Related papers: Vectorial Parameterizations of Pose
Human pose and shape estimation from RGB images is a highly sought after alternative to marker-based motion capture, which is laborious, requires expensive equipment, and constrains capture to laboratory environments. Monocular vision-based…
Light has many properties that vision sensors can passively measure. Colour-band separated wavelength and intensity are arguably the most commonly used for monocular 6D object pose estimation. This paper explores how complementary…
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…
Fitness applications are commonly used to monitor activities within the gym, but they often fail to automatically track indoor activities inside the gym. This study proposes a model that utilizes pose estimation combined with a novel data…
Visual localization techniques often comprise a hierarchical localization pipeline, with a visual place recognition module used as a coarse localizer to initialize a pose refinement stage. While improving the pose refinement step has been…
The goal of many computer vision systems is to transform image pixels into 3D representations. Recent popular models use neural networks to regress directly from pixels to 3D object parameters. Such an approach works well when supervision…
Visual odometry (VO) is a prevalent way to deal with the relative localization problem, which is becoming increasingly mature and accurate, but it tends to be fragile under challenging environments. Comparing with classical geometry-based…
6D pose estimation of rigid objects from RGB-D images is crucial for object grasping and manipulation in robotics. Although RGB channels and the depth (D) channel are often complementary, providing respectively the appearance and geometry…
We study whether visual embedding models capture continuous, ordinal attributes along linear directions, which we term _rank axes_. We define a model as _rankable_ for an attribute if projecting embeddings onto such an axis preserves the…
For many applications, we need to use techniques to represent convex shapes and objects. In this work, we use level set method to represent shapes and find a necessary and sufficient condition on the level set function to guarantee the…
Relative pose regressors (RPRs) localize a camera by estimating its relative translation and rotation to a pose-labelled reference. Unlike scene coordinate regression and absolute pose regression methods, which learn absolute scene…
In the last decades, some literature appeared using the Lie groups theory to solve problems in computer vision. On the other hand, Lie algebraic representations of the transformations therein were introduced to overcome the difficulties…
How do we imbue robots with the ability to efficiently manipulate unseen objects and transfer relevant skills based on demonstrations? End-to-end learning methods often fail to generalize to novel objects or unseen configurations. Instead,…
Localization is the challenge of determining the robot's pose in a mapped environment. This is done by implementing a probabilistic algorithm to filter noisy sensor measurements and track the robot's position and orientation. This paper…
Mutual localization provides a consensus of reference frame as an essential basis for cooperation in multirobot systems. Previous works have developed certifiable and robust solvers for relative transformation estimation between each pair…
Object pose estimation methods allow finding locations of objects in unstructured environments. This is a highly desired skill for autonomous robot manipulation as robots need to estimate the precise poses of the objects in order to…
The computation of 2-D optical flow by means of regularized pel-recursive algorithms raises a host of issues, which include the treatment of outliers, motion discontinuities and occlusion among other problems. We propose a new approach…
Line features are valid complements for point features in man-made environments. 3D-2D constraints provided by line features have been widely used in Visual Odometry (VO) and Structure-from-Motion (SfM) systems. However, how to accurately…
In this paper we are using the poset representation to describe the complex answers given by IR systems after a clustering and ranking processes. The answers considered may be given by cartographical representations or by thematic sub-lists…
Accurate calibration of camera intrinsic parameters is crucial to various computer vision-based applications in the fields of intelligent systems, autonomous vehicles, etc. However, existing calibration schemes are incompetent for finding…