Related papers: Optimal Pose Estimation and Covariance Analysis wi…

We propose two minimal solutions to the problem of relative pose estimation of (i) a calibrated camera from four points in two views and (ii) a calibrated generalized camera from five points in two views. In both cases, the relative…

The $\mathrm{SE}(3)$ invariants of a pose include its rotation angle and screw translation. In this paper, we present a complete comprehensive study of the relative pose estimation problem for a calibrated camera constrained by known…

Visual localization, i.e., determining the position and orientation of a vehicle with respect to a map, is a key problem in autonomous driving. We present a multicamera visual inertial localization algorithm for large scale environments. To…

We derive a maximum a posteriori estimator for the linear observation model, where the signal and noise covariance matrices are both uncertain. The uncertainties are treated probabilistically by modeling the covariance matrices with prior…

Covariance matrix estimation is an important problem in multivariate data analysis, both from theoretical as well as applied points of view. Many simple and popular covariance matrix estimators are known to be severely affected by model…

High-precision vehicle localization with commercial setups is a crucial technique for high-level autonomous driving tasks. Localization with a monocular camera in LiDAR map is a newly emerged approach that achieves promising balance between…

Navigation of a mobile robot is conditioned on the knowledge of its pose. In observer-based localisation configurations its initial pose may not be knowable in advance, leading to the need of its estimation. Solutions to the problem of…

We consider the problem of estimating high-dimensional covariance matrices of $K$-populations or classes in the setting where the sample sizes are comparable to the data dimension. We propose estimating each class covariance matrix as a…

Object shape and pose estimation is a foundational robotics problem, supporting tasks from manipulation to scene understanding and navigation. We present a fast local solver for shape and pose estimation which requires only category-level…

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…

Accurate 6D object pose estimation is fundamental to robotic manipulation and grasping. Previous methods follow a local optimization approach which minimizes the distance between closest point pairs to handle the rotation ambiguity of…

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…

The majority of existing LiDAR odometry solutions are based on simple geometric features such as points, lines or planes which cannot fully reflect the characteristics of surrounding environments. In this study, we propose a novel LiDAR…

The problem of mobile position estimation in multipath scenarios is addressed. A low-complexity, fully-adaptive algorithm is proposed, based on the pseudo maximum likelihood approach. The processing is done exclusively on-board at the…

This paper proposes a method to compute camera 6Dof poses to achieve a user defined coverage. The camera placement problem is modeled as a combinatorial optimization where given the maximum number of cameras, a camera set is selected from a…

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…

The SLAM problem is known to have a special property that when robot orientation is known, estimating the history of robot poses and feature locations can be posed as a standard linear least squares problem. In this work, we develop a SLAM…

Planar markers are useful in robotics and computer vision for mapping and localisation. Given a detected marker in an image, a frequent task is to estimate the 6DOF pose of the marker relative to the camera, which is an instance of planar…

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,…

This paper aims to select features that contribute most to the pose estimation in VO/VSLAM. Unlike existing feature selection works that are focused on efficiency only, our method significantly improves the accuracy of pose tracking, while…