Related papers: Characterization of the multiplicity of solutions …
We consider the problem where a network of sensors has to detect the presence of targets at any of $n$ possible locations in a finite region. All such locations may not be occupied by a target. The data from sensors is fused to determine…
Human pose estimation from single images is a challenging problem in computer vision that requires large amounts of labeled training data to be solved accurately. Unfortunately, for many human activities (\eg outdoor sports) such training…
The problem of identifying the 3D pose of a known object from a given 2D image has important applications in Computer Vision ranging from robotic vision to image analysis. Our proposed method of registering a 3D model of a known object on a…
We propose a general self-supervised learning approach for spatial perception tasks, such as estimating the pose of an object relative to the robot, from onboard sensor readings. The model is learned from training episodes, by relying on: a…
Object pose recovery has gained increasing attention in the computer vision field as it has become an important problem in rapidly evolving technological areas related to autonomous driving, robotics, and augmented reality. Existing…
In this paper we present a fast minimal solver for absolute camera pose estimation from four known points that lie in a plane. We assume a perspective camera model with unknown focal length and unknown radial distortion. The radial…
When capturing panoramas, people tend to align their cameras with the vertical axis, i.e., the direction of gravity. Moreover, modern devices, such as smartphones and tablets, are equipped with an IMU (Inertial Measurement Unit) that can…
The ground-to-satellite image matching/retrieval was initially proposed for city-scale ground camera localization. This work addresses the problem of improving camera pose accuracy by ground-to-satellite image matching after a coarse…
The point correspondence (PC) and affine correspondence (AC) are widely used for relative pose estimation. An AC consists of a PC across two views and an affine transformation between the small patches around this PC. Previous work…
Line scanning cameras, which capture only a single line of pixels, have been increasingly used in ground based mobile or robotic platforms. In applications where it is advantageous to directly georeference the camera data to world…
Optical cameras are gaining popularity as the suitable sensor for relative navigation in space due to their attractive sizing, power and cost properties when compared to conventional flight hardware or costly laser-based systems. However, a…
Visual place recognition tasks often encounter significant challenges in landmark detection due to the presence of irrelevant objects such as humans, cars, and trees, despite the remarkable progress achieved by previous models, especially…
Estimating metric relative camera pose from a pair of images is of great importance for 3D reconstruction and localisation. However, conventional two-view pose estimation methods are not metric, with camera translation known only up to a…
Finding the three-dimensional representation of all or a part of a scene from a single two dimensional image is a challenging task. In this paper we propose a method for identifying the pose and location of objects with circular protrusions…
In this paper, a mobile camera positioning method based on forward and inverse kinematics of robot is proposed, which can realize far point positioning of imaging position and attitude tracking in large scene enhancement. Orbit precision…
High precision localization is a crucial requirement for the autonomous driving system. Traditional positioning methods have some limitations in providing stable and accurate vehicle poses, especially in an urban environment. Herein, we…
In challenging environments where traditional sensing modalities struggle, in-air sonar offers resilience to optical interference. Placing a priori known landmarks in these environments can eliminate accumulated errors in autonomous mobile…
Explainable video anomaly detection (VAD) is crucial for safety-critical applications, yet even with recent progress, much of the research still lacks spatial grounding, making the explanations unverifiable. This limitation is especially…
We give a non-iterative solution to a particular case of the four-point three-views pose problem when three camera centers are collinear. Using the well-known Cayley representation of orthogonal matrices, we derive from the epipolar…
In this work we present a novel approach to joint semantic localisation and scene understanding. Our work is motivated by the need for localisation algorithms which not only predict 6-DoF camera pose but also simultaneously recognise…