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Accurate 6D pose estimation of 3D objects is a fundamental task in computer vision, and current research typically predicts the 6D pose by establishing correspondences between 2D image features and 3D model features. However, these methods…
In the rapidly advancing domain of computer vision, accurately estimating the poses of multiple individuals from various viewpoints remains a significant challenge, especially when reliability is a key requirement. This paper introduces a…
6D pose estimation in space poses unique challenges that are not commonly encountered in the terrestrial setting. One of the most striking differences is the lack of atmospheric scattering, allowing objects to be visible from a great…
This work contributes an efficient algorithm to compute the Relative Pose problem (RPp) between calibrated cameras and certify the optimality of the solution, given a set of pair-wise feature correspondences affected by noise and probably…
The problem of identifying the 3D pose of a known object from a given 2D image has important applications in Computer Vision. Our proposed method of registering a 3D model of a known object on a given 2D photo of the object has numerous…
In this paper, we propose an object-based camera pose estimation from a single RGB image and a pre-built map of objects, represented with ellipsoidal models. We show that contrary to point correspondences, the definition of a cost function…
Relative localization between autonomous robots without infrastructure is crucial to achieve their navigation, path planning, and formation in many applications, such as emergency response, where acquiring a prior knowledge of the…
In multi-robot missions, relative position and attitude information between agents is valuable for a variety of tasks such as mapping, planning, and formation control. In this paper, the problem of estimating relative poses from a set of…
We present a novel technique to estimate the 6D pose of objects from single images where the 3D geometry of the object is only given approximately and not as a precise 3D model. To achieve this, we employ a dense 2D-to-3D correspondence…
To build commercial robots, skid-steering mechanical design is of increased popularity due to its manufacturing simplicity and unique mechanism. However, these also cause significant challenges on software and algorithm design, especially…
Given sparse views of a 3D object, estimating their camera poses is a long-standing and intractable problem. Toward this goal, we consider harnessing the pre-trained diffusion model of novel views conditioned on viewpoints (Zero-1-to-3). We…
Objects with symmetries are common in our daily life and in industrial contexts, but are often ignored in the recent literature on 6D pose estimation from images. In this paper, we study in an analytical way the link between the symmetries…
Most computer vision systems assume distortion-free images as inputs. The widely used rolling-shutter (RS) image sensors, however, suffer from geometric distortion when the camera and object undergo motion during capture. Extensive…
Object pose estimation is a core perception task that enables, for example, object grasping and scene understanding. The widely available, inexpensive and high-resolution RGB sensors and CNNs that allow for fast inference based on this…
Accurate registration of 2D imagery with point clouds is a key technology for image-LiDAR point cloud fusion, camera to laser scanner calibration and camera localization. Despite continuous improvements, automatic registration of 2D and 3D…
We introduce new linear mathematical formulations to calculate the focal length of a camera in an active platform. Through mathematical derivations, we show that the focal lengths in each direction can be estimated using only one point…
Recent trends in SLAM and visual navigation have embraced 3D Gaussians as the preferred scene representation, highlighting the importance of estimating camera poses from a single image using a pre-built Gaussian model. However, existing…
Global positioning systems can provide sufficient positioning accuracy for large scale robotic tasks in open environments. However, in underwater environments, these systems cannot be directly used, and measuring the position of underwater…
In this paper, we address common error sources for 3D Gaussian Splatting (3DGS) including blur, imperfect camera poses, and color inconsistencies, with the goal of improving its robustness for practical applications like reconstructions…
A viewing graph is a set of unknown camera poses, as the vertices, and the observed relative motions, as the edges. Solving the viewing graph is an essential step in a Structure-from-Motion procedure, where a set of relative motions is…