Related papers: P3P Made Easy
Triangulation refers to the problem of finding a 3D point from its 2D projections on multiple camera images. For solving this problem, it is the common practice to use so-called optimal triangulation method, which we call the L2 method in…
We propose a modified normalized direct linear transform (DLT) algorithm for solving the perspective-n-point (PnP) problem with much better behavior than the conventional DLT. The modification consists of analytically weighting the…
The common approach to radial distortion is by the means of polynomial approximation, which introduces distortion-specific parameters into the camera model and requires estimation of these distortion parameters. The task of estimating…
We present efficient algorithms for detecting central and mirror symmetry for the case of algebraic curves defined by means of polynomial parametrizations. The algorithms are based on the existence of a linear relationship between two…
The Perspective-n-Point (PnP) problem has been widely studied in the literature and applied in various vision-based pose estimation scenarios. However, existing methods ignore the anisotropy uncertainty of observations, as demonstrated in…
We present a method for reconstructing 3D shape of arbitrary Lambertian objects based on measurements by miniature, energy-efficient, low-cost single-photon cameras. These cameras, operating as time resolved image sensors, illuminate the…
Motivated by applications in robotics and computer vision, we study problems related to spatial reasoning of a 3D environment using sublevel sets of polynomials. These include: tightly containing a cloud of points (e.g., representing an…
This work contributes an efficient algorithm to compute the Relative Pose problem (RPp) between calibrated cameras and certify the optimality of the solution, given a set of pair-wise feature correspondences affected by noise and probably…
We introduce a new strategy in solving the truncated complex moment problem. To this aim we investigate recursive doubly indexed sequences and their characteristic polynomials. A characterization of recursive doubly indexed \emph{moment}…
This paper presents an algorithm for 3-SAT problems. First, logical formulas are transformed into elementary algebraic formulas. Second, complex trigonometric functions are assigned to the variables in the elementary algebraic formulas, and…
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…
Deep learning models have achieved significant success in various image related tasks. However, they often encounter challenges related to computational complexity and overfitting. In this paper, we propose an efficient approach that…
We describe a convex programming framework for pose estimation in 2D/3D point-set registration with unknown point correspondences. We give two mixed-integer nonlinear program (MINP) formulations of the 2D/3D registration problem when there…
We propose a general deep plug-and-play (PnP) algorithm with a theoretical convergence guarantee. PnP strategies have demonstrated outstanding performance in various image restoration tasks by exploiting the powerful priors underlying…
Let $P_1,P_2,P_3$ be three given points in $\mathbf{R}^2$, and $P$ be an arbitrary point in $\mathbf{R}^2$. The classical Fermat's problem to Torricelli asks for the location of the point $P$ such that $|PP_1|+|PP_2|+|PP_3|$ is a minimum.…
Recently, the degenerate preconditioned proximal point (PPP) method provides a unified and flexible framework for designing and analyzing operator-splitting algorithms such as Douglas-Rachford (DR). However, the degenerate PPP method…
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…
A new method of root finding is formulated that uses a numerical iterative process involving three points. A given function y = f(x) whose roots are desired is fitted and approximated by a polynomial function of the form P(x)= a(x-b)^N that…
Plane adjustment (PA) is crucial for many 3D applications, involving simultaneous pose estimation and plane recovery. Despite recent advancements, it remains a challenging problem in the realm of multi-view point cloud registration. Current…
This paper reports on a new real-time robot-centered 3D-2D vascular image alignment algorithm, which is robust to outliers and can align nonrigid shapes. Few works have managed to achieve both real-time and accurate performance for vascular…