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The reduced cost and computational and calibration requirements of monocular cameras make them ideal positioning sensors for mobile robots, albeit at the expense of any meaningful depth measurement. Solutions proposed by some scholars to…

This paper investigates vision-based cooperative estimation of a 3D target object pose for visual sensor networks. In our previous works, we presented an estimation mechanism called networked visual motion observer achieving averaging of…

6D object pose estimation problem has been extensively studied in the field of Computer Vision and Robotics. It has wide range of applications such as robot manipulation, augmented reality, and 3D scene understanding. With the advent of…

Pose estimation is one of the most important problems in computer vision. It can be divided in two different categories -- absolute and relative -- and may involve two different types of camera models: central and non-central.…

Reconstruction of 3D neural fields from posed images has emerged as a promising method for self-supervised representation learning. The key challenge preventing the deployment of these 3D scene learners on large-scale video data is their…

Recovering 3D human poses from a monocular camera view is a highly ill-posed problem due to the depth ambiguity. Earlier studies on 3D human pose lifting from 2D often contain incorrect-yet-overconfident 3D estimations. To mitigate the…

The point pair feature (PPF) is widely used for 6D pose estimation. In this paper, we propose an efficient 6D pose estimation method based on the PPF framework. We introduce a well-targeted down-sampling strategy that focuses more on edge…

This paper presents a generalizable RGB-based approach for object pose estimation, specifically designed to address challenges in sparse-view settings. While existing methods can estimate the poses of unseen objects, their generalization…

Accurate pose estimation and shift correction are key challenges in cryo-EM due to the very low SNR, which directly impacts the fidelity of 3D reconstructions. We present an approach for pose estimation in cryo-EM that leverages…

Full 3D estimation of human pose from a single image remains a challenging task despite many recent advances. In this paper, we explore the hypothesis that strong prior information about scene geometry can be used to improve pose estimation…

Monocular estimation of 3d human pose has attracted increased attention with the availability of large ground-truth motion capture datasets. However, the diversity of training data available is limited and it is not clear to what extent…

We consider the problem of density estimation on Riemannian manifolds. Density estimation on manifolds has many applications in fluid-mechanics, optics and plasma physics and it appears often when dealing with angular variables (such as…

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…

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…

We propose an approach to estimate the 6DOF pose of a satellite, relative to a canonical pose, from a single image. Such a problem is crucial in many space proximity operations, such as docking, debris removal, and inter-spacecraft…

3D Gaussian Splatting (3DGS) has recently emerged as a powerful scene representation and is increasingly used for visual localization and pose refinement. However, despite its high-quality differentiable rendering, the robustness of…

Determining the 3D orientations of an object in an image, known as single-image pose estimation, is a crucial task in 3D vision applications. Existing methods typically learn 3D rotations parametrized in the spatial domain using Euler…

Estimating the pose of objects from images is a crucial task of 3D scene understanding, and recent approaches have shown promising results on very large benchmarks. However, these methods experience a significant performance drop when…

Accurate real-time pose estimation of spacecraft or object in space is a key capability necessary for on-orbit spacecraft servicing and assembly tasks. Pose estimation of objects in space is more challenging than for objects on Earth due to…

Predicting the pose of objects from a single image is an important but difficult computer vision problem. Methods that predict a single point estimate do not predict the pose of objects with symmetries well and cannot represent uncertainty.…