Related papers: Physically-Based Photometric Bundle Adjustment in …
Camera calibration is the foundation of 3D vision. Generic camera calibration can yield more accurate results than parametric cam era calibration. However, calibrating a generic camera model using printed calibration boards requires far…
Simulated images are essential in algorithm development and instrument testing for optical telescopes. During real observations, images obtained by optical telescopes are affected by spatially variable point spread functions (PSFs), a…
4D radar is increasingly attractive for robotic mapping because it provides range, azimuth, elevation, and Doppler measurements while remaining robust in adverse visibility conditions. Although recent radar and radar--inertial odometry…
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…
Structure-from-Motion (SfM) is a fundamental 3D vision task for recovering camera parameters and scene geometry from multi-view images. While recent deep learning advances enable accurate Monocular Depth Estimation (MDE) from single images…
In this paper, we propose a so-called probabilistic non-local means (PNLM) method for image denoising. Our main contributions are: 1) we point out defects of the weight function used in the classic NLM; 2) we successfully derive all…
Modeling outdoor scenes for the synthetic 3D environment requires the recovery of reflectance/albedo information from raw images, which is an ill-posed problem due to the complicated unmodeled physics in this process (e.g., indirect…
Decisions about health interventions are often made using limited evidence. Mathematical models used to inform such decisions often include uncertainty analysis to account for the effect of uncertainty in the current evidence base on…
Light has many properties that vision sensors can passively measure. Colour-band separated wavelength and intensity are arguably the most commonly used for monocular 6D object pose estimation. This paper explores how complementary…
This paper presents an integrated approach to Visual SLAM, merging online sequential photometric calibration within a Hybrid direct-indirect visual SLAM (H-SLAM). Photometric calibration helps normalize pixel intensity values under…
Accurate 6D pose estimation of 3D objects is a fundamental task in computer vision, and current research typically predicts the 6D pose by establishing correspondences between 2D image features and 3D model features. However, these methods…
Transforming the instrumental photometry of ground-based telescopes into a calibrated physical flux in a well-defined passband is a major challenge in astronomy. Along with the intrinsic instrumental difference between telescopes sharing…
Imaging bundles provide a convenient way to translate a spatially coherent image, yet conventional imaging bundles made from silica fibre optics typically remain expensive with large losses due to poor filling factors (~40%). We present the…
We introduce a new, integrated approach to uncalibrated photometric stereo. We perform 3D reconstruction of Lambertian objects using multiple images produced by unknown, directional light sources. We show how to formulate a single…
The joint optimization of sensor poses and 3D structure is fundamental for state estimation in robotics and related fields. Current LiDAR systems often prioritize pose optimization, with structure refinement either omitted or treated…
Accurate camera calibration is a fundamental task for 3D perception, especially when dealing with real-world, in-the-wild environments where complex optical distortions are common. Existing methods often rely on pre-rectified images or…
We introduce a modified version of a standard power spectrum `peak-bagging' technique which is designed to gain some of the advantages that fitting the entire low-degree p-mode power spectrum simultaneously would bring, but without the…
We present a framework that pioneers the prediction of photochemical conversion in complex three-dimensionally printed objects, introducing a challenging new computer vision task: predicting dense, non-visual volumetric physical properties…
We present a new mathematical formulation to estimate the intrinsic parameters of a camera in active or robotic platforms. We show that the focal lengths can be estimated using only one point correspondence that relates images taken before…
Camera display reflections are an issue in bright light situations, as they may prevent users from correctly positioning the subject in the picture. We propose a software solution to this problem, which consists in modifying the image in…