Related papers: PLMP -- Point-Line Minimal Problems for Projective…
Many monocular visual SLAM algorithms are derived from incremental structure-from-motion (SfM) methods. This work proposes a novel monocular SLAM method which integrates recent advances made in global SfM. In particular, we present two main…
Existing camera-projector calibration methods typically warp feature points from a camera image to a projector image using estimated homographies, and often suffer from errors in camera parameters and noise due to imperfect planarity of the…
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…
We address the following problem: Given a simple polygon $P$ with $n$ vertices and two points $s$ and $t$ inside it, find a minimum link path between them such that a given target point $q$ is visible from at least one point on the path.…
This paper addresses two fundamental problems in the context of jump linear systems (JLS). The first problem is concerned with characterizing the minimal state space dimension solely from input-output pairs and without any knowledge of the…
Two-view structure-from-motion (SfM) is the cornerstone of 3D reconstruction and visual SLAM. Existing deep learning-based approaches formulate the problem by either recovering absolute pose scales from two consecutive frames or predicting…
We present a new, stochastic variant of the projective splitting (PS) family of algorithms for monotone inclusion problems. It can solve min-max and noncooperative game formulations arising in applications such as robust ML without the…
This paper presents new efficient solutions to the rolling shutter camera absolute pose problem. Unlike the state-of-the-art polynomial solvers, we approach the problem using simple and fast linear solvers in an iterative scheme. We present…
Many problems in computer vision and robotics can be phrased as non-linear least squares optimization problems represented by factor graphs, for example, simultaneous localization and mapping (SLAM), structure from motion (SfM), motion…
Structure-from-Motion approaches could be broadly divided into two classes: incremental and global. While incremental manner is robust to outliers, it suffers from error accumulation and heavy computation load. The global manner has the…
We address the problem of estimating both translational and angular velocity of a camera from asynchronous point tracks, a formulation relevant to rolling shutter and event cameras. Since the original problem is non-polynomial, we propose a…
The implementation of a Structure-from-Motion (SfM) pipeline from a synthetically generated scene as well as the investigation of the faithfulness of diverse reconstructions is the subject of this project. A series of different SfM…
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…
We consider the problem of reconstructing a 3-D scene from a moving camera with high frame rate using the affine projection model. This problem is traditionally known as Affine Structure from Motion (Affine SfM), and can be solved using an…
Versions of the following problem appear in several topics such as Gamma Knife radiosurgery, studying objects with the X-ray transform, the 3SUM problem, and the $k$-linear degeneracy testing. Suppose there are $n$ points on a plane whose…
We study several natural instances of the geometric hitting set problem for input consisting of sets of line segments (and rays, lines) having a small number of distinct slopes. These problems model path monitoring (e.g., on road networks)…
Structure-from-Motion (SfM) is the task of estimating 3D structure and camera poses from images. We define Collaborative SfM (ColabSfM) as sharing distributed SfM reconstructions. Sharing maps requires estimating a joint reference frame,…
We study the inverse problem of estimating n locations $t_1, ..., t_n$ (up to global scale, translation and negation) in $R^d$ from noisy measurements of a subset of the (unsigned) pairwise lines that connect them, that is, from noisy…
Recovering 3D structure and camera motion from images has been a long-standing focus of computer vision research and is known as Structure-from-Motion (SfM). Solutions to this problem are categorized into incremental and global approaches.…
We consider the Min-$r$-Lin$(Z_m)$ problem: given a system $S$ of length-$r$ linear equations modulo $m$, find $Z \subseteq S$ of minimum cardinality such that $S-Z$ is satisfiable. The problem is NP-hard and UGC-hard to approximate in…