Related papers: Rotation-Only Bundle Adjustment
Structure from Motion (SfM) is a critical task in computer vision, aiming to recover the 3D scene structure and camera motion from a sequence of 2D images. The recent pose-only imaging geometry decouples 3D coordinates from camera poses and…
We demonstrate that, under orthographic projection and with a camera fixated on a point located on a rigid body, the rotation of that body can be analytically obtained by tracking only one other feature in the image. With some exceptions,…
We present a novel solution to the camera pose estimation problem, where rotation and translation of a camera between two views are estimated from matched feature points in the images. The camera pose estimation problem is traditionally…
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…
The most prevalent routine for camera calibration is based on the detection of well-defined feature points on a purpose-made calibration artifact. These could be checkerboard saddle points, circles, rings or triangles, often printed on a…
Bundle adjustment (BA) is the standard way to optimise camera poses and to produce sparse representations of a scene. However, as the number of camera poses and features grows, refinement through bundle adjustment becomes inefficient.…
As an essential part of structure from motion (SfM) and Simultaneous Localization and Mapping (SLAM) systems, motion averaging has been extensively studied in the past years and continues to attract surging research attention. While…
A cornerstone of geometric reconstruction, rotation averaging seeks the set of absolute rotations that optimally explains a set of measured relative orientations between them. In addition to being an integral part of bundle adjustment and…
We address rotation averaging (RA) and its application to real-world 3D reconstruction. Local optimisation based approaches are the de facto choice, though they only guarantee a local optimum. Global optimisers ensure global optimality in…
We present an approach to estimating camera rotation in crowded, real-world scenes from handheld monocular video. While camera rotation estimation is a well-studied problem, no previous methods exhibit both high accuracy and acceptable…
This paper presents a convolutional neural network based approach for estimating the relative pose between two cameras. The proposed network takes RGB images from both cameras as input and directly produces the relative rotation and…
We introduce new linear mathematical formulations to calculate the focal length of a camera in an active platform. Through mathematical derivations, we show that the focal lengths in each direction can be estimated using only one point…
The goal of this paper is to estimate directly the rotation and translation between two stereoscopic images with the help of five homologous points. The methodology presented does not mix the rotation and translation parameters, which is…
A cornerstone of geometric reconstruction, rotation averaging seeks the set of absolute rotations that optimally explains a set of measured relative orientations between them. In spite of being an integral part of bundle adjustment and…
Mobile devices equipped with a multi-camera system and an inertial measurement unit (IMU) are widely used nowadays, such as self-driving cars. The task of relative pose estimation using visual and inertial information has important…
Camera rotation estimation from a single image is a challenging task, often requiring depth data and/or camera intrinsics, which are generally not available for in-the-wild videos. Although external sensors such as inertial measurement…
Most intelligent transportation systems use a combination of radar sensors and cameras for robust vehicle perception. The calibration of these heterogeneous sensor types in an automatic fashion during system operation is challenging due to…
Event cameras are bio-inspired visual sensors that capture pixel-wise intensity changes and output asynchronous event streams. They show great potential over conventional cameras to handle challenging scenarios in robotics and computer…
Multiview registration is used to estimate Rigid Body Transformations (RBTs) from multiple frames and reconstruct a scene with corresponding scans. Despite the success of pairwise registration and pose synchronization, the concept of Bundle…
We propose a robust and fast bundle adjustment solution that estimates the 6-DoF pose of the camera and the geometry of the environment based on measurements from a rolling shutter (RS) camera. This tackles the challenges in the existing…