Related papers: Globally Optimal Relative Pose Estimation with Gra…
Solving non-linear least-squares problem for pose estimation (rotation and translation) is often a time consuming yet fundamental problem in several real-time computer vision applications. With an adequate rotation parametrization, the…
Knowledge about the own pose is key for all mobile robot applications. Thus pose estimation is part of the core functionalities of mobile robots. Over the last two decades, LiDAR scanners have become the standard sensor for robot…
The fusion of visual and inertial measurements is becoming more and more popular in the robotics community since both sources of information complement well each other. However, in order to perform this fusion, the biases of the Inertial…
Recent advancements in visual-inertial motion capture systems have demonstrated the potential of combining monocular cameras with sparse inertial measurement units (IMUs) as cost-effective solutions, which effectively mitigate occlusion and…
Rigid body systems usually consider measurements of the pose of the body using onboard cameras/LiDAR systems, that of linear acceleration using an accelerometer and of angular velocity using an IMU. However, the measurements of the linear…
We present an approach for estimating a mobile robot's pose w.r.t. the allocentric coordinates of a network of static cameras using multi-view RGB images. The images are processed online, locally on smart edge sensors by deep neural…
We present a novel method to compute the relative pose of multi-camera systems using two affine correspondences (ACs). Existing solutions to the multi-camera relative pose estimation are either restricted to special cases of motion, have…
This paper proposes a computationally efficient method to estimate the time-varying relative pose between two visual-inertial sensor rigs mounted on the flexible wings of a fixed-wing unmanned aerial vehicle (UAV). The estimated relative…
We give a new algorithmic solution to the well-known five-point relative pose problem. Our approach does not deal with the famous cubic constraint on an essential matrix. Instead, we use the Cayley representation of rotations in order to…
The Perspective-n-Point (PnP) problem has been widely studied in the literature and applied in various vision-based pose estimation scenarios. However, existing methods ignore the anisotropy uncertainty of observations, as demonstrated in…
We aim at estimating the fundamental matrix in two views from five correspondences of rotation invariant features obtained by e.g.\ the SIFT detector. The proposed minimal solver first estimates a homography from three correspondences…
The need to relate measurements made by a camera to a different known coordinate system arises in many engineering applications. Historically, it appeared for the first time in the connection with cameras mounted on robotic systems. This…
We introduce RoboPose, a method to estimate the joint angles and the 6D camera-to-robot pose of a known articulated robot from a single RGB image. This is an important problem to grant mobile and itinerant autonomous systems the ability to…
Multi-robot systems must have the ability to accurately estimate relative states between robots in order to perform collaborative tasks, possibly with no external aiding. Three-dimensional relative pose estimation using range measurements…
We address the problem of epipolar geometry using the motion of silhouettes. Such methods match epipolar lines or frontier points across views, which are then used as the set of putative correspondences. We introduce an approach that…
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…
Motivated by the goal of achieving long-term drift-free camera pose estimation in complex scenarios, we propose a global positioning framework fusing visual, inertial and Global Navigation Satellite System (GNSS) measurements in multiple…
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…
Planar markers are useful in robotics and computer vision for mapping and localisation. Given a detected marker in an image, a frequent task is to estimate the 6DOF pose of the marker relative to the camera, which is an instance of planar…
Relativity is an integral part of positioning systems, and this is taken into account in today's practice by applying many "relativistic corrections" to computations performed using concepts borrowed from Galilean physics. A different,…