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Object pose estimation is a core perception task that enables, for example, object grasping and scene understanding. The widely available, inexpensive and high-resolution RGB sensors and CNNs that allow for fast inference based on this…
Neural surface reconstruction is sensitive to the camera pose noise, even if state-of-the-art pose estimators like COLMAP or ARKit are used. More importantly, existing Pose-NeRF joint optimisation methods have struggled to improve pose…
The process of camera calibration involves estimating the intrinsic and extrinsic parameters, which are essential for accurately performing tasks such as 3D reconstruction, object tracking and augmented reality. In this work, we propose a…
Understanding the 3-dimensional structure of the world is a core challenge in computer vision and robotics. Neural rendering approaches learn an implicit 3D model by predicting what a camera would see from an arbitrary viewpoint. We extend…
Keypoint detection is one of the most important pre-processing steps in tasks such as face modeling, recognition and verification. In this paper, we present an iterative method for Keypoint Estimation and Pose prediction of unconstrained…
We describe a data-driven method for inferring the camera viewpoints given multiple images of an arbitrary object. This task is a core component of classic geometric pipelines such as SfM and SLAM, and also serves as a vital pre-processing…
Image feature matching plays a vital role in many computer vision tasks. Although many image feature detection and matching techniques have been proposed over the past few decades, it is still time-consuming to match feature points in two…
Camera pose tracking attracts much interest both from academic and industrial communities, of which the methods based on planar markers are easy to be implemented. However, most of the existing methods need to identify multiple points in…
This paper formulates the pose estimation problem as nonlinear stochastic filter kinematics evolved directly on the Special Euclidean Group SE(3). Proposed filter guarantees that the errors present in position and Rodriguez vector estimates…
6D object pose estimation is the problem of identifying the position and orientation of an object relative to a chosen coordinate system, which is a core technology for modern XR applications. State-of-the-art 6D object pose estimators…
UV map estimation is used in computer vision for detailed analysis of human posture or activity. Previous methods assign pixels to body model vertices by comparing pixel descriptors independently, without enforcing global coherence or…
The primary focus of this paper is the development of a framework for pose and size estimation of unseen objects given a single RGB image - all in real-time. In 2019, the first category-level pose and size estimation framework was proposed…
Image retrieval-based cross-view localization methods often lead to very coarse camera pose estimation, due to the limited sampling density of the database satellite images. In this paper, we propose a method to increase the accuracy of a…
Precise localization with respect to a set of objects of interest enables mobile robots to perform various tasks. With the rise of edge devices capable of deploying deep neural networks (DNNs) for real-time inference, it stands to reason to…
Solving 6D pose estimation is non-trivial to cope with intrinsic appearance and shape variation and severe inter-object occlusion, and is made more challenging in light of extrinsic large illumination changes and low quality of the acquired…
Because anomalous samples cannot be used for training, many anomaly detection and localization methods use pre-trained networks and non-parametric modeling to estimate encoded feature distribution. However, these methods neglect the impact…
We introduce a new rotationally invariant viewing angle classification method for identifying, among a large number of Cryo-EM projection images, similar views without prior knowledge of the molecule. Our rotationally invariant features are…
We propose a novel end-to-end method for cross-view pose estimation. Given a ground-level query image and an aerial image that covers the query's local neighborhood, the 3 Degrees-of-Freedom camera pose of the query is estimated by matching…
Pose estimation is essential for many applications within computer vision and robotics. Despite its uses, few works provide rigorous uncertainty quantification for poses under dense or learned models. We derive a closed-form lower bound on…
In this paper, we present the novel task of estimating the extrinsic parameters of a virtual camera relative to a real camera in exercise videos with a mirror. This task poses a significant challenge in scenarios where the views from the…