Related papers: Rotation-Only Bundle Adjustment
We present a derivation for estimating the roll and pitch orientation of a partially calibrated camera mounted above a planar surface, using minimal scene information. Specifically, we assume known intrinsic parameters and a fixed height…
The main objective of this work is to develop a miniaturized, high accuracy, single-turn absolute, rotary encoder called ASTRAS360. Its measurement principle is based on capturing an image that uniquely identifies the rotation angle. To…
Rotation augmentations generally improve a model's invariance/equivariance to rotation - except in object detection. In object detection the shape is not known, therefore rotation creates a label ambiguity. We show that the de-facto method…
Multiple rotation averaging is an essential task for structure from motion, mapping, and robot navigation. The task is to estimate the absolute orientations of several cameras given some of their noisy relative orientation measurements. The…
Relative camera pose estimation, i.e. estimating the translation and rotation vectors using a pair of images taken in different locations, is an important part of systems in augmented reality and robotics. In this paper, we present an…
A viewing graph is a set of unknown camera poses, as the vertices, and the observed relative motions, as the edges. Solving the viewing graph is an essential step in a Structure-from-Motion procedure, where a set of relative motions is…
This paper presents a new algorithm to estimate absolute camera pose given an axis of the camera's rotation matrix. Current algorithms solve the problem via algebraic solutions on limited input domains. This paper shows that the problem can…
In this paper, we address the inverse problem of reconstructing a scene as well as the camera motion from the image sequence taken by an omni-directional camera. Our structure from motion results give sharp conditions under which the…
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.…
The $\mathrm{SE}(3)$ invariants of a pose include its rotation angle and screw translation. In this paper, we present a complete comprehensive study of the relative pose estimation problem for a calibrated camera constrained by known…
How to efficiently and accurately handle image matching outliers is a critical issue in two-view relative estimation. The prevailing RANSAC method necessitates that the minimal point pairs be inliers. This paper introduces a linear relative…
In this paper, we propose an approach to address the problem of 3D reconstruction of scenes from a single image captured by a light-field camera equipped with a rolling shutter sensor. Our method leverages the 3D information cues present in…
We propose a Convolutional Neural Network (CNN)-based model "RotationNet," which takes multi-view images of an object as input and jointly estimates its pose and object category. Unlike previous approaches that use known viewpoint labels…
Absolute camera pose regressors estimate the position and orientation of a camera from the captured image alone. Typically, a convolutional backbone with a multi-layer perceptron head is trained with images and pose labels to embed a single…
We propose three novel metrics for evaluating the accuracy of a set of estimated camera poses given the ground truth: Translation Alignment Score (TAS), Rotation Alignment Score (RAS), and Pose Alignment Score (PAS). The TAS evaluates the…
Determining the position and orientation of a calibrated camera from a single image with respect to a 3D model is an essential task for many applications. When 2D-3D correspondences can be obtained reliably, perspective-n-point solvers can…
This paper introduces a highly efficient algorithm capable of jointly estimating scale and rotation between two images with sub-pixel precision. Image alignment serves as a critical process for spatially registering images captured from…
This paper presents a method for extrinsic camera calibration (estimation of camera rotation and translation matrices) from a sequence of images. It is assumed camera intrinsic matrix and distortion coefficients are known and fixed during…
Accurate 6D object pose estimation is fundamental to robotic manipulation and grasping. Previous methods follow a local optimization approach which minimizes the distance between closest point pairs to handle the rotation ambiguity of…
Bundle adjustment plays a vital role in feature-based monocular SLAM. In many modern SLAM pipelines, bundle adjustment is performed to estimate the 6DOF camera trajectory and 3D map (3D point cloud) from the input feature tracks. However,…