Related papers: A Convex and Global Solution for the P$n$P Problem…

In this paper, we propose a method to determine the 3D relative pose of pairs of communicating robots by using human pose-based key-points as correspondences. We adopt a 'leader-follower' framework, where at first, the leader robot visually…

In recent years Plug-and-Play (PnP) methods have achieved state-of-the-art performance in inverse imaging problems by replacing proximal operators with denoisers. Based on the proximal gradient method, some theoretical results of PnP have…

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…

Among underwater perceptual sensors, imaging sonar has been highlighted for its perceptual robustness underwater. The major challenge of imaging sonar, however, arises from the difficulty in defining visual features despite limited…

This article presents a new method for non-rigidly registering a 3D shape to 2D keypoints observed by a constellation of multiple cameras. Non-rigid registration of a 3D shape to observed 2D keypoints, i.e., Shape-from-Template (SfT), has…

This work addresses the certification of the local robustness of vision-based two-stage 6D object pose estimation. The two-stage method for object pose estimation achieves superior accuracy by first employing deep neural network-driven…

In the point set embeddability problem, we are given a plane graph $G$ with $n$ vertices and a point set $S$ with $n$ points. Now the goal is to answer the question whether there exists a straight-line drawing of $G$ such that each vertex…

Popular 3D scan registration projects, such as Stanford digital Michelangelo or KinectFusion, exploit the high-resolution sensor data for scan alignment. It is particularly challenging to solve the registration of sparse 3D scans in the…

We present an approach for estimating the pose of an external camera with respect to a robot using a single RGB image of the robot. The image is processed by a deep neural network to detect 2D projections of keypoints (such as joints)…

Point cloud registration aligns multiple unposed point clouds into a common reference frame and is a core step for 3D reconstruction and robot localization without initial guess. In this work, we cast registration as conditional generation:…

A challenge in image based metrology and forensics is intrinsic camera calibration when the used camera is unavailable. The unavailability raises two questions. The first question is how to find the projection model that describes the…

We study the problem of 3D shape reconstruction from 2D landmarks extracted in a single image. We adopt the 3D deformable shape model and formulate the reconstruction as a joint optimization of the camera pose and the linear shape…

Finding an approximate second-order stationary point (SOSP) is a well-studied and fundamental problem in stochastic nonconvex optimization with many applications in machine learning. However, this problem is poorly understood in the…

Camera calibration in broadcast sports videos presents numerous challenges for accurate sports field registration due to multiple camera angles, varying camera parameters, and frequent occlusions of the field. Traditional search-based…

Camera calibration is a crucial prerequisite in many applications of computer vision. In this paper, a new, geometry-based camera calibration technique is proposed, which resolves two main issues associated with the widely used Zhang's…

Field robotics in perceptually-challenging environments require fast and accurate state estimation, but modern LiDAR sensors quickly overwhelm current odometry algorithms. To this end, this paper presents a lightweight frontend LiDAR…

In this article we purpose a novel method for planar pose estimation of mobile robots. This method is based on an analytic solution (which we derived) for the projection of 3D straight lines, onto the mirror of Non-Central Catadioptric…

This paper presents DLL, a fast direct map-based localization technique using 3D LIDAR for its application to aerial robots. DLL implements a point cloud to map registration based on non-linear optimization of the distance of the points and…

Underwater navigation presents several challenges, including unstructured unknown environments, lack of reliable localization systems (e.g., GPS), and poor visibility. Furthermore, good-quality obstacle detection sensors for underwater…

The rigid registration of two 3D point sets is a fundamental problem in computer vision. The current trend is to solve this problem globally using the BnB optimization framework. However, the existing global methods are slow for two main…