Related papers: Are Minimal Radial Distortion Solvers Necessary fo…
Polynomial and rational functions are the number one choice when it comes to modeling of radial distortion of lenses. However, several extrapolation and numerical issues may arise while using these functions that have not been covered by…
Minimal solutions for relative rotation and translation estimation tasks have been explored in different scenarios, typically relying on the so-called co-visibility graph. However, how to build direct rotation relationships between two…
We present a lightweight solution to recover 3D pose from multi-view images captured with spatially calibrated cameras. Building upon recent advances in interpretable representation learning, we exploit 3D geometry to fuse input images into…
Image set recognition has been widely applied in many practical problems like real-time video retrieval and image caption tasks. Due to its superior performance, it has grown into a significant topic in recent years. However, images with…
Robotic-assistive therapy has demonstrated very encouraging results for children with Autism. Accurate estimation of the child's pose is essential both for human-robot interaction and for therapy assessment purposes. Non-intrusive methods…
The direct detection and characterization of exoplanets will be a major scientific driver over the next decade, involving the development of very large telescopes and requires high-contrast imaging close to the optical axis. Some complex…
Line features are valid complements for point features in man-made environments. 3D-2D constraints provided by line features have been widely used in Visual Odometry (VO) and Structure-from-Motion (SfM) systems. However, how to accurately…
We introduce FocalPose, a neural render-and-compare method for jointly estimating the camera-object 6D pose and camera focal length given a single RGB input image depicting a known object. The contributions of this work are twofold. First,…
Stereo vision systems have become popular in computer vision applications, such as 3D reconstruction, object tracking, and autonomous navigation. However, traditional stereo vision systems that use rectilinear lenses may not be suitable for…
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…
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…
Multi-perspective cameras with potentially non-overlapping fields of view have become an important exteroceptive sensing modality in a number of applications such as intelligent vehicles, drones, and mixed reality headsets. In this work, we…
We introduce Diff-DOPE, a 6-DoF pose refiner that takes as input an image, a 3D textured model of an object, and an initial pose of the object. The method uses differentiable rendering to update the object pose to minimize the visual error…
We present an algorithm for reconstructing the radiance field of a large-scale scene from a single casually captured video. The task poses two core challenges. First, most existing radiance field reconstruction approaches rely on accurate…
Image distortion correction is a critical pre-processing step for a variety of computer vision and image processing algorithms. Standard real-time software implementations are generally not suited for direct hardware porting, so…
We introduce Corr2Distrib, the first correspondence-based method which estimates a 6D camera pose distribution from an RGB image, explaining the observations. Indeed, symmetries and occlusions introduce visual ambiguities, leading to…
Circular targets are widely used in LiDAR-camera extrinsic calibration due to their geometric consistency and ease of detection. However, achieving accurate 3D-2D circular center correspondence remains challenging. Existing methods often…
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…
In this paper we present a novel algorithm for onboard radial distortion correction for unmanned aerial vehicles (UAVs) equipped with an inertial measurement unit (IMU), that runs in real-time. This approach makes calibration procedures…
In this work we present a unified method of relative camera pose estimation from points and lines correspondences. Given a set of 2D points and lines correspondences in three views, of which two are known, a method has been developed for…