Related papers: Minimal Rolling Shutter Absolute Pose with Unknown…
In this paper, we argue that modern pre-integration methods for inertial measurement units (IMUs) are accurate enough to ignore the drift for short time intervals. This allows us to consider a simplified camera model, which in turn admits…
Images obtained by drift-scanning with a stationary telescope are affected by the declination-dependent curvature of star trails. The image displacement to curvature and drift rate variation increases with the angular field of view and can…
Because image sensor chips have a finite bandwidth with which to read out pixels, recording video typically requires a trade-off between frame rate and pixel count. Compressed sensing techniques can circumvent this trade-off by assuming…
We address the problem of optical decalibration in mobile stereo camera setups, especially in context of autonomous vehicles. In real world conditions, an optical system is subject to various sources of anticipated and unanticipated…
It has previously been demonstrated in both simulation and experiment that well aligned remote focusing microscopes exhibit residual spherical aberration outside the focal plane. In this work, compensation of the residual spherical…
We introduce FocalPose, a neural render-and-compare method for jointly estimating the camera-object 6D pose and camera focal length given a single RGB input image depicting a known object. The contributions of this work are twofold. First,…
Robust 6D pose estimation of novel objects under challenging illumination remains a significant challenge, often requiring a trade-off between accurate initial pose estimation and efficient real-time tracking. We present a unified framework…
Depth position highly affects lens distortion, especially in close-range photography, which limits the measurement accuracy of existing stereo vision systems. Moreover, traditional depth-dependent distortion models and their calibration…
The fisheye camera, with its unique wide field of view and other characteristics, has found extensive applications in various fields. However, the fisheye camera suffers from significant distortion compared to pinhole cameras, resulting in…
Vision-based perception systems are typically exposed to large orientation changes in different robot applications. In such conditions, their performance might be compromised due to the inherent complexity of processing data captured under…
Compact and low-cost devices are needed for autonomous driving to image and measure distances to objects 360-degree around. We have been developing an omnidirectional stereo camera exploiting two hyperbolic mirrors and a single set of a…
Camera calibration is a first and fundamental step in various computer vision applications. Despite being an active field of research, Zhang's method remains widely used for camera calibration due to its implementation in popular toolboxes.…
Dynamic videos with small baseline motions are ubiquitous in daily life, especially on social media. However, these videos present a challenge to existing pose estimation frameworks due to ambiguous features, drift accumulation, and…
Relative pose regressors (RPRs) localize a camera by estimating its relative translation and rotation to a pose-labelled reference. Unlike scene coordinate regression and absolute pose regression methods, which learn absolute scene…
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…
In this paper, we propose a global method for estimating the motion of a camera which films a static scene. Our approach is direct, fast and robust, and deals with adjacent frames of a sequence. It is based on a quadratic approximation of…
The recent years have given rise to a large number of techniques for "looking around corners", i.e., for reconstructing occluded objects from time-resolved measurements of indirect light reflections off a wall. While the direct view of…
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…
We consider a category-level perception problem, where one is given 3D sensor data picturing an object of a given category (e.g. a car), and has to reconstruct the pose and shape of the object despite intra-class variability (i.e. different…
A rotational modulator (RM) gamma-ray imager is capable of obtaining significantly better angular resolution than the fundamental geometric resolution defined by the ratio of detector diameter to mask-detector separation. An RM imager…