Related papers: Characterization of the multiplicity of solutions …
Essential matrix averaging, i.e., the task of recovering camera locations and orientations in calibrated, multiview settings, is a first step in global approaches to Euclidean structure from motion. A common approach to essential matrix…
Navigation solutions suitable for cases when both autonomous robot's pose (\textit{i.e}., attitude and position) and its environment are unknown are in great demand. Simultaneous Localization and Mapping (SLAM) fulfills this need by…
Localization of anatomical landmarks to perform two-dimensional measurements in echocardiography is part of routine clinical workflow in cardiac disease diagnosis. Automatic localization of those landmarks is highly desirable to improve…
We propose a novel method for estimating the global rotations of the cameras independently of their positions and the scene structure. When two calibrated cameras observe five or more of the same points, their relative rotation can be…
We present a vehicle self-localization method using point-based deep neural networks. Our approach processes measurements and point features, i.e. landmarks, from a high-definition digital map to infer the vehicle's pose. To learn the best…
Despite significant algorithmic advances in vision-based positioning, a comprehensive probabilistic framework to study its performance has remained unexplored. The main objective of this paper is to develop such a framework using ideas from…
Knowledge about the locations of keypoints of an object in an image can assist in fine-grained classification and identification tasks, particularly for the case of objects that exhibit large variations in poses that greatly influence their…
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…
We revisit certain problems of pose estimation based on 3D--2D correspondences between features which may be points or lines. Specifically, we address the two previously-studied minimal problems of estimating camera extrinsics from $p \in…
Visual navigation and three-dimensional (3D) scene reconstruction are essential for robotics to interact with the surrounding environment. Large-scale scenes and critical camera motions are great challenges facing the research community to…
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…
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…
Is it possible to build a system to determine the location where a photo was taken using just its pixels? In general, the problem seems exceptionally difficult: it is trivial to construct situations where no location can be inferred. Yet…
We propose an approach to estimate the 6DOF pose of a satellite, relative to a canonical pose, from a single image. Such a problem is crucial in many space proximity operations, such as docking, debris removal, and inter-spacecraft…
We examine 3D reconstruction of architectural scenes in unordered sets of uncalibrated images. We introduce a linear method to self-calibrate and find the metric reconstruction of a camera pair. We assume unknown and different focal lengths…
This paper investigates the estimation problem of the pose (orientation and position) and linear velocity of a rigid body, as well as the landmark positions, using an inertial measurement unit (IMU) and a monocular camera. First, we propose…
Learning visual features from unlabeled images has proven successful for semantic categorization, often by mapping different $views$ of the same object to the same feature to achieve recognition invariance. However, visual recognition…
In this paper, we address the problem of landmark-based visual place recognition. In the state-of-the-art method, accurate object proposal algorithms are first leveraged for generating a set of local regions containing particular landmarks…
The problem visual place recognition is commonly used strategy for localization. Most successful appearance based methods typically rely on a large database of views endowed with local or global image descriptors and strive to retrieve the…
Learning model-free object pose estimation for unseen instances remains a fundamental challenge in 3D vision. Existing methods typically fall into two disjoint paradigms: category-level approaches predict absolute poses in a canonical space…