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In this paper, we propose a visual-inertial framework able to efficiently estimate the camera poses of a non-rigid trinocular baseline for long-range depth estimation on-board a fast moving aerial platform. The estimation of the…
Depth sensing is a critical component of autonomous driving technologies, but today's LiDAR- or stereo camera-based solutions have limited range. We seek to increase the maximum range of self-driving vehicles' depth perception modules for…
Although many advances have been made in light-field and camera-array image processing, there is still a lack of thorough analysis of the localisation accuracy of different multi-camera systems. By considering the problem from a…
Light field imaging involves capturing both angular and spatial distribution of light; it enables new capabilities, such as post-capture digital refocusing, camera aperture adjustment, perspective shift, and depth estimation. Micro-lens…
Triangulation refers to the problem of finding a 3D point from its 2D projections on multiple camera images. For solving this problem, it is the common practice to use so-called optimal triangulation method, which we call the L2 method in…
Learning-based monocular depth estimation leverages geometric priors present in the training data to enable metric depth perception from a single image, a traditionally ill-posed problem. However, these priors are often specific to a…
The measurement of the spatio-temporal correlations of light provides an interesting tool to overcome the traditional limitations of standard imaging, such as the strong trade-off between spatial resolution and depth of field. In…
This paper presents a novel calibration algorithm for Multi-Focus Plenoptic Cameras (MFPCs) using raw images only. The design of such cameras is usually complex and relies on precise placement of optic elements. Several calibration…
Line scanning cameras, which capture only a single line of pixels, have been increasingly used in ground based mobile or robotic platforms. In applications where it is advantageous to directly georeference the camera data to world…
Metric localization plays a critical role in vision-based navigation. For overcoming the degradation of matching photometry under appearance changes, recent research resorted to introducing geometry constraints of the prior scene structure.…
Monocular depth estimation is a critical task for autonomous driving and many other computer vision applications. While significant progress has been made in this field, the effects of viewpoint shifts on depth estimation models remain…
In this paper we present a differential approach to photo-polarimetric shape estimation. We propose several alternative differential constraints based on polarisation and photometric shading information and show how to express them in a…
Correlation plenoptic imaging (CPI) is a light-field imaging technique employing intensity correlation measurements to simultaneously detect the spatial distribution and the propagation direction of light. Compared to standard methods, in…
It is essential to have a method to map an unknown terrain for various applications. For places where human access is not possible, a method should be proposed to identify the environment. Exploration, disaster relief, transportation and…
Monocular depth estimation is a highly challenging problem that is often addressed with deep neural networks. While these are able to use recognition of image features to predict reasonably looking depth maps the result often has low metric…
Stereo vision generally involves the computation of pixel correspondences and estimation of disparities between rectified image pairs. In many applications, including simultaneous localization and mapping (SLAM) and 3D object detection, the…
The depth of a visible surface of a scene is the distance between the surface and the sensor. Recovering depth information from two-dimensional images of a scene is an important task in computer vision that can assist numerous applications…
Advances in portability and low cost of plenoptic cameras have revived interest in light field imaging. Light-field imaging has evolved into a technology that enables us to capture richer visual information. This high-dimensional…
Calibrating displays is a basic and regular task that content creators must perform to maintain optimal visual experience, yet it remains a troublesome issue. Measuring display characteristics from different viewpoints often requires…
Calibration of multi-camera systems is a key task for accurate object tracking. However, it remains a challenging problem in real-world conditions, where traditional methods are not applicable due to the lack of accurate floor plans,…