Related papers: Efficient Solution of Point-Line Absolute Pose

We present a method for solving two minimal problems for relative camera pose estimation from three views, which are based on three view correspondences of i) three points and one line and the novel case of ii) three points and two lines…

Estimating camera pose from a single image is a fundamental problem in computer vision. Existing methods for solving this task fall into two distinct categories, which we refer to as direct and indirect. Direct methods, such as PoseNet,…

This work contributes an efficient algorithm to compute the Relative Pose problem (RPp) between calibrated cameras and certify the optimality of the solution, given a set of pair-wise feature correspondences affected by noise and probably…

The Perspective-n-Point (PnP) problem has been widely studied in both computer vision and photogrammetry societies. With the development of feature extraction techniques, a large number of feature points might be available in a single shot.…

The point correspondence (PC) and affine correspondence (AC) are widely used for relative pose estimation. An AC consists of a PC across two views and an affine transformation between the small patches around this PC. Previous work…

High-precision camera re-localization technology in a pre-established 3D environment map is the basis for many tasks, such as Augmented Reality, Robotics and Autonomous Driving. The point-based visual re-localization approaches are…

Relative pose estimation is crucial for various computer vision applications, including Robotic and Autonomous Driving. Current methods primarily depend on selecting and matching feature points prone to incorrect matches, leading to poor…

We consider the problem of tracking $n$ targets in the plane using $2n$ cameras. We can use two cameras to estimate the location of a target. We are then interested in forming $n$ camera pairs where each camera belongs to exactly one pair,…

In this paper, we propose an object-based camera pose estimation from a single RGB image and a pre-built map of objects, represented with ellipsoidal models. We show that contrary to point correspondences, the definition of a cost function…

The estimation of the camera poses associated with a set of images commonly relies on feature matches between the images. In contrast, we are the first to address this challenge by using objectness regions to guide the pose estimation…

We propose an approach for estimating the relative pose between calibrated image pairs by jointly exploiting points, lines, and their coincidences in a hybrid manner. We investigate all possible configurations where these data modalities…

Relative pose estimation using point correspondences (PC) is a widely used technique. A minimal configuration of six PCs is required for two views of generalized cameras. In this paper, we present several minimal solvers that use six PCs to…

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 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…

In this paper, we propose the first minimal solutions for estimating the semi-generalized homography given a perspective and a generalized camera. The proposed solvers use five 2D-2D image point correspondences induced by a scene plane. One…

This paper addresses the problem of 3D pose estimation for multiple people in a few calibrated camera views. The main challenge of this problem is to find the cross-view correspondences among noisy and incomplete 2D pose predictions. Most…

We propose a new method for constructing elimination templates for efficient polynomial system solving of minimal problems in structure from motion, image matching, and camera tracking. We first construct a particular affine…

Most modern image-based 6D object pose estimation methods learn to predict 2D-3D correspondences, from which the pose can be obtained using a PnP solver. Because of the non-differentiable nature of common PnP solvers, these methods are…

Perspective-n-Point-and-Line (P$n$PL) algorithms aim at fast, accurate, and robust camera localization with respect to a 3D model from 2D-3D feature correspondences, being a major part of modern robotic and AR/VR systems. Current…

The process of tracking human anatomy in computer vision is referred to pose estimation, and it is used in fields ranging from gaming to surveillance. Three-dimensional pose estimation traditionally requires advanced equipment, such as…