Related papers: Revisiting Rolling Shutter Bundle Adjustment: Towa…
Reliable incremental estimation of camera poses and 3D reconstruction is key to enable various applications including robotics, interactive visualization, and augmented reality. However, this task is particularly challenging in dynamic…
Radar is more resilient to adverse weather and lighting conditions than visual and Lidar simultaneous localization and mapping (SLAM). However, most radar SLAM pipelines still rely heavily on frame-to-frame odometry, which leads to…
The joint optimization of the sensor trajectory and 3D map is a crucial characteristic of bundle adjustment (BA), essential for autonomous driving. This paper presents $\nu$-DBA, a novel framework implementing geometric dense bundle…
In many robotic applications, the environment setting in which the 6-DoF pose estimation of a known, rigid object and its subsequent grasping is to be performed, remains nearly unchanging and might even be known to the robot in advance. In…
Given enough multi-view image corresponding points (also called tie points) and ground control points (GCP), bundle adjustment for high-resolution satellite images is used to refine the orientations or most often used geometric parameters…
In the domain of 3D Human Pose Estimation, which finds widespread daily applications, the requirement for convenient acquisition equipment continues to grow. To satisfy this demand, we set our sights on a short-baseline binocular setting…
Novel view synthesis has made significant progress in the field of 3D computer vision. However, the rendering of view-consistent novel views from imperfect camera poses remains challenging. In this paper, we introduce a hybrid…
We tackle the problem of mosaicing bundle adjustment (i.e., simultaneous refinement of camera orientations and scene map) for a purely rotating event camera. We formulate the problem as a regularized non-linear least squares optimization.…
We present a method named iComMa to address the 6D camera pose estimation problem in computer vision. Conventional pose estimation methods typically rely on the target's CAD model or necessitate specific network training tailored to…
Photometric bundle adjustment, PBA, accurately estimates geometry from video. However, current PBA systems have a temporary map that cannot manage scene reobservations. We present, DSM, a full monocular visual SLAM based on PBA. Its…
On-orbit servicing and active debris removal involving non-cooperative spacecraft require reliable pose estimation to supply accurate position and orientation data for autonomous visual navigation. Learning-based monocular methods have seen…
In this paper, we derive a new differential homography that can account for the scanline-varying camera poses in Rolling Shutter (RS) cameras, and demonstrate its application to carry out RS-aware image stitching and rectification at one…
CMOS sensors employ row-wise acquisition mechanism while imaging a scene, which can result in undesired motion artifacts known as rolling shutter (RS) distortions in the captured image. Existing single image RS rectification methods attempt…
6-DoF pose estimation is an essential component of robotic manipulation pipelines. However, it usually suffers from a lack of generalization to new instances and object types. Most widely used methods learn to infer the object pose in a…
X-ray imaging is a fundamental tool of routine clinical diagnosis. Fluoroscopic imaging can further acquire X-ray images at video frame rates, thus enabling non-invasive in-vivo motion studies of joints, gastrointestinal tract, etc. For…
Neural Radiance Fields (NeRF) and 3D Gaussian Splatting (3DGS) have emerged as powerful tools for 3D reconstruction and SLAM tasks. However, their performance depends heavily on accurate camera pose priors. Existing approaches attempt to…
The joint optimization of sensor poses and 3D structure is fundamental for state estimation in robotics and related fields. Current LiDAR systems often prioritize pose optimization, with structure refinement either omitted or treated…
The rolling shutter (RS) mechanism is widely used by consumer-grade cameras, which are essential parts in smartphones and autonomous vehicles. The RS effect leads to image distortion upon relative motion between a camera and the scene. This…
Existing volumetric neural rendering techniques, such as Neural Radiance Fields (NeRF), face limitations in synthesizing high-quality novel views when the camera poses of input images are imperfect. To address this issue, we propose a novel…
Reconstructing 3D shapes from a sequence of images has long been a problem of interest in computer vision. Classical Structure from Motion (SfM) methods have attempted to solve this problem through projected point displacement \& bundle…