Related papers: Minimal Cases for Computing the Generalized Relati…

The rolling shutter camera has received great attention due to its low cost imaging capability, however, the estimation of relative pose between rolling shutter cameras still remains a difficult problem owing to its line-by-line image…

Affine correspondences have received significant attention due to their benefits in tasks like image matching and pose estimation. Existing methods for extracting affine correspondences still have many limitations in terms of performance;…

This paper presents new efficient solutions to the rolling shutter camera absolute pose problem. Unlike the state-of-the-art polynomial solvers, we approach the problem using simple and fast linear solvers in an iterative scheme. We present…

Estimating pose from given 3D correspondences, including point-to-point, point-to-line and point-to-plane correspondences, is a fundamental task in computer vision with many applications. We present a complete solution for this task,…

In this paper, we introduce a general framework for analyzing the numerical conditioning of minimal problems in multiple view geometry, using tools from computational algebra and Riemannian geometry. Special motivation comes from the fact…

We propose a novel approach for estimating the relative pose between rolling shutter cameras using the intersections of line projections with a single scanline per image. This allows pose estimation without explicitly modeling camera…

Multiple Camera Systems (MCS) have been widely used in many vision applications and attracted much attention recently. There are two principle types of MCS, one is the Rigid Multiple Camera System (RMCS); the other is the Articulated Camera…

Estimating the 6-DoF pose of a camera from a single image relative to a pre-computed 3D point-set is an important task for many computer vision applications. Perspective-n-Point (PnP) solvers are routinely used for camera pose estimation,…

This paper proposes minimal solvers that use combinations of imaged translational symmetries and parallel scene lines to jointly estimate lens undistortion with either affine rectification or focal length and absolute orientation. We use…

We present gP4Pc, a new method for computing the absolute pose of a generalized camera with unknown internal scale from four corresponding 3D point-and-ray pairs. Unlike most pose-and-scale methods, gP4Pc is based on constraints arising…

The technique requires the epipolar geometry to be pre-estimated between each image pair. It exploits the constraints which the camera movement implies, in order to apply a closed-form correction to the parameters of the input affinities.…

Absolute pose estimation is a fundamental problem in computer vision, and it is a typical parameter estimation problem, meaning that efforts to solve it will always suffer from outlier-contaminated data. Conventionally, for a fixed…

In this paper we propose a global optimization-based approach to jointly matching a set of images. The estimated correspondences simultaneously maximize pairwise feature affinities and cycle consistency across multiple images. Unlike…

Stereo relative pose problem lies at the core of stereo visual odometry systems that are used in many applications. In this work, we present two minimal solvers for the stereo relative pose. We specifically consider the case when a minimal…

This paper introduces minimal solvers that jointly solve for radial lens undistortion and affine-rectification using local features extracted from the image of coplanar translated and reflected scene texture, which is common in man-made…

We consider the classical camera pose estimation problem that arises in many computer vision applications, in which we are given n 2D-3D correspondences between points in the scene and points in the camera image (some of which are incorrect…

Despite recent advances on the topic of direct camera pose regression using neural networks, accurately estimating the camera pose of a single RGB image still remains a challenging task. To address this problem, we introduce a novel…

The internal geometry of most modern consumer cameras is not adequately described by the perspective projection. Almost all cameras exhibit some radial lens distortion and are equipped with an electronic rolling shutter that induces…

We give a new algorithmic solution to the well-known five-point relative pose problem. Our approach does not deal with the famous cubic constraint on an essential matrix. Instead, we use the Cayley representation of rotations in order to…

We propose a new deep learning based approach for camera relocalization. Our approach localizes a given query image by using a convolutional neural network (CNN) for first retrieving similar database images and then predicting the relative…