Related papers: A Novel Method for the Absolute Pose Problem with …
Detecting objects and estimating their pose remains as one of the major challenges of the computer vision research community. There exists a compromise between localizing the objects and estimating their viewpoints. The detector ideally…
We propose two minimal solutions to the problem of relative pose estimation of (i) a calibrated camera from four points in two views and (ii) a calibrated generalized camera from five points in two views. In both cases, the relative…
3D pose estimation from sparse multi-views is a critical task for numerous applications, including action recognition, sports analysis, and human-robot interaction. Optimization-based methods typically follow a two-stage pipeline, first…
Pose Graph Optimization involves the estimation of a set of poses from pairwise measurements and provides a formalization for many problems arising in mobile robotics and geometric computer vision. In this paper, we consider the case in…
Outlier rejection and equivalently inlier set optimization is a key ingredient in numerous applications in computer vision such as filtering point-matches in camera pose estimation or plane and normal estimation in point clouds. Several…
Real-time robotic grasping, supporting a subsequent precise object-in-hand operation task, is a priority target towards highly advanced autonomous systems. However, such an algorithm which can perform sufficiently-accurate grasping with…
In this work we present a unified method of relative camera pose estimation from points and lines correspondences. Given a set of 2D points and lines correspondences in three views, of which two are known, a method has been developed for…
The goal of the proposed method is to directly obtain a pose matrix of a known rectangular target, without estimation, using geometric techniques. This method is specifically tailored for real-time, extreme imaging setups exceeding…
This work provides a theoretical analysis for optimally solving the pose estimation problem using total least squares for vector observations from landmark features, which is central to applications involving simultaneous localization and…
Estimating relative camera poses from consecutive frames is a fundamental problem in visual odometry (VO) and simultaneous localization and mapping (SLAM), where classic methods consisting of hand-crafted features and sampling-based outlier…
The estimation of the relative pose of two camera views is a fundamental problem in computer vision. Kneip et al. proposed to solve this problem by introducing the normal epipolar constraint (NEC). However, their approach does not take into…
Affine correspondences have traditionally been used to improve feature matching over wide baselines. While recent work has successfully used affine correspondences to solve various relative camera pose estimation problems, less attention…
Aligning partially overlapping point sets where there is no prior information about the value of the transformation is a challenging problem in computer vision. To achieve this goal, we first reduce the objective of the robust point…
Pose estimation refers to tracking a human's full body posture, including their head, torso, arms, and legs. The problem is challenging in practical settings where the number of body sensors are limited. Past work has shown promising…
Robustly estimating camera poses from a set of images is a fundamental task which remains challenging for differentiable methods, especially in the case of small and sparse camera pose graphs. To overcome this challenge, we propose…
Spatial perception is the backbone of many robotics applications, and spans a broad range of research problems, including localization and mapping, point cloud alignment, and relative pose estimation from camera images. Robust spatial…
In this paper, we introduce a novel RGB-D based relative pose estimation approach that is suitable for small-overlapping or non-overlapping scans and can output multiple relative poses. Our method performs scene completion and matches the…
We propose a new method for constructing elimination templates for efficient polynomial system solving of minimal problems in structure from motion, image matching, and camera tracking. We first construct a particular affine…
Estimating the 6D pose of objects using only RGB images remains challenging because of problems such as occlusion and symmetries. It is also difficult to construct 3D models with precise texture without expert knowledge or specialized…
Estimating position and orientation change of a mobile platform from two consecutive point clouds provided by a high-resolution sensor is a key problem in autonomous navigation. In particular, scan matching algorithms aim to find the…