Related papers: Pose Estimation for Vehicle-mounted Cameras via Ho…
For event cameras, current sparse geometric solvers for egomotion estimation assume that the rotational displacements are known, such as those provided by an IMU. Thus, they can only recover the translational motion parameters. Recovering…
Estimating position and orientation change of a mobile platform from two consecutive point clouds provided by a high-resolution sensor is a key problem in autonomous navigation. In particular, scan matching algorithms aim to find the…
Estimating camera wearer's body pose from an egocentric view (egopose) is a vital task in augmented and virtual reality. Existing approaches either use a narrow field of view front facing camera that barely captures the wearer, or an…
Correct fusion of data from two sensors is not possible without an accurate estimate of their relative pose, which can be determined through the process of extrinsic calibration. When two or more sensors are capable of producing their own…
Multi-perspective cameras are quickly gaining importance in many applications such as smart vehicles and virtual or augmented reality. However, a large system size or absence of overlap in neighbouring fields-of-view often complicate their…
3D pose estimation from a single 2D image is an important and challenging task in computer vision with applications in autonomous driving, robot manipulation and augmented reality. Since 3D pose is a continuous quantity, a natural…
Distinction among nearby poses and among symmetries of an object is challenging. In this paper, we propose a unified, group-theoretic approach to tackle both. Different from existing works which directly predict absolute pose, our method…
We present MVTOP, a novel transformer-based method for multi-view rigid object pose estimation. Through an early fusion of the view-specific features, our method can resolve pose ambiguities that would be impossible to solve with a single…
Event cameras provide a natural and data efficient representation of visual information, motivating novel computational strategies towards extracting visual information. Inspired by the biological vision system, we propose a behavior driven…
In monocular 3D human pose estimation a common setup is to first detect 2D positions and then lift the detection into 3D coordinates. Many algorithms suffer from overfitting to camera positions in the training set. We propose a siamese…
Many robotics and mapping systems contain multiple sensors to perceive the environment. Extrinsic parameter calibration, the identification of the position and rotation transform between the frames of the different sensors, is critical to…
Visual re-localization means using a single image as input to estimate the camera's location and orientation relative to a pre-recorded environment. The highest-scoring methods are "structure based," and need the query camera's intrinsics…
We propose embodied scene-aware human pose estimation where we estimate 3D poses based on a simulated agent's proprioception and scene awareness, along with external third-person observations. Unlike prior methods that often resort to…
Understanding terrain topology at long-range is crucial for the success of off-road robotic missions, especially when navigating at high-speeds. LiDAR sensors, which are currently heavily relied upon for geometric mapping, provide sparse…
Marking-level high-definition maps (HD maps) are of great significance for autonomous vehicles (AVs), especially in large-scale, appearance-changing scenarios where AVs rely on markings for localization and lanes for safe driving. In this…
In this paper, we propose a novel approach to enhance the 3D body pose estimation of a person computed from videos captured from a single wearable camera. The key idea is to leverage high-level features linking first- and third-views in a…
We reveal a complete set of constraints that need to be imposed on a set of 3-by-3 matrices to ensure that the matrices represent genuine homographies associated with multiple planes between two views. We also show how to exploit the…
In general, human pose estimation methods are categorized into two approaches according to their architectures: regression (i.e., heatmap-free) and heatmap-based methods. The former one directly estimates precise coordinates of each…
Fourier ptychography (FP), as a computational imaging method, is a powerful tool to improve imaging resolution. Camera-scanning Fourier ptychography extends the application of FP from micro to macro creatively. Due to the non-ideal scanning…
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…