Related papers: Efficient Solution of Point-Line Absolute Pose

Visual navigation and three-dimensional (3D) scene reconstruction are essential for robotics to interact with the surrounding environment. Large-scale scenes and critical camera motions are great challenges facing the research community to…

Detecting 3D lanes from the camera is a rising problem for autonomous vehicles. In this task, the correct camera pose is the key to generating accurate lanes, which can transform an image from perspective-view to the top-view. With this…

In this work, we present an algebraic solution to the classical perspective-3-point (P3P) problem for determining the position and attitude of a camera from observations of three known reference points. In contrast to previous approaches,…

Few-shot, fine-grained classification requires a model to learn subtle, fine-grained distinctions between different classes (e.g., birds) based on a few images alone. This requires a remarkable degree of invariance to pose, articulation and…

Relative pose estimation provides a promising way for achieving object-agnostic pose estimation. Despite the success of existing 3D correspondence-based methods, the reliance on explicit feature matching suffers from small overlaps in…

The point pair feature (PPF) is widely used for 6D pose estimation. In this paper, we propose an efficient 6D pose estimation method based on the PPF framework. We introduce a well-targeted down-sampling strategy that focuses more on edge…

A hierarchical interval subdivision is shown to lead to a $p$-adic encoding of image data. This allows in the case of the relative pose problem in computer vision and photogrammetry to derive equations having 2-adic numbers as coefficients,…

6-DoF object pose estimation from a monocular image is challenging, and a post-refinement procedure is generally needed for high-precision estimation. In this paper, we propose a framework based on a recurrent neural network (RNN) for…

Solving 6D pose estimation is non-trivial to cope with intrinsic appearance and shape variation and severe inter-object occlusion, and is made more challenging in light of extrinsic large illumination changes and low quality of the acquired…

When using images to locate objects, there is the problem of correcting for distortion and misalignment in the images. An elegant way of solving this problem is to generate an error correcting function that maps points in an image to their…

Given the image collection of an object, we aim at building a real-time image-based pose estimation method, which requires neither its CAD model nor hours of object-specific training. Recent NeRF-based methods provide a promising solution…

This paper presents a universal numerical scheme tailored for tackling linear integral, integro-differential, and both initial and boundary value problems of ordinary differential equations. The numerical scheme is readily adapted for…

In this paper, we present an accurate yet effective solution for 6D pose estimation from an RGB image. The core of our approach is that we first designate a set of surface points on target object model as keypoints and then train a keypoint…

Camera pose estimation is a key step in standard 3D reconstruction pipelines that operate on a dense set of images of a single object or scene. However, methods for pose estimation often fail when only a few images are available because…

We focus on the challenging problem of efficient mouse 3D pose estimation based on static images, and especially single depth images. We introduce an approach to discriminatively train the split nodes of trees in random forest to improve…

The rolling shutter camera has received great attention due to its low cost imaging capability, however, the estimation of relative pose between rolling shutter cameras still remains a difficult problem owing to its line-by-line image…

The perspective-$n$-point (P$n$P) problem is important for robotic pose estimation. It is well studied for optical cameras, but research is lacking for 2D forward-looking sonar (FLS) in underwater scenarios due to the vastly different…

This paper addresses the problem of 3D human pose estimation from a single image. We follow a standard two-step pipeline by first detecting the 2D position of the $N$ body joints, and then using these observations to infer 3D pose. For the…

We address the task of 6D multi-object pose: given a set of known 3D objects and an RGB or RGB-D input image, we detect and estimate the 6D pose of each object. We propose a new approach to 6D object pose estimation which consists of an…

This paper presents an efficient approach to image segmentation that approximates the piecewise-smooth (PS) functional in [12] with explicit solutions. By rendering some rational constraints on the initial conditions and the final solutions…