Related papers: Pose Estimation for Vehicle-mounted Cameras via Ho…
Vision-based ego-lane inference using High-Definition (HD) maps is essential in autonomous driving and advanced driver assistance systems. The traditional approach necessitates well-calibrated cameras, which confines variation of camera…
The problem of identifying the 3D pose of a known object from a given 2D image has important applications in Computer Vision. Our proposed method of registering a 3D model of a known object on a given 2D photo of the object has numerous…
We propose an automatic method for pose and motion estimation against a ground surface for a ground-moving robot-mounted monocular camera. The framework adopts a semi-dense approach that benefits from both a feature-based method and an…
We propose a novel external indoor positioning system that computes the position and orientation of multiple model-scale vehicles. For this purpose, we use a camera mounted at a height of 3.3m and LEDs attached to each vehicle. We reach an…
This paper presents a method for pose estimation of off-road vehicles moving over uneven terrain. It determines the contact points between the wheels and the terrain, assuming rigid contacts between an arbitrary number of wheels and ground.…
Camera, and associated with its objects within the field of view, localization could benefit many computer vision fields, such as autonomous driving, robot navigation, and augmented reality (AR). In this survey, we first introduce specific…
Extracting planes from a 3D scene is useful for downstream tasks in robotics and augmented reality. In this paper we tackle the problem of estimating the planar surfaces in a scene from posed images. Our first finding is that a surprisingly…
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…
We propose a fully automated system that simultaneously estimates the camera intrinsics, the ground plane, and physical distances between people from a single RGB image or video captured by a camera viewing a 3-D scene from a fixed vantage…
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…
We present a solution to the problem of spatio-temporal calibration for event cameras mounted on an onmi-directional vehicle. Different from traditional methods that typically determine the camera's pose with respect to the vehicle's body…
Estimating vehicles' locations is one of the key components in intelligent traffic management systems (ITMSs) for increasing traffic scene awareness. Traditionally, stationary sensors have been employed in this regard. The development of…
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…
Smartphones, tablets and camera systems used, e.g., in cars and UAVs, are typically equipped with IMUs (inertial measurement units) that can measure the gravity vector accurately. Using this additional information, the $y$-axes of the…
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…
Line features are valid complements for point features in man-made environments. 3D-2D constraints provided by line features have been widely used in Visual Odometry (VO) and Structure-from-Motion (SfM) systems. However, how to accurately…
Systems for estimating the six-degrees-of-freedom human body pose have been improving for over two decades. Technologies such as motion capture cameras, advanced gaming peripherals and more recently both deep learning techniques and virtual…
We address the problem of epipolar geometry using the motion of silhouettes. Such methods match epipolar lines or frontier points across views, which are then used as the set of putative correspondences. We introduce an approach that…
Visual navigation devices require precise calibration to achieve high-precision localization and navigation, which includes camera and attitude calibration. To address the limitations of time-consuming camera calibration and complex…
Estimating the relative camera pose from $n \geq 5$ correspondences between two calibrated views is a fundamental task in computer vision. This process typically involves two stages: 1) estimating the essential matrix between the views, and…