Related papers: Minimal Solutions for Panoramic Stitching Given Gr…
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…
Unmanned Aerial Vehicles (UAVs) are widely used for aerial photography and remote sensing applications. One of the main challenges is to stitch together multiple images into a single high-resolution image that covers a large area.…
We tackle the problem of estimating a Manhattan frame, i.e. three orthogonal vanishing points, and the unknown focal length of the camera, leveraging a prior vertical direction. The direction can come from an Inertial Measurement Unit that…
Prior panorama stitching approaches heavily rely on pairwise feature correspondences and are unable to leverage geometric consistency across multiple views. This leads to severe distortion and misalignment, especially in challenging scenes…
Dual-fisheye lens cameras are becoming popular for 360-degree video capture, especially for User-generated content (UGC), since they are affordable and portable. Images generated by the dual-fisheye cameras have limited overlap and hence…
In this paper we consider a collection of relative pose problems which arise naturally in applications for visual indoor UAV navigation. We focus on cases where additional information from an onboard IMU is available and thus provides a…
In this paper, we argue that modern pre-integration methods for inertial measurement units (IMUs) are accurate enough to ignore the drift for short time intervals. This allows us to consider a simplified camera model, which in turn admits…
We study the problem of image alignment for panoramic stitching. Unlike most existing approaches that are feature-based, our algorithm works on pixels directly, and accounts for errors across the whole images globally. Technically, we…
This work presents two novel solvers for estimating the relative poses among views with known vertical directions. The vertical directions of camera views can be easily obtained using inertial measurement units (IMUs) which have been widely…
This paper designs a technique route to generate high-quality panoramic image with depth information, which involves two critical research hotspots: fusion of LiDAR and image data and image stitching. For the fusion of 3D points and image…
Panorama creation is one of the most widely deployed techniques in computer vision. In addition to industry applications such as Google Street View, it is also used by millions of consumers in smartphones and other cameras. Traditionally,…
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…
In this paper, we propose a panorama stitching algorithm based on asymmetric bidirectional optical flow. This algorithm expects multiple photos captured by fisheye lens cameras as input, and then, through the proposed algorithm, these…
We propose an automatic method for pose and motion estimation against a ground surface for a ground-moving robot-mounted monocular camera. The framework adopts a semi-dense approach that benefits from both a feature-based method and an…
By learning human motion priors, motion capture can be achieved by 6 inertial measurement units (IMUs) in recent years with the development of deep learning techniques, even though the sensor inputs are sparse and noisy. However, human…
This paper presents a new method to recover the relative pose between two images, using three points and the vertical direction information. The vertical direction can be determined in two ways: 1- using direct physical measurement like IMU…
Inertial motion capture is a promising approach for capturing motion outside the laboratory. However, as one major drawback, most of the current methods require different quantities to be calibrated or computed offline as part of the setup…
Image stitching algorithms often adopt the global transformation, such as homography, and work well for planar scenes or parallax free camera motions. However, these conditions are easily violated in practice. With casual camera motions,…
A global navigation satellite system (GNSS) is a sensor that can acquire 3D position and velocity in an earth-fixed coordinate system and is widely used for outdoor position estimation of robots and vehicles. Various GNSS/inertial…
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…