Related papers: Rotation-Only Bundle Adjustment
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…
Camera pose regression methods apply a single forward pass to the query image to estimate the camera pose. As such, they offer a fast and light-weight alternative to traditional localization schemes based on image retrieval. Pose regression…
We consider the problem of sample-based feedback-based motion planning from bearing (direction-only) measurements. We build on our previous work that defines a cell decomposition of the environment using RRT*, and finds an output feedback…
Image retrieval-based cross-view localization methods often lead to very coarse camera pose estimation, due to the limited sampling density of the database satellite images. In this paper, we propose a method to increase the accuracy of a…
Optical cameras are gaining popularity as the suitable sensor for relative navigation in space due to their attractive sizing, power and cost properties when compared to conventional flight hardware or costly laser-based systems. However, a…
Most of the advanced control systems use sensor-based feedback for robust control. Tilt angle estimation is key feedback for many robotics and mechatronics applications in order to stabilize a system. Tilt angle cannot be directly measured…
The use of local detectors and descriptors in typical computer vision pipelines work well until variations in viewpoint and appearance change become extreme. Past research in this area has typically focused on one of two approaches to this…
Range-only (RO) localization involves determining the position of a mobile robot by measuring the distance to specific anchors. RO localization is challenging since the measurements are low-dimensional and a single range sensor does not…
Estimating robot pose from RGB images is a crucial problem in computer vision and robotics. While previous methods have achieved promising performance, most of them presume full knowledge of robot internal states, e.g. ground-truth robot…
A single Panorama can be drawn perspectively without distortions in arbitrary viewing directions and field-of-views when the camera position is at the origin. This is a key advantage in VR and virtual tour applications because it enables…
$ $Visual place recognition is challenging, especially when only a few place exemplars are given. To mitigate the challenge, we consider place recognition method using omnidirectional cameras and propose a novel Omnidirectional…
This paper proposes a RANSAC-based algorithm for determining the axial rotation angle of an object from a pair of its tomographic projections. An equation is derived for calculating the rotation angle using one correct keypoints…
Given 2D point correspondences between an image pair, inferring the camera motion is a fundamental issue in the computer vision community. The existing works generally set out from the epipolar constraint and estimate the essential matrix,…
Map based visual inertial localization is a crucial step to reduce the drift in state estimation of mobile robots. The underlying problem for localization is to estimate the pose from a set of 3D-2D feature correspondences, of which the…
We propose a novel method to reliably estimate the pose of a camera given a sequence of images acquired in extreme environments such as deep seas or extraterrestrial terrains. Data acquired under these challenging conditions are corrupted…
Typical template-based object pose pipelines estimate the pose by retrieving the closest matching template and aligning it with the observed image. However, failure to retrieve the correct template often leads to inaccurate pose…
We tackle the problem of automatic calibration of radially distorted cameras in challenging conditions. Accurately determining distortion parameters typically requires either 1) solving the full Structure from Motion (SfM) problem involving…
In sports, such as alpine skiing, coaches would like to know the speed and various biomechanical variables of their athletes and competitors. Existing methods use either body-worn sensors, which are cumbersome to setup, or manual image…
This paper presents a novel online capable method for simultaneous estimation of human motion in terms of segment orientations and positions along with sensor-to-segment calibration parameters from inertial sensors attached to the body. 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…