Related papers: PoseGravity: Pose Estimation from Points and Lines…

In this article we purpose a novel method for planar pose estimation of mobile robots. This method is based on an analytic solution (which we derived) for the projection of 3D straight lines, onto the mirror of Non-Central Catadioptric…

We propose a method for estimating the 3D pose for the camera of a mobile device in outdoor conditions, using only an untextured 2D model. Previous methods compute only a relative pose using a SLAM algorithm, or require many registered…

Accurate 6-DoF object pose estimation and tracking are critical for reliable robotic manipulation. However, zero-shot methods often fail under viewpoint-induced ambiguities and fixed-camera setups struggle when objects move or become…

This paper studies the relative pose problem for autonomous vehicle driving in highly dynamic and possibly cluttered environments. This is a challenging scenario due to the existence of multiple, large, and independently moving objects in…

Pose estimation and tracking of objects is a fundamental application in 3D vision. Event cameras possess remarkable attributes such as high dynamic range, low latency, and resilience against motion blur, which enables them to address…

Two-view pose estimation is essential for map-free visual relocalization and object pose tracking tasks. However, traditional matching methods suffer from time-consuming robust estimators, while deep learning-based pose regressors only…

6D object pose estimation aims to infer the relative pose between the object and the camera using a single image or multiple images. Most works have focused on predicting the object pose without associated uncertainty under occlusion and…

Accurate registration of 2D imagery with point clouds is a key technology for image-LiDAR point cloud fusion, camera to laser scanner calibration and camera localization. Despite continuous improvements, automatic registration of 2D and 3D…

We introduce a novel neural volumetric pose feature, termed PoseMap, designed to enhance camera localization by encapsulating the information between images and the associated camera poses. Our framework leverages an Absolute Pose…

Accurate 6D object pose estimation is fundamental to robotic manipulation and grasping. Previous methods follow a local optimization approach which minimizes the distance between closest point pairs to handle the rotation ambiguity of…

Affine correspondences have traditionally been used to improve feature matching over wide baselines. While recent work has successfully used affine correspondences to solve various relative camera pose estimation problems, less attention…

This work presents two novel solvers for estimating the relative poses among views with known vertical directions. The vertical directions of camera views can be easily obtained using inertial measurement units (IMUs) which have been widely…

Estimating ego-pose from cameras is an important problem in robotics with applications ranging from mobile robotics to augmented reality. While SOTA models are becoming increasingly accurate, they can still be unwieldy due to high…

The problem of identifying the 3D pose of a known object from a given 2D image has important applications in Computer Vision. Our proposed method of registering a 3D model of a known object on a given 2D photo of the object has numerous…

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…

We propose a complete pipeline that allows object detection and simultaneously estimate the pose of these multiple object instances using just a single image. A novel "keypoint regression" scheme with a cross-ratio term is introduced that…

Real-time robotic grasping, supporting a subsequent precise object-in-hand operation task, is a priority target towards highly advanced autonomous systems. However, such an algorithm which can perform sufficiently-accurate grasping with…

We consider the classical camera pose estimation problem that arises in many computer vision applications, in which we are given n 2D-3D correspondences between points in the scene and points in the camera image (some of which are incorrect…

Accurate camera-to-robot calibration is essential for any vision-based robotic control system and especially critical in minimally invasive surgical robots, where instruments conduct precise micro-manipulations. However, MIS robots have…

We introduce new linear mathematical formulations to calculate the focal length of a camera in an active platform. Through mathematical derivations, we show that the focal lengths in each direction can be estimated using only one point…