Related papers: P3P Made Easy
This paper addresses the problem of mirror surface reconstruction, and proposes a solution based on observing the reflections of a moving reference plane on the mirror surface. Unlike previous approaches which require tedious calibration,…
In the classic polyline simplification problem we want to replace a given polygonal curve $P$, consisting of $n$ vertices, by a subsequence $P'$ of $k$ vertices from $P$ such that the polygonal curves $P$ and $P'$ are as close as possible.…
DUSt3R has recently shown that one can reduce many tasks in multi-view geometry, including estimating camera intrinsics and extrinsics, reconstructing the scene in 3D, and establishing image correspondences, to the prediction of a pair of…
We present a new insight into the systematic generation of minimal solvers in computer vision, which leads to smaller and faster solvers. Many minimal problem formulations are coupled sets of linear and polynomial equations where image…
We consider an inertial primal-dual fixed point algorithm (IPDFP) to compute the minimizations of the following Problem (1.1). This is a full splitting approach, in the sense that the nonsmooth functions are processed individually via their…
Locating 3D objects from a single RGB image via Perspective-n-Point (PnP) is a long-standing problem in computer vision. Driven by end-to-end deep learning, recent studies suggest interpreting PnP as a differentiable layer, allowing for…
Certain problems in quadratic minimization can be reduced to finding the point $x$ of a polyhedron ${ P}$ that minimizes the distance $\|x-p\|$ for some $p\notin { P}$. This amounts to a search for the appropriate face $F$ of ${ P}$ for…
The goal of the \emph{alignment problem} is to align a (given) point cloud $P = \{p_1,\cdots,p_n\}$ to another (observed) point cloud $Q = \{q_1,\cdots,q_n\}$. That is, to compute a rotation matrix $R \in \mathbb{R}^{3 \times 3}$ and a…
In the current paper we are seeking P1(y),P2(y),P3(y) with the highest possible degree polynomials with integer coefficients, and Q(y) via the lowest possible degree polynomial, such that P1(y)^3+P2(y)^3+P3(y)^3=Q(y). Actually, the solution…
We examine 3D reconstruction of architectural scenes in unordered sets of uncalibrated images. We introduce a linear method to self-calibrate and find the metric reconstruction of a camera pair. We assume unknown and different focal lengths…
This paper presents a new algorithm to estimate absolute camera pose given an axis of the camera's rotation matrix. Current algorithms solve the problem via algebraic solutions on limited input domains. This paper shows that the problem can…
Multi-camera systems offer rich observation capabilities for visual navigation and 3D scene reconstruction; however, the resulting feature redundancy often compromises computational efficiency. This challenge is particularly pronounced…
We consider the task of re-calibrating the 3D pose of a static surveillance camera, whose pose may change due to external forces, such as birds, wind, falling objects or earthquakes. Conventionally, camera pose estimation can be solved with…
Locating 3D objects from a single RGB image via Perspective-n-Points (PnP) is a long-standing problem in computer vision. Driven by end-to-end deep learning, recent studies suggest interpreting PnP as a differentiable layer, so that 2D-3D…
Recoverable robust optimization is a popular multi-stage approach, in which it is possible to adjust a first-stage solution after the uncertain cost scenario is revealed. We consider recoverable robust optimization in combination with…
Two-view relative pose estimation and structure reconstruction is a classical problem in computer vision. The typical methods usually employ the singular value decomposition of the essential matrix to get multiple solutions of the relative…
Absolute pose estimation is a fundamental problem in computer vision, and it is a typical parameter estimation problem, meaning that efforts to solve it will always suffer from outlier-contaminated data. Conventionally, for a fixed…
Finding relative pose between two calibrated images is a fundamental task in computer vision. Given five point correspondences, the classical five-point methods can be used to calculate the essential matrix efficiently. For the case of $N$…
For many fundamental problems in computational topology, such as unknot recognition and $3$-sphere recognition, the existence of a polynomial-time solution remains unknown. A major algorithmic tool behind some of the best known algorithms…
Perspective-n-Point-and-Line (P$n$PL) algorithms aim at fast, accurate, and robust camera localization with respect to a 3D model from 2D-3D feature correspondences, being a major part of modern robotic and AR/VR systems. Current…