Related papers: Real-time 6-DoF Pose Estimation by an Event-based …

Estimating relative camera poses between images has been a central problem in computer vision. Methods that find correspondences and solve for the fundamental matrix offer high precision in most cases. Conversely, methods predicting pose…

Visual Simultaneous Localization and Mapping (SLAM) plays a vital role in real-time localization for autonomous systems. However, traditional SLAM methods, which assume a static environment, often suffer from significant localization drift…

Most 6-DoF localization and SLAM systems use static landmarks but ignore dynamic objects because they cannot be usefully incorporated into a typical pipeline. Where dynamic objects have been incorporated, typical approaches have attempted…

This paper presents a new algorithm to estimate absolute camera pose given an axis of the camera's rotation matrix. Current algorithms solve the problem via algebraic solutions on limited input domains. This paper shows that the problem can…

Event cameras are bio-inspired sensors providing significant advantages over standard cameras such as low latency, high temporal resolution, and high dynamic range. We propose a novel structured-light system using an event camera to tackle…

The advent of event-based cameras, with their low latency, high dynamic range, and reduced power consumption, marked a turning point in machine perception and robotic vision. In~particular, the combination of these neuromorphic sensors with…

A novel onboard tracking approach enabling vision-based relative localization and communication using Active blinking Marker Tracking (AMT) is introduced in this article. Active blinking markers on multi-robot team members improve the…

We propose real-time, six degrees of freedom (6DoF), 3D face pose estimation without face detection or landmark localization. We observe that estimating the 6DoF rigid transformation of a face is a simpler problem than facial landmark…

Accurate and robust pose estimation plays a crucial role in many robotic systems. Popular algorithms for pose estimation typically rely on high-fidelity and high-frequency signals from various sensors. Inclusion of these sensors makes the…

Camera pose tracking attracts much interest both from academic and industrial communities, of which the methods based on planar markers are easy to be implemented. However, most of the existing methods need to identify multiple points in…

Event camera is an asynchronous, high frequency vision sensor with low power consumption, which is suitable for human action recognition task. It is vital to encode the spatial-temporal information of event data properly and use standard…

Robust and accurate localization is an essential component for robotic navigation and autonomous driving. The use of cameras for localization with high definition map (HD Map) provides an affordable localization sensor set. Existing methods…

In this work, we introduce pose interpreter networks for 6-DoF object pose estimation. In contrast to other CNN-based approaches to pose estimation that require expensively annotated object pose data, our pose interpreter network is trained…

Traditional approaches for Visual Simultaneous Localization and Mapping (VSLAM) rely on low-level vision information for state estimation, such as handcrafted local features or the image gradient. While significant progress has been made…

Agents in cyber-physical systems are increasingly entrusted with safety-critical tasks. Ensuring safety of these agents often requires localizing the pose for subsequent actions. Pose estimates can, e.g., be obtained from various…

Recovering camera poses from a set of images is a foundational task in 3D computer vision, which powers key applications such as 3D scene/object reconstructions. Classic methods often depend on feature correspondence, such as keypoints,…

Event cameras are an interesting visual exteroceptive sensor that reacts to brightness changes rather than integrating absolute image intensities. Owing to this design, the sensor exhibits strong performance in situations of challenging…

We introduce EDS, a direct monocular visual odometry using events and frames. Our algorithm leverages the event generation model to track the camera motion in the blind time between frames. The method formulates a direct probabilistic…

Despite the attention marker-less pose estimation has attracted in recent years, marker-based approaches still provide unbeatable accuracy under controlled environmental conditions. Thus, they are used in many fields such as robotics or…

Pose estimation of an uncooperative space resident object is a key asset towards autonomy in close proximity operations. In this context monocular cameras are a valuable solution because of their low system requirements. However, the…