Related papers: Single-Scanline Relative Pose Estimation for Rolli…

In this paper, we present a novel linear algorithm to estimate the 6 DoF relative pose from consecutive frames of stereo rolling shutter (RS) cameras. Our method is derived based on the assumption that stereo cameras undergo motion with…

In this paper, we develop a modified differential Structure from Motion (SfM) algorithm that can estimate relative pose from two consecutive frames despite of Rolling Shutter (RS) artifacts. In particular, we show that under constant…

The rolling shutter camera has received great attention due to its low cost imaging capability, however, the estimation of relative pose between rolling shutter cameras still remains a difficult problem owing to its line-by-line image…

Relative pose estimation is a fundamental problem in computer vision and it has been studied for conventional global shutter cameras for decades. However, recently, a rolling shutter camera has been widely used due to its low cost imaging…

Rolling-shutter (RS) cameras are ubiquitous, but RS SfM (structure-from-motion) has not been fully solved yet. This work suggests an approach to remedy this: We characterize RS single-view geometry of observed world points or lines.…

Usual Structure-from-Motion (SfM) techniques require at least trifocal overlaps to calibrate cameras and reconstruct a scene. We consider here scenarios of reduced image sets with little overlap, possibly as low as two images at most seeing…

The vast majority of modern consumer-grade cameras employ a rolling shutter mechanism. In dynamic geometric computer vision applications such as visual SLAM, the so-called rolling shutter effect therefore needs to be properly taken into…

Rolling shutter (RS) cameras dominate consumer and smartphone markets. Several methods for computing the absolute pose of RS cameras have appeared in the last 20 years, but the relative pose problem has not been fully solved yet. We provide…

The internal geometry of most modern consumer cameras is not adequately described by the perspective projection. Almost all cameras exhibit some radial lens distortion and are equipped with an electronic rolling shutter that induces…

Cameras with rolling shutters are becoming more common as low-power, low-cost CMOS sensors are being used more frequently in cameras. The rolling shutter means that not all scanlines are exposed over the same time interval. The effects of a…

In this paper, we propose an approach to address the problem of 3D reconstruction of scenes from a single image captured by a light-field camera equipped with a rolling shutter sensor. Our method leverages the 3D information cues present in…

Structure from Motion (SfM) is a critical task in computer vision, aiming to recover the 3D scene structure and camera motion from a sequence of 2D images. The recent pose-only imaging geometry decouples 3D coordinates from camera poses and…

We propose two minimal solutions to the problem of relative pose estimation of (i) a calibrated camera from four points in two views and (ii) a calibrated generalized camera from five points in two views. In both cases, the relative…

Modern automotive vehicles are often equipped with a budget commercial rolling shutter camera. These devices often produce distorted images due to the inter-row delay of the camera while capturing the image. Recent methods for monocular…

For applications in navigation and robotics, estimating the 3D pose of objects is as important as detection. Many approaches to pose estimation rely on detecting or tracking parts or keypoints [11, 21]. In this paper we build on a recent…

In this work we present a unified method of relative camera pose estimation from points and lines correspondences. Given a set of 2D points and lines correspondences in three views, of which two are known, a method has been developed for…

This paper presents a convolutional neural network based approach for estimating the relative pose between two cameras. The proposed network takes RGB images from both cameras as input and directly produces the relative rotation and…

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…

Stereo relative pose problem lies at the core of stereo visual odometry systems that are used in many applications. In this work, we present two minimal solvers for the stereo relative pose. We specifically consider the case when a minimal…

This paper presents an efficient symmetry-agnostic and correspondence-free framework, referred to as SC6D, for 6D object pose estimation from a single monocular RGB image. SC6D requires neither the 3D CAD model of the object nor any prior…