Related papers: VERNIER: an open-source software pushing marker po…
Camera pose tracking attracts much interest both from academic and industrial communities, of which the methods based on planar markers are easy to be implemented. However, most of the existing methods need to identify multiple points in…
The development of miniaturized spectrometers for cost-effective mobile applications remains challenging, as small footprints fundamentally degrade bandwidth and resolution. Typically, achieving high resolution necessitates extended and…
We present a pursuit-like algorithm that we call the "superset method" for recovery of sparse vectors from consecutive Fourier measurements in the super-resolution regime. The algorithm has a subspace identification step that hinges on the…
This paper presents a method for carrying fair comparisons of the accuracy of pose estimation using fiducial markers. These comparisons rely on large sets of high-fidelity synthetic images enabling deep exploration of the 6 degrees of…
Estimating relative camera poses between images has been a central problem in computer vision. Methods that find correspondences and solve for the fundamental matrix offer high precision in most cases. Conversely, methods predicting pose…
The estimation of the camera poses associated with a set of images commonly relies on feature matches between the images. In contrast, we are the first to address this challenge by using objectness regions to guide the pose estimation…
In the context of future manufacturing lines, removing fixtures will be a fundamental step to increase the flexibility of autonomous systems in assembly and logistic operations. Vision-based 3D pose estimation is a necessity to accurately…
We present VERF, a collection of two methods (VERF-PnP and VERF-Light) for providing runtime assurance on the correctness of a camera pose estimate of a monocular camera without relying on direct depth measurements. We leverage the ability…
This paper addresses the challenge of probabilistic parameter estimation given measurement uncertainty in real-time. We provide a general formulation and apply this to pose estimation for an autonomous visual landing system. We present…
Systems for estimating the six-degrees-of-freedom human body pose have been improving for over two decades. Technologies such as motion capture cameras, advanced gaming peripherals and more recently both deep learning techniques and virtual…
Cross-view Geo-localisation is typically performed at a coarse granularity, because densely sampled satellite image patches overlap heavily. This heavy overlap would make disambiguating patches very challenging. However, by opting for…
Despite the attention marker-less pose estimation has attracted in recent years, marker-based approaches still provide unbeatable accuracy under controlled environmental conditions. Thus, they are used in many fields such as robotics or…
Estimating the 6-DoF pose of a rigid object from a single RGB image is a crucial yet challenging task. Recent studies have shown the great potential of dense correspondence-based solutions, yet improvements are still needed to reach…
We introduce CenDerNet, a framework for 6D pose estimation from multi-view images based on center and curvature representations. Finding precise poses for reflective, textureless objects is a key challenge for industrial robotics. Our…
In the current state of 6D pose estimation, top-performing techniques depend on complex intermediate correspondences, specialized architectures, and non-end-to-end algorithms. In contrast, our research reframes the problem as a…
Acquisition of laser frequency with high resolution under continuous and abrupt tuning conditions is important for sensing, spectroscopy and communications. Here, a single microresonator provides rapid and broad-band measurement of…
Accurate and robust object pose estimation for robotics applications requires verification and refinement steps. In this work, we propose to integrate hypotheses verification with object pose refinement guided by physics simulation. This…
Over the past few years, the vision transformer and its various forms have gained significance in human pose estimation. By treating image patches as tokens, transformers can capture global relationships wisely, estimate the keypoint tokens…
Purpose: Accurate detection and 6D pose estimation of surgical instruments are crucial for many computer-assisted interventions. However, supervised methods lack flexibility for new or unseen tools and require extensive annotated data. This…
6D pose estimation is a central problem in robot vision. Compared with pose estimation based on point correspondences or its robust versions, correspondence-free methods are often more flexible. However, existing correspondence-free methods…