Related papers: Characterization of the multiplicity of solutions …
In this paper, we address the problem of exact recovery condition in retrieving 3D human motion from 2D landmark motion. We use a skeletal kinematic model to represent the 3D human motion as a vector of angular articulation motion. We…
Calibration in a multi camera network has widely been studied for over several years starting from the earlier days of photogrammetry. Many authors have presented several calibration algorithms with their relative advantages and…
In this paper we study the distance-based docking problem of unmanned aerial vehicles (UAVs) by using a single landmark placed at an arbitrarily unknown position. To solve the problem, we propose an integrated estimation-control scheme to…
Blind Perspective-n-Point (PnP) is the problem of estimating the position and orientation of a camera relative to a scene, given 2D image points and 3D scene points, without prior knowledge of the 2D-3D correspondences. Solving for pose and…
This letter proposes a method of global localization on a map with semantic object landmarks. One of the most promising approaches for localization on object maps is to use semantic graph matching using landmark descriptors calculated from…
Using geometric landmarks like lines and planes can increase navigation accuracy and decrease map storage requirements compared to commonly-used LiDAR point cloud maps. However, landmark-based registration for applications like loop closure…
We introduce a new method for location recovery from pair-wise directions that leverages an efficient convex program that comes with exact recovery guarantees, even in the presence of adversarial outliers. When pairwise directions represent…
Visual localization, i.e., camera pose estimation in a known scene, is a core component of technologies such as autonomous driving and augmented reality. State-of-the-art localization approaches often rely on image retrieval techniques for…
This paper poses a question about a simple localization problem. The question is if an {\em oblivious} walker on a line-segment can localize the middle point of the line-segment in {\em finite} steps observing the direction (i.e., Left or…
This paper studies the relative pose problem for autonomous vehicle driving in highly dynamic and possibly cluttered environments. This is a challenging scenario due to the existence of multiple, large, and independently moving objects in…
Although significant progress achieved, multi-label classification is still challenging due to the complexity of correlations among different labels. Furthermore, modeling the relationships between input and some (dull) classes further…
In this work, we explore the use of objects in Simultaneous Localization and Mapping in unseen worlds and propose an object-aided system (OA-SLAM). More precisely, we show that, compared to low-level points, the major benefit of objects…
Calibration of sensors is fundamental to robust performance for intelligent vehicles. In natural environments, disturbances can easily challenge calibration. One possibility is to use natural objects of known shape to recalibrate sensors.…
IP Geolocation is a key enabler for many areas of application like Content Delivery Networks, targeted advertisement and law enforcement. Therefore, an increased accuracy is needed to improve service quality. Although IP Geolocation is an…
Human pose estimation is a major computer vision problem with applications ranging from augmented reality and video capture to surveillance and movement tracking. In the medical context, the latter may be an important biomarker for…
We study the problem of solving a linear sensing system when the observations are unlabeled. Specifically we seek a solution to a linear system of equations y = Ax when the order of the observations in the vector y is unknown. Focusing on…
In this work, we present an algebraic solution to the classical perspective-3-point (P3P) problem for determining the position and attitude of a camera from observations of three known reference points. In contrast to previous approaches,…
The image retrieval (IR) approach to image localization has distinct advantages to the 3D and the deep learning (DNN) approaches: it is seen-agnostic, simpler to implement and use, has no privacy issues, and is computationally efficient.…
Accurate face landmark localization is an essential part of face recognition, reconstruction and morphing. To accurately localize face landmarks, we present our heatmap regression approach. Each model consists of a MobileNetV2 backbone…
Conventional single image based localization methods usually fail to localize a querying image when there exist large variations between the querying image and the pre-built scene. To address this, we propose an image-set querying based…