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This paper presents a pedagogical introduction to the issue of how to implement Lorentz transformations in relativistic visualization. The most efficient approach is to use the even geometric algebra in 3+1 spacetime dimensions, or…
Accurate and robust visual localization under a wide range of viewing condition variations including season and illumination changes, as well as weather and day-night variations, is the key component for many computer vision and robotics…
Chv\'{a}tal and Klincsek (1980) gave an $O(n^3)$-time algorithm for the problem of finding a maximum-cardinality convex subset of an arbitrary given set $P$ of $n$ points in the plane. This paper examines a generalization of the problem,…
We propose OptCtrlPoints, a data-driven framework designed to identify the optimal sparse set of control points for reproducing target shapes using biharmonic 3D shape deformation. Control-point-based 3D deformation methods are widely…
We present two novel solutions for multi-view 3D human pose estimation based on new learnable triangulation methods that combine 3D information from multiple 2D views. The first (baseline) solution is a basic differentiable algebraic…
Recent automotive vision work has focused almost exclusively on processing forward-facing cameras. However, future autonomous vehicles will not be viable without a more comprehensive surround sensing, akin to a human driver, as can be…
A minimal solution using two affine correspondences is presented to estimate the common focal length and the fundamental matrix between two semi-calibrated cameras - known intrinsic parameters except a common focal length. To the best of…
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…
Reconstructing 3D shape and pose of static objects from a single image is an essential task for various industries, including robotics, augmented reality, and digital content creation. This can be done by directly predicting 3D shape in…
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…
We introduce a lightweight and accurate localization method that only utilizes the geometry of 2D-3D lines. Given a pre-captured 3D map, our approach localizes a panorama image, taking advantage of the holistic 360 view. The system…
We study the problem of image alignment for panoramic stitching. Unlike most existing approaches that are feature-based, our algorithm works on pixels directly, and accounts for errors across the whole images globally. Technically, we…
This paper addresses a special Perspective-n-Point (PnP) problem: estimating the optimal pose to align 3D and 2D shapes in real-time without correspondences, termed as correspondence-free PnP. While several studies have focused on 3D and 2D…
Object tracking is a key aspect in many applications such as augmented reality in medicine (e.g. tracking a surgical instrument) or robotics. Squared planar markers have become popular tools for tracking since their pose can be estimated…
Boundary value problems in ODEs arise in modelling many physical situations from microscale to mega scale. Such two-point boundary value problems (BVPs) are complex and often possess no analytical closed form solutions. So, one has to rely…
3D pose estimation from sparse multi-views is a critical task for numerous applications, including action recognition, sports analysis, and human-robot interaction. Optimization-based methods typically follow a two-stage pipeline, first…
We propose a PnP algorithm for a camera constrained to two-dimensional motion (applicable, for instance, to many wheeled robotics platforms). Leveraging this assumption allows accuracy and performance improvements over 3D PnP algorithms due…
Current monocular-based 6D object pose estimation methods generally achieve less competitive results than RGBD-based methods, mostly due to the lack of 3D information. To make up this gap, this paper proposes a 3D geometric volume based…
It is known that a point in three-dimensional Euclidean space whose coordinates are equal to the cosines of the angles $\angle BDC, \angle ADC, \angle ADB$, where the point $D$ lies in the plane of a given triangle $ABC$, lies on the…
The mechanics of an oriented point (point with "spin") based on 3D and 4D Frenet equations is considered. In such mechanics there is an opportunity to describe formally any physical trajectory of a particle with own rotation. We use…