Related papers: Gyroscope-aided Relative Pose Estimation for Rolli…
Relative pose estimation is a fundamental problem in computer vision and it has been studied for conventional global shutter cameras for decades. However, recently, a rolling shutter camera has been widely used due to its low cost imaging…
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…
In this paper, we present a novel linear algorithm to estimate the 6 DoF relative pose from consecutive frames of stereo rolling shutter (RS) cameras. Our method is derived based on the assumption that stereo cameras undergo motion with…
The vast majority of modern consumer-grade cameras employ a rolling shutter mechanism. In dynamic geometric computer vision applications such as visual SLAM, the so-called rolling shutter effect therefore needs to be properly taken into…
We propose a novel approach for estimating the relative pose between rolling shutter cameras using the intersections of line projections with a single scanline per image. This allows pose estimation without explicitly modeling camera…
The internal geometry of most modern consumer cameras is not adequately described by the perspective projection. Almost all cameras exhibit some radial lens distortion and are equipped with an electronic rolling shutter that induces…
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…
Rolling shutter (RS) cameras dominate consumer and smartphone markets. Several methods for computing the absolute pose of RS cameras have appeared in the last 20 years, but the relative pose problem has not been fully solved yet. We provide…
This paper presents a convolutional neural network based approach for estimating the relative pose between two cameras. The proposed network takes RGB images from both cameras as input and directly produces the relative rotation and…
Estimating the relative pose between two cameras is a fundamental step in many applications such as Structure-from-Motion. The common approach to relative pose estimation is to apply a minimal solver inside a RANSAC loop. Highly efficient…
Estimating the relative pose between two cameras is a fundamental step in many applications such as Structure-from-Motion. The common approach to relative pose estimation is to apply a minimal solver inside a RANSAC loop. Highly efficient…
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…
This paper presents new efficient solutions to the rolling shutter camera absolute pose problem. Unlike the state-of-the-art polynomial solvers, we approach the problem using simple and fast linear solvers in an iterative scheme. We present…
In this paper, we develop a modified differential Structure from Motion (SfM) algorithm that can estimate relative pose from two consecutive frames despite of Rolling Shutter (RS) artifacts. In particular, we show that under constant…
The $\mathrm{SE}(3)$ invariants of a pose include its rotation angle and screw translation. In this paper, we present a complete comprehensive study of the relative pose estimation problem for a calibrated camera constrained by known…
Cameras with rolling shutters are becoming more common as low-power, low-cost CMOS sensors are being used more frequently in cameras. The rolling shutter means that not all scanlines are exposed over the same time interval. The effects of a…
We introduce RoboPose, a method to estimate the joint angles and the 6D camera-to-robot pose of a known articulated robot from a single RGB image. This is an important problem to grant mobile and itinerant autonomous systems the ability to…
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…
This work presents two novel solvers for estimating the relative poses among views with known vertical directions. The vertical directions of camera views can be easily obtained using inertial measurement units (IMUs) which have been widely…
The goal of this paper is to estimate directly the rotation and translation between two stereoscopic images with the help of five homologous points. The methodology presented does not mix the rotation and translation parameters, which is…