Related papers: E-Graph: Minimal Solution for Rigid Rotation with …
We present a method for image-guided exploration for mobile robotic systems. Our approach extends ergodic exploration methods, a recent exploration approach that prioritizes complete coverage of a space, with the use of a learned image…
In the area of beyond-planar graphs, i.e. graphs that can be drawn with some local restrictions on the edge crossings, the recognition problem is prominent next to the density question for the different graph classes. For 1-planar graphs,…
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…
Visual relocalization aims to estimate the pose of a camera from one or more images. In recent years deep learning based pose regression methods have attracted many attentions. They feature predicting the absolute poses without relying on…
In this thesis, we address the problem of estimating the 6D pose of rigid objects from a single RGB or RGB-D input image, assuming that 3D models of the objects are available. This problem is of great importance to many application fields…
In this paper, we investigate the problem of estimating the 4-DOF (three-dimensional position and orientation) robot-robot relative frame transformation using odometers and distance measurements between robots. Firstly, we apply a two-step…
In this paper, a novel approach is introduced which utilizes a Rapidly-exploring Random Graph to improve sampling-based autonomous exploration of unknown environments with unmanned ground vehicles compared to the current state of the art.…
Estimating relative pose from image pairs fundamentally requires only a minimal subset of geometrically consistent correspondences. However, most learning-based approaches rely on dense matching or direct regression, leading to redundancy…
Not everybody can be equipped with professional photography skills and sufficient shooting time, and there can be some tilts in the captured images occasionally. In this paper, we propose a new and practical task, named Rotation Correction,…
Estimating absolute camera orientations is essential for attitude estimation tasks. An established approach is to first carry out visual odometry (VO) or visual SLAM (V-SLAM), and retrieve the camera orientations (3 DOF) from the camera…
This paper presents a convolutional neural network based approach for estimating the relative pose between two cameras. The proposed network takes RGB images from both cameras as input and directly produces the relative rotation and…
Applications from manipulation to autonomous vehicles rely on robust and general object tracking to safely perform tasks in dynamic environments. We propose the first certifiably optimal category-level approach for simultaneous shape…
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,…
We study the problem of recovering a globally consistent Euclidean embedding of data, given only a local distance graph and propose a method that optimally represents these distances. The method operates solely on a neighborhood graph…
Multi-perspective cameras with potentially non-overlapping fields of view have become an important exteroceptive sensing modality in a number of applications such as intelligent vehicles, drones, and mixed reality headsets. In this work, we…
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…
This work aims to estimate 6Dof (6D) object pose in background clutter. Considering the strong occlusion and background noise, we propose to utilize the spatial structure for better tackling this challenging task. Observing that the 3D mesh…
We present a new solution to tracking and mapping with an event camera. The motion of the camera contains both rotation and translation, and the displacements happen in an arbitrarily structured environment. As a result, the image matching…
Event-based cameras are ideal for line-based motion estimation, since they predominantly respond to edges in the scene. However, accurately determining the camera displacement based on events continues to be an open problem. This is because…
Rectifying the orientation of images represents a daily task for every photographer. This task may be complicated even for the human eye, especially when the horizon or other horizontal and vertical lines in the image are missing. In this…