Related papers: Physically-Based Photometric Bundle Adjustment in …
Simultaneous Localization and Mapping (SLAM) systems typically assume static, distant illumination; however, many real-world scenarios, such as endoscopy, subterranean robotics, and search & rescue in collapsed environments, require agents…
X-ray imaging is a fundamental tool of routine clinical diagnosis. Fluoroscopic imaging can further acquire X-ray images at video frame rates, thus enabling non-invasive in-vivo motion studies of joints, gastrointestinal tract, etc. For…
A local Bundle Adjustment (BA) on a sliding window of keyframes has been widely used in visual SLAM and proved to be very effective in lowering the drift. But in lidar SLAM, BA method is hardly used because the sparse feature points (e.g.,…
Bundle adjustment (BA) is the problem of refining a visual reconstruction to produce better structure and viewing parameter estimates. This problem is often formulated as a nonlinear least squares problem, where data arises from interest…
Multiview registration is used to estimate Rigid Body Transformations (RBTs) from multiple frames and reconstruct a scene with corresponding scans. Despite the success of pairwise registration and pose synchronization, the concept of Bundle…
Camera pose estimation is a fundamental computer vision task that is essential for applications like visual localization and multi-view stereo reconstruction. In the object-centric scenarios with sparse inputs, the accuracy of pose…
Accurate camera pose estimation result is essential for visual SLAM (VSLAM). This paper presents a novel pose correction method to improve the accuracy of the VSLAM system. Firstly, the relationship between the camera pose estimation error…
Traditional SLAM systems, which rely on bundle adjustment, struggle with highly dynamic scenes commonly found in casual videos. Such videos entangle the motion of dynamic elements, undermining the assumption of static environments required…
The line is a prevalent element in man-made environments, inherently encoding spatial structural information, thus making it a more robust choice for feature representation in practical applications. Despite its apparent advantages,…
Photometric stereo (PS) techniques nowadays remain constrained to an ideal laboratory setup where modeling and calibration of lighting is amenable. To eliminate such restrictions, we propose an efficient principled variational approach to…
Event cameras are bio-inspired visual sensors that capture pixel-wise intensity changes and output asynchronous event streams. They show great potential over conventional cameras to handle challenging scenarios in robotics and computer…
This paper introduces a novel targetless method for joint intrinsic and extrinsic calibration of LiDAR-camera systems using plane-constrained bundle adjustment (BA). Our method leverages LiDAR point cloud measurements from planes in the…
A new model-based image adjustment for the enhancement of multi-resolution image fusion or pansharpening is proposed. Such image adjustment is needed for most pansharpening methods using panchromatic band and/or intensity image (calculated…
We tackle the problem of automatic calibration of radially distorted cameras in challenging conditions. Accurately determining distortion parameters typically requires either 1) solving the full Structure from Motion (SfM) problem involving…
This paper introduces Dr-BA, a first-of-its-kind radar bundle adjustment (BA) framework that operates directly on 2D spinning radar intensity images. Unlike camera or lidar sensors, radar is largely unaffected by precipitation, making it a…
Achieving consistent color reproduction across multiple cameras is essential for seamless image fusion and Image Processing Pipeline (ISP) compatibility in modern devices, but it is a challenging task due to variations in sensors and…
This paper introduces a novel approach to the fine alignment of images in a burst captured by a handheld camera. In contrast to traditional techniques that estimate two-dimensional transformations between frame pairs or rely on discrete…
In this paper, we present PTZ-Calib, a robust two-stage PTZ camera calibration method, that efficiently and accurately estimates camera parameters for arbitrary viewpoints. Our method includes an offline and an online stage. In the offline…
Numerous recent approaches attempt to remove image blur due to camera shake, either with one or multiple input images, by explicitly solving an inverse and inherently ill-posed deconvolution problem. If the photographer takes a burst of…
Multi-camera SLAM systems offer a plethora of advantages, primarily stemming from their capacity to amalgamate information from a broader field of view, thereby resulting in heightened robustness and improved localization accuracy. In this…