Related papers: A polynomial formula for the perspective four poin…
Absolute pose estimation is a fundamental problem in computer vision, and it is a typical parameter estimation problem, meaning that efforts to solve it will always suffer from outlier-contaminated data. Conventionally, for a fixed…
6D pose estimation is a central problem in robot vision. Compared with pose estimation based on point correspondences or its robust versions, correspondence-free methods are often more flexible. However, existing correspondence-free methods…
We consider the problem of tracking $n$ targets in the plane using $2n$ cameras. We can use two cameras to estimate the location of a target. We are then interested in forming $n$ camera pairs where each camera belongs to exactly one pair,…
The Perspective-Three-Point Problem (P3P) is solved by first focusing on determining the directions of the lines through pairs of control points, relative to the camera, rather than the distances from the camera to the control points. The…
This paper presents a new method to recover the relative pose between two images, using three points and the vertical direction information. The vertical direction can be determined in two ways: 1- using direct physical measurement like IMU…
Relative pose estimation using point correspondences (PC) is a widely used technique. A minimal configuration of six PCs is required for two views of generalized cameras. In this paper, we present several minimal solvers that use six PCs to…
This paper presents a simple algebraic method to estimate the pose of a camera relative to a planar target from $n \geq 4$ reference points with known coordinates in the target frame and their corresponding bearing measurements in the…
Determining the position and orientation of a calibrated camera from a single image with respect to a 3D model is an essential task for many applications. When 2D-3D correspondences can be obtained reliably, perspective-n-point solvers can…
The Perspective-n-Point (PnP) problem has been widely studied in both computer vision and photogrammetry societies. With the development of feature extraction techniques, a large number of feature points might be available in a single shot.…
Object pose estimation is a fundamental computer vision task exploited in several robotics and augmented reality applications. Many established approaches rely on predicting 2D-3D keypoint correspondences using RANSAC (Random sample…
Visual localization has attracted considerable attention due to its low-cost and stable sensor, which is desired in many applications, such as autonomous driving, inspection robots and unmanned aerial vehicles. However, current visual…
The goal of this paper is to estimate directly the rotation and translation between two stereoscopic images with the help of five homologous points. The methodology presented does not mix the rotation and translation parameters, which is…
In this paper we present four cases of minimal solutions for two-view relative pose estimation by exploiting the affine transformation between feature points and we demonstrate efficient solvers for these cases. It is shown, that under the…
We present a novel solution to the camera pose estimation problem, where rotation and translation of a camera between two views are estimated from matched feature points in the images. The camera pose estimation problem is traditionally…
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 study the set of image tuples arising from fixed cameras observing varying planar 3-dimensional point configurations. We derive a formula for the number of complex critical points of the triangulation problem, which seeks to reconstruct…
This paper proposes a segmentation-free, automatic and efficient procedure to detect general geometric quadric forms in point clouds, where clutter and occlusions are inevitable. Our everyday world is dominated by man-made objects which are…
As the spherical object can be seen everywhere, we should extract the ellipse image accurately and fit it by implicit algebraic curve in order to finish the 3D reconstruction. In this paper, we propose a new ellipse fitting algorithm which…
How to efficiently and accurately handle image matching outliers is a critical issue in two-view relative estimation. The prevailing RANSAC method necessitates that the minimal point pairs be inliers. This paper introduces a linear relative…
In the maximum independent set of convex polygons problem, we are given a set of $n$ convex polygons in the plane with the objective of selecting a maximum cardinality subset of non-overlapping polygons. Here we study a special case of the…