Related papers: 1-point RANSAC for Circular Motion Estimation in C…
This article presents and compares four approaches for computing the rotation of a point about an axis by an angle in $\mathbb{R}^3$. We illustrate these methods by computing, by hand, the rotation of point $P=(1,0,1)^T$ about axis…
As the spherical object can be seen everywhere, we should extract the ellipse image accurately and fit it by implicit algebraic curve in order to finish the 3D reconstruction. In this paper, we propose a new ellipse fitting algorithm which…
We demonstrate that, under orthographic projection and with a camera fixated on a point located on a rigid body, the rotation of that body can be analytically obtained by tracking only one other feature in the image. With some exceptions,…
Solving Perspective-n-Point (PnP) problems is a traditional way of estimating object poses. Given outlier-contaminated data, a pose of an object is calculated with PnP algorithms of n = {3, 4} in the RANSAC-based scheme. However, the…
Rotation estimation plays a fundamental role in computer vision and robot tasks, and extremely robust rotation estimation is significantly useful for safety-critical applications. Typically, estimating a rotation is considered a non-linear…
In computed tomography (CT), the relative trajectories of a sample, a detector, and a signal source are traditionally considered to be known, since they are caused by the intentional preprogrammed movement of the instrument parts. However,…
We propose a novel method for estimating the global rotations of the cameras independently of their positions and the scene structure. When two calibrated cameras observe five or more of the same points, their relative rotation can be…
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…
We reconsider the classic problem of estimating accurately a 2D transformation from point matches between images containing outliers. RANSAC discriminates outliers by randomly generating minimalistic sampled hypotheses and verifying their…
This work is concerned with fan- and cone-beam computed tomography with circular source trajectory, where the reconstruction inverse problem requires an accurate knowledge of source, detector and rotational axis relative positions and…
This paper proposes a geometric interpretation of the angles and scales which the orientation- and scale-covariant feature detectors, e.g. SIFT, provide. Two new general constraints are derived on the scales and rotations which can be used…
Rotation estimation plays a fundamental role in many computer vision and robot tasks. However, efficiently estimating rotation in large inputs containing numerous outliers (i.e., mismatches) and noise is a recognized challenge. Many robust…
The main objective of this work is to develop a miniaturized, high accuracy, single-turn absolute, rotary encoder called ASTRAS360. Its measurement principle is based on capturing an image that uniquely identifies the rotation angle. To…
In computer vision, finding point correspondence among images plays an important role in many applications, such as image stitching, image retrieval, visual localization, etc. Most of the research worksfocus on the matching of local feature…
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…
The rotation averaging problem is a fundamental task in computer vision applications. It is generally very difficult to solve due to the nonconvex rotation constraints. While a sufficient optimality condition is available in the literature,…
Computed tomography is a method for synthesizing volumetric or cross-sectional images of an object from a collection of projections. Popular reconstruction methods for computed tomography are based on idealized models and assumptions that…
Correspondence-based rotation search and point cloud registration are two fundamental problems in robotics and computer vision. However, the presence of outliers, sometimes even occupying the great majority of the putative correspondences,…
Air-bearing platforms for simulating the rotational dynamics of satellites require highly precise ground truth systems. Unfortunately, commercial motion capture systems used for this scope are complex and expensive. This paper shows a novel…
Object pose estimation is a fundamental computer vision task exploited in several robotics and augmented reality applications. Many established approaches rely on predicting 2D-3D keypoint correspondences using RANSAC (Random sample…