Related papers: E-Graph: Minimal Solution for Rigid Rotation with …
This paper presents a method that leverages vehicle motion constraints to refine data associations in a point-based radar odometry system. By using the strong prior on how a non-holonomic robot is constrained to move smoothly through its…
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…
In this paper, we propose a general graph optimization based framework for localization, which can accommodate different types of measurements with varying measurement time intervals. Special emphasis will be on range-based localization.…
This paper presents the Embedding Pose Graph (EPG), an innovative method that combines the strengths of foundation models with a simple 3D representation suitable for robotics applications. Addressing the need for efficient spatial…
Shortest-path roadmaps, also known as reduced visibility graphs, provides a highly efficient multi-query method for computing optimal paths in two-dimensional environments. Combined with Minkowski sum computations, shortest-path roadmaps…
In this work we present a novel approach for computing correspondences between non-rigid objects, by exploiting a reduced representation of deformation fields. Different from existing works that represent deformation fields by training a…
The problem of determining the configuration of points from partial distance information, known as the Euclidean Distance Geometry (EDG) problem, is fundamental to many tasks in the applied sciences. In this paper, we propose two algorithms…
Robustly estimating camera poses from a set of images is a fundamental task which remains challenging for differentiable methods, especially in the case of small and sparse camera pose graphs. To overcome this challenge, we propose…
6D pose estimation of textureless objects is a valuable but challenging task for many robotic applications. In this work, we propose a framework to address this challenge using only RGB images acquired from multiple viewpoints. The core…
Estimating the location of N coordinates in a P dimensional Euclidean space from pairwise distances (or proximity measurements), is a principal challenge in a wide variety of fields. Conventionally, when localizing a static network of…
A cornerstone of geometric reconstruction, rotation averaging seeks the set of absolute rotations that optimally explains a set of measured relative orientations between them. In spite of being an integral part of bundle adjustment and…
Relative localization between autonomous robots without infrastructure is crucial to achieve their navigation, path planning, and formation in many applications, such as emergency response, where acquiring a prior knowledge of the…
Pose Graph Optimization involves the estimation of a set of poses from pairwise measurements and provides a formalization for many problems arising in mobile robotics and geometric computer vision. In this paper, we consider the case in…
A cornerstone of geometric reconstruction, rotation averaging seeks the set of absolute rotations that optimally explains a set of measured relative orientations between them. In addition to being an integral part of bundle adjustment and…
The 3D depth estimation and relative pose estimation problem within a decentralized architecture is a challenging problem that arises in missions that require coordination among multiple vision-controlled robots. The depth estimation…
In this paper, we present a method for unconstrained end-to-end head pose estimation. We address the problem of ambiguous rotation labels by introducing the rotation matrix formalism for our ground truth data and propose a continuous 6D…
We tackle the problem of estimating a Manhattan frame, i.e. three orthogonal vanishing points, and the unknown focal length of the camera, leveraging a prior vertical direction. The direction can come from an Inertial Measurement Unit that…
Visual place recognition is an important subproblem of mobile robot localization. Since it is a special case of image retrieval, the basic source of information is the pairwise similarity of image descriptors. However, the embedding of the…
Autonomous vehicles and robots rely on accurate odometry estimation in GPS-denied environments. While LiDARs and cameras struggle under extreme weather, 4D mmWave radar emerges as a robust alternative with all-weather operability and…
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…