Related papers: Minimal Cases for Computing the Generalized Relati…
We propose ways to speed up the initial pose-graph generation for global Structure-from-Motion algorithms. To avoid forming tentative point correspondences by FLANN and geometric verification by RANSAC, which are the most time-consuming…
Given two images, we can estimate the relative camera pose between them by establishing image-to-image correspondences. Usually, correspondences are 2D-to-2D and the pose we estimate is defined only up to scale. Some applications, aiming at…
Pose Graph Optimization involves the estimation of a set of poses from pairwise measurements and provides a formalization for many problems arising in mobile robotics and geometric computer vision. In this paper, we consider the case in…
3D scan registration is a classical, yet a highly useful problem in the context of 3D sensors such as Kinect and Velodyne. While there are several existing methods, the techniques are usually incremental where adjacent scans are registered…
Matching two images while estimating their relative geometry is a key step in many computer vision applications. For decades, a well-established pipeline, consisting of SIFT, RANSAC, and 8-point algorithm, has been used for this task.…
Despite the remarkable advances in image matching and pose estimation, image-based localization of a camera in a temporally-varying outdoor environment is still a challenging problem due to huge appearance disparity between query and…
We introduce RoboPose, a method to estimate the joint angles and the 6D camera-to-robot pose of a known articulated robot from a single RGB image. This is an important problem to grant mobile and itinerant autonomous systems the ability to…
Illuminating a scene with artificial light is a prerequisite for seeing in dark environments. However, nonuniform and dynamic illumination can deteriorate or even break computer vision approaches, for instance when operating a robot with…
Recent advances in monocular depth estimation methods (MDE) and their improved accuracy open new possibilities for their applications. In this paper, we investigate how monocular depth estimates can be used for relative pose estimation. In…
Extracting point correspondences from two or more views of a scene is a fundamental computer vision problem with particular importance for relative camera pose estimation and structure-from-motion. Existing local feature matching…
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…
Camera localization in 3D LiDAR maps has gained increasing attention due to its promising ability to handle complex scenarios, surpassing the limitations of visual-only localization methods. However, existing methods mostly focus on…
This paper presents a generic 6DOF camera pose estimation method, which can be used for both the pinhole camera and the fish-eye camera. Different from existing methods, relative positions of 3D points rather than absolute coordinates in…
Camera pose estimation for two-view geometry traditionally relies on RANSAC. Normally, a multitude of image correspondences leads to a pool of proposed hypotheses, which are then scored to find a winning model. The inlier count is generally…
Solving non-linear least-squares problem for pose estimation (rotation and translation) is often a time consuming yet fundamental problem in several real-time computer vision applications. With an adequate rotation parametrization, the…
Radiance fields including NeRFs and 3D Gaussians demonstrate great potential in high-fidelity rendering and scene reconstruction, while they require a substantial number of posed images as inputs. COLMAP is frequently employed for…
We address the problem of estimating both translational and angular velocity of a camera from asynchronous point tracks, a formulation relevant to rolling shutter and event cameras. Since the original problem is non-polynomial, we propose a…
This paper addresses the problem of 3D pose estimation for multiple people in a few calibrated camera views. The main challenge of this problem is to find the cross-view correspondences among noisy and incomplete 2D pose predictions. Most…
Multi-perspective cameras with potentially non-overlapping fields of view have become an important exteroceptive sensing modality in a number of applications such as intelligent vehicles, drones, and mixed reality headsets. In this work, we…
Planar markers are useful in robotics and computer vision for mapping and localisation. Given a detected marker in an image, a frequent task is to estimate the 6DOF pose of the marker relative to the camera, which is an instance of planar…