Related papers: Globally Optimal Relative Pose Estimation with Gra…
Accurate state estimation is a fundamental problem for autonomous robots. To achieve locally accurate and globally drift-free state estimation, multiple sensors with complementary properties are usually fused together. Local sensors…
The rapid development of autonomous driving, abnormal behavior detection, and behavior recognition makes an increasing demand for multi-person pose estimation-based applications, especially on mobile platforms. However, to achieve high…
This paper addresses accurate pose estimation (position, velocity, and orientation) for a rigid body using a combination of generic inertial-frame and/or body-frame measurements along with an Inertial Measurement Unit (IMU). By embedding…
Visual and lidar Simultaneous Localization and Mapping (SLAM) algorithms benefit from the Inertial Measurement Unit (IMU) modality. The high-rate inertial data complement the other lower-rate modalities. Moreover, in the absence of constant…
Pose Graph Optimization involves the estimation of a set of poses from pairwise measurements and provides a formalization for many problems arising in mobile robotics and geometric computer vision. In this paper, we consider the case in…
This paper deals with the problem of full state estimation for vehicles navigating in a three dimensional space. We assume that the vehicle is equipped with an Inertial Measurement Unit (IMU) providing body-frame measurements of the angular…
This paper presents a novel approach for predicting human poses using IMU data, diverging from previous studies such as DIP-IMU, IMUPoser, and TransPose, which use up to 6 IMUs in conjunction with bidirectional RNNs. We introduce two main…
In this paper we present a novel algorithm for onboard radial distortion correction for unmanned aerial vehicles (UAVs) equipped with an inertial measurement unit (IMU), that runs in real-time. This approach makes calibration procedures…
We propose an attitude and gyro-bias estimation scheme for accelerated rigid body systems using an inertial measurement unit (IMU) and a global positioning system (GPS). The proposed scheme allows to obtain attitude estimates directly on…
We propose a method for estimating the 3D pose for the camera of a mobile device in outdoor conditions, using only an untextured 2D model. Previous methods compute only a relative pose using a SLAM algorithm, or require many registered…
Systems for estimating the six-degrees-of-freedom human body pose have been improving for over two decades. Technologies such as motion capture cameras, advanced gaming peripherals and more recently both deep learning techniques and virtual…
This work provides a theoretical analysis for optimally solving the pose estimation problem using total least squares for vector observations from landmark features, which is central to applications involving simultaneous localization and…
In this paper, we present a novel linear algorithm to estimate the 6 DoF relative pose from consecutive frames of stereo rolling shutter (RS) cameras. Our method is derived based on the assumption that stereo cameras undergo motion with…
The rolling shutter camera has received great attention due to its low cost imaging capability, however, the estimation of relative pose between rolling shutter cameras still remains a difficult problem owing to its line-by-line image…
The recently introduced matrix group SE2(3) provides a 5x5 matrix representation for the orientation, velocity and position of an object in the 3-D space, a triplet we call "extended pose". In this paper we build on this group to develop a…
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…
We solve the problem of determining the pose of known shapes in $\mathbb{R}^3$ from their unoccluded silhouettes. The pose is determined up to global optimality using a simple yet under-explored property of the area-of-silhouette: its…
We propose two novel solvers for estimating the egomotion of a calibrated camera mounted to a moving vehicle from a single affine correspondence via recovering special homographies. For the first class of solvers, the sought plane is…
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…
Estimating pose from given 3D correspondences, including point-to-point, point-to-line and point-to-plane correspondences, is a fundamental task in computer vision with many applications. We present a complete solution for this task,…