Related papers: Stereo relative pose from line and point feature t…
This study presents a theoretical structure for the monocular pose estimation problem using the total least squares. The unit-vector line-of-sight observations of the features are extracted from the monocular camera images. First, the…
Visual localization is the problem of estimating the camera pose of a given query image within a known scene. Most state-of-the-art localization approaches follow the structure-based paradigm and use 2D-3D matches between pixels in a query…
We conduct a thorough study of photometric stereo under nearby point light source illumination, from modeling to numerical solution, through calibration. In the classical formulation of photometric stereo, the luminous fluxes are assumed to…
Mirror adapters can match a camera and a projector to the task of producing and visualizing a stereo pair. The imaging digital technology can benefit on the traditional optical technology of the last century to get more compact and…
We propose SGLoc, a novel localization system that directly regresses camera poses from 3D Gaussian Splatting (3DGS) representation by leveraging semantic information. Our method utilizes the semantic relationship between 2D image and 3D…
We address the problem of 3D human pose estimation from 2D input images using only weakly supervised training data. Despite showing considerable success for 2D pose estimation, the application of supervised machine learning to 3D pose…
The collaborative visual perception of multiple Unmanned Aerial Vehicles (UAVs) has increasingly become a research hotspot. Compared to a single UAV equipped with a short-baseline stereo camera, multi-UAV collaborative vision offers a wide…
A sliding camera inside an orthogonal polygon $P$ is a point guard that travels back and forth along an orthogonal line segment $\gamma$ in $P$. The sliding camera $g$ can see a point $p$ in $P$ if the perpendicular from $p$ onto $\gamma$…
We address several extremal problems concerning the spreading property of point sets of Steiner triple systems. This property is closely related to the structure of subsystems, as a set is spreading if and only if there is no proper…
This paper proposes a method to compute camera 6Dof poses to achieve a user defined coverage. The camera placement problem is modeled as a combinatorial optimization where given the maximum number of cameras, a camera set is selected from a…
We propose a keypoint-based object-level SLAM framework that can provide globally consistent 6DoF pose estimates for symmetric and asymmetric objects alike. To the best of our knowledge, our system is among the first to utilize the camera…
Neural approaches have shown a significant progress on camera-based reconstruction. But they require either a fairly dense sampling of the viewing sphere, or pre-training on an existing dataset, thereby limiting their generalizability. In…
Pose estimation and map building are central ingredients of autonomous robots and typically rely on the registration of sensor data. In this paper, we investigate a new metric for registering images that builds upon on the idea of the…
Most feature-based stereo visual odometry (SVO) approaches estimate the motion of mobile robots by matching and tracking point features along a sequence of stereo images. However, in dynamic scenes mainly comprising moving pedestrians,…
As object detectors rapidly improve, attention has expanded past image-only networks to include a range of 3D and multimodal frameworks, especially ones that incorporate LiDAR. However, due to cost, logistics, and even some safety…
We study the use of overlapping and non-overlapping camera layouts in estimating the ego-motion of a moving robot. To estimate the location and orientation of the robot, we investigate using four cameras as non-overlapping individuals, and…
Current pandemic has caused the medical system to operate under high load. To relieve it, robots with high autonomy can be used to effectively execute contactless operations in hospitals and reduce cross-infection between medical staff and…
We aim at estimating the fundamental matrix in two views from five correspondences of rotation invariant features obtained by e.g.\ the SIFT detector. The proposed minimal solver first estimates a homography from three correspondences…
An analysis of the relative motion and point feature model configurations leading to solution degeneracy is presented, for the case of a Simultaneous Localization and Mapping system using multicamera clusters with non-overlapping…
This work proposes a process for efficiently training a point-wise object detector that enables localizing objects and computing their 6D poses in cluttered and occluded scenes. Accurate pose estimation is typically a requirement for robust…