Related papers: Solving Viewing Graph Optimization for Simultaneou…
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…
Recent approaches on visual scene understanding attempt to build a scene graph -- a computational representation of objects and their pairwise relationships. Such rich semantic representation is very appealing, yet difficult to obtain from…
Graphs provide an efficient tool for object representation in various computer vision applications. Once graph-based representations are constructed, an important question is how to compare graphs. This problem is often formulated as a…
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…
We propose a method for guiding a photographer to rotate her/his smartphone camera to obtain an image that overlaps with another image of the same scene. The other image is taken by another photographer from a different viewpoint. Our…
We present a novel solution to the camera pose estimation problem, where rotation and translation of a camera between two views are estimated from matched feature points in the images. The camera pose estimation problem is traditionally…
The precise estimation of camera poses within large camera networks is a foundational problem in computer vision and robotics, with broad applications spanning autonomous navigation, surveillance, and augmented reality. In this paper, we…
Rotation averaging is a synchronization process on single or multiple rotation groups, and is a fundamental problem in many computer vision tasks such as multi-view structure from motion (SfM). Specifically, rotation averaging involves the…
The most commonly used method for addressing 3D geometric registration is the iterative closet-point algorithm, this approach is incremental and prone to drift over multiple consecutive frames. The Common strategy to address the drift is…
Multiple rotation averaging is an essential task for structure from motion, mapping, and robot navigation. The task is to estimate the absolute orientations of several cameras given some of their noisy relative orientation measurements. The…
Graph isomorphism is an important problem as its worst-case time complexity is not yet fully understood. In this study, we try to draw parallels between a related optimization problem called point set registration. A graph can be…
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…
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.…
How to effectively represent camera pose is an essential problem in 3D computer vision, especially in tasks such as camera pose regression and novel view synthesis. Traditionally, 3D position of the camera is represented by Cartesian…
Data-driven approaches have been proven effective in solving combinatorial optimization problems over graphs such as the traveling salesman problems and the vehicle routing problem. The rationale behind such methods is that the input…
Iterative solvers are widely used to accurately simulate physical systems. These solvers require initial guesses to generate a sequence of improving approximate solutions. In this contribution, we introduce a novel method to accelerate…
Relative pose estimation, a fundamental computer vision problem, has been extensively studied for decades. Existing methods either estimate and decompose the essential matrix or directly estimate the rotation and translation to obtain the…
Graph based representation is widely used in visual tracking field by finding correct correspondences between target parts in consecutive frames. However, most graph based trackers consider pairwise geometric relations between local parts.…
Mobile devices equipped with a multi-camera system and an inertial measurement unit (IMU) are widely used nowadays, such as self-driving cars. The task of relative pose estimation using visual and inertial information has important…
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…