Related papers: Efficient Globally-Optimal Correspondence-Less Vis…
Despite the promise of superior performance under challenging conditions, event-based motion estimation remains a hard problem owing to the difficulty of extracting and tracking stable features from event streams. In order to robustify the…
Two solvers are proposed for estimating the extrinsic camera parameters from a single affine correspondence assuming general planar motion. In this case, the camera movement is constrained to a plane and the image plane is orthogonal to the…
We propose two novel solvers for estimating the egomotion of a calibrated camera mounted to a moving vehicle from a single affine correspondence via recovering special homographies. For the first class of solvers, the sought plane is…
In this paper, we introduce a novel approach for ground plane normal estimation of wheeled vehicles. In practice, the ground plane is dynamically changed due to braking and unstable road surface. As a result, the vehicle pose, especially…
A new closed-form solver is proposed minimizing the algebraic error optimally, in the least-squares sense, to estimate the relative planar motion of two calibrated cameras. The main objective is to solve the over-determined case, i.e., when…
Safe mobility for unmanned ground vehicles requires reliable detection of other vehicles, along with precise estimates of their locations and trajectories. Here we describe the algorithms and system we have developed for accurate trajectory…
Accurate velocity estimation is critical in mobile robotics, particularly for driver assistance systems and autonomous driving. Wheel odometry fused with Inertial Measurement Unit (IMU) data is a widely used method for velocity estimation;…
Using geometric landmarks like lines and planes can increase navigation accuracy and decrease map storage requirements compared to commonly-used LiDAR point cloud maps. However, landmark-based registration for applications like loop closure…
We investigate methods to calibrate the non-common path aberrations at an adaptive optics system having a wavefront-correcting device working at an extremely high resolution (larger than 150x150). We use focal-plane images collected…
We present a novel method to estimate the motion matrix between overlapping pairs of 3D views in the context of indoor scenes. We use the Manhattan world assumption to introduce lightweight geometric constraints under the form of planes…
Terrain geometry is, in general, non-smooth, non-linear, non-convex, and, if perceived through a robot-centric visual unit, appears partially occluded and noisy. This work presents the complete control pipeline capable of handling the…
It is well understood that in ADAS applications, a good estimate of the pose of the vehicle is required. This paper proposes a metaphorically named 2.5D odometry, whereby the planar odometry derived from the yaw rate sensor and four wheel…
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 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…
Given 2D point correspondences between an image pair, inferring the camera motion is a fundamental issue in the computer vision community. The existing works generally set out from the epipolar constraint and estimate the essential matrix,…
Unmanned and intelligent agricultural systems are crucial for enhancing agricultural efficiency and for helping mitigate the effect of labor shortage. However, unlike urban environments, agricultural fields impose distinct and unique…
A functional for joint variational object segmentation and shape matching is developed. The formulation is based on optimal transport w.r.t. geometric distance and local feature similarity. Geometric invariance and modelling of…
Event cameras are bio-inspired sensors that perform well in HDR conditions and have high temporal resolution. However, different from traditional frame-based cameras, event cameras measure asynchronous pixel-level brightness changes and…
The objective of this study is improving the location estimate of a mobile robot capable of motion on a plane and mounted with a conventional 2D LIDAR sensor, given an initial guess for its location on a 2D map of its surroundings.…
Accurate distance estimation from monocular cameras is essential for intelligent monitoring systems. In many deployments, image coordinates are mapped to ground positions using planar homographies initialized by manual selection of…