Related papers: Homography Estimation in Complex Topological Scene…
Current laparoscopic camera motion automation relies on rule-based approaches or only focuses on surgical tools. Imitation Learning (IL) methods could alleviate these shortcomings, but have so far been applied to oversimplified setups.…
Single image camera calibration is the task of estimating the camera parameters from a single input image, such as the vanishing points, focal length, and horizon line. In this work, we propose Camera calibration TRansformer with…
We present a novel solution to the camera pose estimation problem, where rotation and translation of a camera between two views are estimated from matched feature points in the images. The camera pose estimation problem is traditionally…
The capability to extract task specific, semantic information from raw sensory data is a crucial requirement for many applications of mobile robotics. Autonomous inspection of critical infrastructure with Unmanned Aerial Vehicles (UAVs),…
The homography matrix is a key component in various vision-based robotic tasks. Traditionally, homography estimation algorithms are classified into feature- or intensity-based. The main advantages of the latter are their versatility,…
In this work, we address the problem of estimating the so-called "Social Distancing" given a single uncalibrated image in unconstrained scenarios. Our approach proposes a semi-automatic solution to approximate the homography matrix between…
A framework for online simultaneous localization, mapping and self-calibration is presented which can detect and handle significant change in the calibration parameters. Estimates are computed in constant-time by factoring the problem and…
In this work, we investigate laparoscopic camera motion automation through imitation learning from retrospective videos of laparoscopic interventions. A novel method is introduced that learns to augment a surgeon's behavior in image space…
Camera-based perception systems play a central role in modern autonomous vehicles. These camera based perception algorithms require an accurate calibration to map the real world distances to image pixels. In practice, calibration is a…
Accurate LiDAR-camera extrinsic calibration is a precondition for many multi-sensor systems in mobile robots. Most calibration methods rely on laborious manual operations and calibration targets. While working online, the calibration…
We propose a method for automatic calibration of a traffic surveillance camera with wide-angle lenses. Video footage of a few minutes is sufficient for the entire calibration process to take place. This method takes in the height of the…
A novel Bayesian framework is proposed, which explicitly relates the homography of one video frame to the next through an affine transformation while explicitly modelling keypoint uncertainty. The literature has previously used differential…
Homography estimation is an important step in many computer vision problems. Recently, deep neural network methods have shown to be favorable for this problem when compared to traditional methods. However, these new methods do not consider…
Recent direct visual odometry and SLAM algorithms have demonstrated impressive levels of precision. However, they require a photometric camera calibration in order to achieve competitive results. Hence, the respective algorithm cannot be…
Most sensor setups for onboard autonomous perception are composed of LiDARs and vision systems, as they provide complementary information that improves the reliability of the different algorithms necessary to obtain a robust scene…
Homography estimation is a basic image alignment method in many applications. It is usually conducted by extracting and matching sparse feature points, which are error-prone in low-light and low-texture images. On the other hand, previous…
Object detectors are at the heart of many semi- and fully autonomous decision systems and are poised to become even more indispensable. They are, however, still lacking in accessibility and can sometimes produce unreliable predictions.…
Precise sensor calibration is critical for autonomous vehicles as a prerequisite for perception algorithms to function properly. Rotation error of one degree can translate to position error of meters in target object detection at large…
Localization in topological maps is essential for image-based navigation using an RGB camera. Localization using only one camera can be challenging in medium-to-large-sized environments because similar-looking images are often observed…
Precise homography estimation between multiple images is a pre-requisite for many computer vision applications. One application that is particularly relevant in today's digital era is the alignment of scanned or camera-captured document…