Related papers: Relative Pose from SIFT Features
We address the problem of determining correspondences between two images in agreement with a geometric model such as an affine or thin-plate spline transformation, and estimating its parameters. The contributions of this work are…
We present a new convex method to estimate 3D pose from mixed combinations of 2D-3D point and line correspondences, the Perspective-n-Points-and-Lines problem (PnPL). We merge the contributions of each point and line into a unified…
We study the problem of learning to assign a characteristic pose, i.e., scale and orientation, for an image region of interest. Despite its apparent simplicity, the problem is non-trivial; it is hard to obtain a large-scale set of image…
In this work we present a unified method of relative camera pose estimation from points and lines correspondences. Given a set of 2D points and lines correspondences in three views, of which two are known, a method has been developed for…
We propose three novel solvers for estimating the relative pose of a multi-camera system from affine correspondences (ACs). A new constraint is derived interpreting the relationship of ACs and the generalized camera model. Using the…
Global place recognition and 3D relocalization are one of the most important components in the loop closing detection for 3D LiDAR Simultaneous Localization and Mapping (SLAM). In order to find the accurate global 6-DoF transform by feature…
In many real-world problems, collecting a large number of labeled samples is infeasible. Few-shot learning (FSL) is the dominant approach to address this issue, where the objective is to quickly adapt to novel categories in presence of a…
This paper introduces a new architecture for human pose estimation using a multi- layer convolutional network architecture and a modified learning technique that learns low-level features and higher-level weak spatial models. Unconstrained…
An end-to-end trainable ConvNet architecture, that learns to harness the power of shape representation for matching disparate image pairs, is proposed. Disparate image pairs are deemed those that exhibit strong affine variations in scale,…
Establishing correspondences between two images requires both local and global spatial context. Given putative correspondences of feature points in two views, in this paper, we propose Order-Aware Network, which infers the probabilities of…
Minimal solutions for relative rotation and translation estimation tasks have been explored in different scenarios, typically relying on the so-called co-visibility graph. However, how to build direct rotation relationships between two…
Quaternions are important for a wide variety of rotation-related problems in computer graphics, machine vision, and robotics. We study the nontrivial geometry of the relationship between quaternions and rotation matrices by exploiting the…
We present a method for solving two minimal problems for relative camera pose estimation from three views, which are based on three view correspondences of i) three points and one line and the novel case of ii) three points and two lines…
In this paper we present a differential approach to photo-polarimetric shape estimation. We propose several alternative differential constraints based on polarisation and photometric shading information and show how to express them in a…
Re-localizing a camera from a single image in a previously mapped area is vital for many computer vision applications in robotics and augmented/virtual reality. In this work, we address the problem of estimating the 6 DoF camera pose…
Geometric matching is a key step in computer vision tasks. Previous learning-based methods for geometric matching concentrate more on improving alignment quality, while we argue the importance of naturalness issue simultaneously. To deal…
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…
Relative pose estimation using point correspondences (PC) is a widely used technique. A minimal configuration of six PCs is required for two views of generalized cameras. In this paper, we present several minimal solvers that use six PCs to…
This paper concerns models and convergence principles for dealing with stochasticity in a wide range of algorithms arising in nonlinear analysis and optimization in Hilbert spaces. It proposes a flexible geometric framework within which…
Recently, with the help of Parisi-Sourlas supersymmetry an intriguing relation was found expressing the four-point scalar conformal block of a (d-2)-dimensional CFT in terms of a five-term linear combination of blocks of a d-dimensional…