Related papers: P1AC: Revisiting Absolute Pose From a Single Affin…

RGB-based novel object pose estimation is critical for rapid deployment in robotic applications, yet zero-shot generalization remains a key challenge. In this paper, we introduce PicoPose, a novel framework designed to tackle this task…

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…

Pose estimation is one of the most important problems in computer vision. It can be divided in two different categories -- absolute and relative -- and may involve two different types of camera models: central and non-central.…

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…

Estimating the 6-DoF pose of a rigid object from a single RGB image is a crucial yet challenging task. Recent studies have shown the great potential of dense correspondence-based solutions, yet improvements are still needed to reach…

This paper studies the challenging two-view 3D reconstruction in a rigorous sparse-view configuration, which is suffering from insufficient correspondences in the input image pairs for camera pose estimation. We present a novel Neural…

Blind Perspective-n-Point (PnP) is the problem of estimating the position and orientation of a camera relative to a scene, given 2D image points and 3D scene points, without prior knowledge of the 2D-3D correspondences. Solving for pose and…

6D pose estimation is a central problem in robot vision. Compared with pose estimation based on point correspondences or its robust versions, correspondence-free methods are often more flexible. However, existing correspondence-free methods…

We introduce Corr2Distrib, the first correspondence-based method which estimates a 6D camera pose distribution from an RGB image, explaining the observations. Indeed, symmetries and occlusions introduce visual ambiguities, leading to…

This paper introduces a novel approach to the fine alignment of images in a burst captured by a handheld camera. In contrast to traditional techniques that estimate two-dimensional transformations between frame pairs or rely on discrete…

Visual localization is the task of accurate camera pose estimation in a known scene. It is a key problem in computer vision and robotics, with applications including self-driving cars, Structure-from-Motion, SLAM, and Mixed Reality.…

Computer vision has long relied on two kinds of correspondences: pixel correspondences in images and 3D correspondences on object surfaces. Is there another kind, and if there is, what can they do for us? In this paper, we introduce…

This paper presents a simple algebraic method to estimate the pose of a camera relative to a planar target from $n \geq 4$ reference points with known coordinates in the target frame and their corresponding bearing measurements in the…

We propose two minimal solutions to the problem of relative pose estimation of (i) a calibrated camera from four points in two views and (ii) a calibrated generalized camera from five points in two views. In both cases, the relative…

Camera pose tracking attracts much interest both from academic and industrial communities, of which the methods based on planar markers are easy to be implemented. However, most of the existing methods need to identify multiple points in…

In computer vision, camera pose estimation from correspondences between 3D geometric entities and their projections into the image has been a widely investigated problem. Although most state-of-the-art methods exploit low-level primitives…

Visual localization aims to determine the camera pose of a query image relative to a database of posed images. In recent years, deep neural networks that directly regress camera poses have gained popularity due to their fast inference…

A minimal solution using two affine correspondences is presented to estimate the common focal length and the fundamental matrix between two semi-calibrated cameras - known intrinsic parameters except a common focal length. To the best of…

In this paper, we propose the first minimal solutions for estimating the semi-generalized homography given a perspective and a generalized camera. The proposed solvers use five 2D-2D image point correspondences induced by a scene plane. One…

Accurate camera pose estimation is a fundamental requirement for numerous applications, such as autonomous driving, mobile robotics, and augmented reality. In this work, we address the problem of estimating the global 6 DoF camera pose from…