Related papers: Calculating Pose with Vanishing Points of Visual-S…
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…
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…
Automated 3D pose estimation of satellites and other known space objects is a critical component of space situational awareness. Ground-based imagery offers a convenient data source for satellite characterization; however, analysis…
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…
The problem of identifying the 3D pose of a known object from a given 2D image has important applications in Computer Vision ranging from robotic vision to image analysis. Our proposed method of registering a 3D model of a known object on a…
Determining the position and orientation of a calibrated camera from a single image with respect to a 3D model is an essential task for many applications. When 2D-3D correspondences can be obtained reliably, perspective-n-point solvers can…
Accurate camera pose estimation result is essential for visual SLAM (VSLAM). This paper presents a novel pose correction method to improve the accuracy of the VSLAM system. Firstly, the relationship between the camera pose estimation error…
Multi-camera systems offer rich observation capabilities for visual navigation and 3D scene reconstruction; however, the resulting feature redundancy often compromises computational efficiency. This challenge is particularly pronounced…
Pose estimation is one of the most important problems in computer vision. It can be divided in two different categories -- absolute and relative -- and may involve two different types of camera models: central and non-central.…
We tackle the problem of estimating a Manhattan frame, i.e. three orthogonal vanishing points, and the unknown focal length of the camera, leveraging a prior vertical direction. The direction can come from an Inertial Measurement Unit that…
In this paper a method for camera pose estimation from a sequence of images is presented. The method assumes camera is calibrated (intrinsic parameters are known) which allows to decrease a number of required pairs of corresponding points…
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…
6D pose estimation aims at determining the object pose that best explains the camera observation. The unique solution for non-ambiguous objects can turn into a multi-modal pose distribution for symmetrical objects or when occlusions of…
Background: Pose estimation of rigid objects is a practical challenge in optical metrology and computer vision. This paper presents a novel stochastic-geometrical modeling framework for object pose estimation based on observing multiple…
Vanishing points and vanishing lines are classical geometrical concepts in perspective cameras that have a lineage dating back to 3 centuries. A vanishing point is a point on the image plane where parallel lines in 3D space appear to…
We propose a novel 3D human pose detector using two panoramic cameras. We show that transforming fisheye perspectives to rectilinear views allows a direct application of two-dimensional deep-learning pose estimation methods, without the…
Correspondences between 3D lines and their 2D images captured by a camera are often used to determine position and orientation of the camera in space. In this work, we propose a novel algebraic algorithm to estimate the camera pose. We…
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…
Existing object pose estimation methods commonly require a one-to-one point matching step that forces them to be separated into two consecutive stages: visual correspondence detection (e.g., by matching feature descriptors as part of a…
In this paper, we propose a method for initial camera pose estimation from just a single image which is robust to viewing conditions and does not require a detailed model of the scene. This method meets the growing need of easy deployment…