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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…

Given 2D point correspondences between an image pair, inferring the camera motion is a fundamental issue in the computer vision community. The existing works generally set out from the epipolar constraint and estimate the essential matrix,…

In this paper, we propose a highly efficient method to estimate an image's mean opinion score (MOS) from a single opinion score (SOS). Assuming that each SOS is the observed sample of a normal distribution and the MOS is its unknown…

In many automation tasks involving manipulation of rigid objects, the poses of the objects must be acquired. Vision-based pose estimation using a single RGB or RGB-D sensor is especially popular due to its broad applicability. However,…

The goal of this paper is to estimate directly the rotation and translation between two stereoscopic images with the help of five homologous points. The methodology presented does not mix the rotation and translation parameters, which is…

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…

Hundreds of millions of people routinely take photos using their smartphones as point and shoot (PAS) cameras, yet very few would have the photography skills to compose a good shot of a scene. While traditional PAS cameras have built-in…

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…

Deducing a 3D human pose from a single 2D image is inherently challenging because multiple 3D poses can correspond to the same 2D representation. 3D data can resolve this pose ambiguity, but it is expensive to record and requires an…

This paper introduces an approach for multi-human 3D pose estimation and tracking based on calibrated multi-view. The main challenge lies in finding the cross-view and temporal correspondences correctly even when several human pose…

Pose estimation and map building are central ingredients of autonomous robots and typically rely on the registration of sensor data. In this paper, we investigate a new metric for registering images that builds upon on the idea of the…

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…

Can freely moving humans or animals themselves serve as calibration targets for multi-camera systems while simultaneously estimating their correspondences across views? We humans can solve this problem by mentally rotating the observed 2D…

Rotation averaging is a synchronization process on single or multiple rotation groups, and is a fundamental problem in many computer vision tasks such as multi-view structure from motion (SfM). Specifically, rotation averaging involves the…

The two-stage object pose estimation paradigm first detects semantic keypoints on the image and then estimates the 6D pose by minimizing reprojection errors. Despite performing well on standard benchmarks, existing techniques offer no…

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…

Mobile devices equipped with a multi-camera system and an inertial measurement unit (IMU) are widely used nowadays, such as self-driving cars. The task of relative pose estimation using visual and inertial information has important…

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…

Camera, and associated with its objects within the field of view, localization could benefit many computer vision fields, such as autonomous driving, robot navigation, and augmented reality (AR). In this survey, we first introduce specific…

We study the challenging problem of estimating the relative pose of three calibrated cameras from four point correspondences. We propose novel efficient solutions to this problem that are based on the simple idea of using four…