Related papers: Globally Optimal Relative Pose Estimation with Gra…
Relative pose estimation using point correspondences (PC) is a widely used technique. A minimal configuration of six PCs is required for two views of generalized cameras. In this paper, we present several minimal solvers that use six PCs to…
State-of-the-art object pose estimation methods are prone to generating geometrically infeasible pose hypotheses. This problem is prevalent in dexterous manipulation, where estimated poses often intersect with the robotic hand or are not…
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…
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…
In this paper, we address the problem of relative localization of two mobile agents. Specifically, we consider the Dual-IMU system, where each agent is equipped with one IMU, and employs relative pose observations between them. Previous…
Relative localization between autonomous robots without infrastructure is crucial to achieve their navigation, path planning, and formation in many applications, such as emergency response, where acquiring a prior knowledge of the…
Estimating the relative camera pose from $n \geq 5$ correspondences between two calibrated views is a fundamental task in computer vision. This process typically involves two stages: 1) estimating the essential matrix between the views, and…
In recent years, tracking human motion using IMUs from everyday devices such as smartphones and smartwatches has gained increasing popularity. However, due to the sparsity of sensor measurements and the lack of datasets capturing human…
Tracking human full-body motion using sparse wearable inertial measurement units (IMUs) overcomes the limitations of occlusion and instrumentation of the environment inherent in vision-based approaches. However, purely IMU-based tracking…
The point correspondence (PC) and affine correspondence (AC) are widely used for relative pose estimation. An AC consists of a PC across two views and an affine transformation between the small patches around this PC. Previous work…
This paper tackles the problem of estimating the relative position, orientation, and velocity between a UAV and a planar platform undergoing arbitrary 3D motion during approach and landing. The estimation relies on measurements from…
This paper presents a novel framework for estimating the position and orientation of flexible manipulators undergoing vertical motion using multiple inertial measurement units (IMUs), optimized and calibrated with ground truth data. The…
We demonstrate a novel deep neural network capable of reconstructing human full body pose in real-time from 6 Inertial Measurement Units (IMUs) worn on the user's body. In doing so, we address several difficult challenges. First, the…
This paper presents a practical method for finding the globally optimal solution to the sum-of-ratios problem arising in image processing, engineering and management. Unlike traditional methods which may get trapped in local minima due to…
We propose a novel method for estimating the global rotations of the cameras independently of their positions and the scene structure. When two calibrated cameras observe five or more of the same points, their relative rotation can be…
We present a method of extrinsic calibration for a system of multiple inertial measurement units (IMUs) that estimates the relative pose of each IMU on a rigid body using only measurements from the IMUs themselves, without the need to…
Sensor calibration is crucial for autonomous driving, providing the basis for accurate localization and consistent data fusion. Enabling the use of high-accuracy GNSS sensors, this work focuses on the antenna lever arm calibration. We…
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.…
In this paper, we introduce a novel RGB-D based relative pose estimation approach that is suitable for small-overlapping or non-overlapping scans and can output multiple relative poses. Our method performs scene completion and matches the…
In this paper, we study state estimation of multi-visual-inertial systems (MVIS) and develop sensor fusion algorithms to optimally fuse an arbitrary number of asynchronous inertial measurement units (IMUs) or gyroscopes and global and(or)…