navigation, manipulation, and 3D scene comprehension, is a fundamental challenge in Multi-Modal Large Language Models (MLLMs) to…