Related papers: Exploiting polar symmetry in designing equivariant…
Recently, equivariant neural networks for policy learning have shown promising improvements in sample efficiency and generalization, however, their wide adoption faces substantial barriers due to implementation complexity. Equivariant…
This paper revisits the problem of orientation estimation for rigid bodies through a novel framework based on scalar measurements. Unlike traditional vector-based methods, the proposed approach enables selective utilization of only the…
During in-hand manipulation, robots must be able to continuously estimate the pose of the object in order to generate appropriate control actions. The performance of algorithms for pose estimation hinges on the robot's sensors being able to…
Binocular stereo vision is an important branch of machine vision, which imitates the human eye and matches the left and right images captured by the camera based on epipolar constraints. The matched disparity map can be calculated according…
We demonstrate an object tracking method for 3D images with fixed computational cost and state-of-the-art performance. Previous methods predicted transformation parameters from convolutional layers. We instead propose an architecture that…
The vast majority of modern consumer-grade cameras employ a rolling shutter mechanism. In dynamic geometric computer vision applications such as visual SLAM, the so-called rolling shutter effect therefore needs to be properly taken into…
This work provides a theoretical analysis for optimally solving the pose estimation problem using total least squares for vector observations from landmark features, which is central to applications involving simultaneous localization and…
Pose estimation is a crucial problem in simultaneous localization and mapping (SLAM). However, developing a robust and consistent state estimator remains a significant challenge, as the traditional extended Kalman filter (EKF) struggles to…
This paper presents a generic 6DOF camera pose estimation method, which can be used for both the pinhole camera and the fish-eye camera. Different from existing methods, relative positions of 3D points rather than absolute coordinates in…
Self-supervised multi-frame depth estimation achieves high accuracy by computing matching costs of pixel correspondences between adjacent frames, injecting geometric information into the network. These pixel-correspondence candidates are…
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…
Estimating the limbs pose in a wearable way may benefit multiple areas such as rehabilitation, teleoperation, human-robot interaction, gaming, and many more. Several solutions are commercially available, but they are usually expensive or…
Absolute pose estimation is a fundamental problem in computer vision, and it is a typical parameter estimation problem, meaning that efforts to solve it will always suffer from outlier-contaminated data. Conventionally, for a fixed…
Polarization-based vision has gained increasing attention for providing richer physical cues beyond RGB images. While achieving single-shot capture is highly desirable for practical applications, existing Division-of-Focal-Plane (DoFP)…
Object pose estimation methods allow finding locations of objects in unstructured environments. This is a highly desired skill for autonomous robot manipulation as robots need to estimate the precise poses of the objects in order to…
In this paper, we propose a global method for estimating the motion of a camera which films a static scene. Our approach is direct, fast and robust, and deals with adjacent frames of a sequence. It is based on a quadratic approximation of…
We propose a new recursive method for simultaneous estimation of both the pose and the shape of a three-dimensional extended object. The key idea of the presented method is to represent the shape of the object using spherical harmonics,…
High-precision localization is pivotal in underwater reinspection missions. Traditional localization methods like inertial navigation systems, Doppler velocity loggers, and acoustic positioning face significant challenges and are not…
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…
Many problems in computer vision can be formulated as geometric estimation problems, i.e. given a collection of measurements (e.g. point correspondences) we wish to fit a model (e.g. an essential matrix) that agrees with our observations.…