Related papers: P3P Made Easy
A known first order method to find a feasible solution to a conic problem is an adapted von Neumann algorithm. We improve the distance reduction step there by projecting onto the convex hull of previously generated points using a primal…
Conventional 3D human pose estimation relies on first detecting 2D body keypoints and then solving the 2D to 3D correspondence problem.Despite the promising results, this learning paradigm is highly dependent on the quality of the 2D…
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…
In computer vision, camera pose estimation from correspondences between 3D geometric entities and their projections into the image has been a widely investigated problem. Although most state-of-the-art methods exploit low-level primitives…
Mobile devices equipped with a multi-camera system and an inertial measurement unit (IMU) are widely used nowadays, such as self-driving cars. The task of relative pose estimation using visual and inertial information has important…
In this paper, it is proposed to solve the problem of triangulation for calibrated omnidirectional cameras through the optimisation of ray-pairs on the projective sphere. The proposed solution boils down to finding the roots of a quadratic…
We study the problem of aligning two sets of 3D geometric primitives given known correspondences. Our first contribution is to show that this primitive alignment framework unifies five perception problems including point cloud registration,…
This paper studies the problem of 3D volumetric reconstruction from two views of a scene with an unknown camera. While seemingly easy for humans, this problem poses many challenges for computers since it requires simultaneously…
When using images to locate objects, there is the problem of correcting for distortion and misalignment in the images. An elegant way of solving this problem is to generate an error correcting function that maps points in an image to their…
Modern feed-forward 3D reconstruction methods like VGGT predict pixel-aligned pointmaps in camera-centric coordinate frames. However, this choice of coordinate frame is not always optimal. We propose instead to predict pointmaps in upright,…
In this paper, we introduce and study the Parallel Polyhedral Projection Method (3PM) and the Approximate Parallel Polyhedral Projection Method (A3PM) for finding a point in the intersection of finitely many closed convex sets. Each…
Calibration in a multi camera network has widely been studied for over several years starting from the earlier days of photogrammetry. Many authors have presented several calibration algorithms with their relative advantages and…
Multi-view 3D reconstruction remains a core challenge in computer vision, particularly in applications requiring accurate and scalable representations across diverse perspectives. Current leading methods such as DUSt3R employ a…
We consider the classical camera pose estimation problem that arises in many computer vision applications, in which we are given n 2D-3D correspondences between points in the scene and points in the camera image (some of which are incorrect…
Blind and Mani (1987) proved that the entire combinatorial structure (the vertex-facet incidences) of a simple convex polytope is determined by its abstract graph. Their proof is not constructive. Kalai (1988) found a short, elegant, and…
Recently, multiple formulations of vision problems as probabilistic inversions of generative models based on computer graphics have been proposed. However, applications to 3D perception from natural images have focused on low-dimensional…
This work is concerned with camera pose estimation from correspondences of 3D/2D lines, i. e. with the Perspective-n-Line (PnL) problem. We focus on large line sets, which can be efficiently solved by methods using linear formulation of…
We present a novel method to reconstruct the 3D layout of a room (walls, floors, ceilings) from a single perspective view in challenging conditions, by contrast with previous single-view methods restricted to cuboid-shaped layouts. This…
We present an approach for the planar surface reconstruction of a scene from images with limited overlap. This reconstruction task is challenging since it requires jointly reasoning about single image 3D reconstruction, correspondence…
Translation averaging aims to recover camera locations from pairwise relative translation directions and is a fundamental component of global Structure-from-Motion pipelines. The problem is challenging because direction measurements contain…