Related papers: Trifocal Tensor and Relative Pose Estimation with …
We propose a novel end-to-end method for cross-view pose estimation. Given a ground-level query image and an aerial image that covers the query's local neighborhood, the 3 Degrees-of-Freedom camera pose of the query is estimated by matching…
We aim at estimating the fundamental matrix in two views from five correspondences of rotation invariant features obtained by e.g.\ the SIFT detector. The proposed minimal solver first estimates a homography from three correspondences…
Relative pose estimation, a fundamental computer vision problem, has been extensively studied for decades. Existing methods either estimate and decompose the essential matrix or directly estimate the rotation and translation to obtain the…
We propose an automatic method for pose and motion estimation against a ground surface for a ground-moving robot-mounted monocular camera. The framework adopts a semi-dense approach that benefits from both a feature-based method and an…
The rolling shutter camera has received great attention due to its low cost imaging capability, however, the estimation of relative pose between rolling shutter cameras still remains a difficult problem owing to its line-by-line image…
We propose to estimate 3D human pose from multi-view images and a few IMUs attached at person's limbs. It operates by firstly detecting 2D poses from the two signals, and then lifting them to the 3D space. We present a geometric approach to…
Accurate global localization is critical for autonomous driving and robotics, but GNSS-based approaches often degrade due to occlusion and multipath effects. As an emerging alternative, cross-view pose estimation predicts the 3-DoF camera…
Relative pose estimation using point correspondences (PC) is a widely used technique. A minimal configuration of six PCs is required for two views of generalized cameras. In this paper, we present several minimal solvers that use six PCs to…
We propose two novel solvers for estimating the egomotion of a calibrated camera mounted to a moving vehicle from a single affine correspondence via recovering special homographies. For the first class of solvers, the sought plane is…
This paper studies the relative pose problem for autonomous vehicle driving in highly dynamic and possibly cluttered environments. This is a challenging scenario due to the existence of multiple, large, and independently moving objects in…
The problem of identifying the 3D pose of a known object from a given 2D image has important applications in Computer Vision. Our proposed method of registering a 3D model of a known object on a given 2D photo of the object has numerous…
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…
Image retrieval-based cross-view localization methods often lead to very coarse camera pose estimation, due to the limited sampling density of the database satellite images. In this paper, we propose a method to increase the accuracy of a…
We present a novel method to compute the relative pose of multi-camera systems using two affine correspondences (ACs). Existing solutions to the multi-camera relative pose estimation are either restricted to special cases of motion, have…
Optical cameras are gaining popularity as the suitable sensor for relative navigation in space due to their attractive sizing, power and cost properties when compared to conventional flight hardware or costly laser-based systems. However, a…
We present a fast and accurate solution to the perspective $n$-points problem, by way of a new approach to the n=4 case. Our solution hinges on a novel separation of variables: given four 3D points and four corresponding 2D points on the…
In many automation tasks involving manipulation of rigid objects, the poses of the objects must be acquired. Vision-based pose estimation using a single RGB or RGB-D sensor is especially popular due to its broad applicability. However,…
The point correspondence (PC) and affine correspondence (AC) are widely used for relative pose estimation. An AC consists of a PC across two views and an affine transformation between the small patches around this PC. Previous work…
A new closed-form solver is proposed minimizing the algebraic error optimally, in the least-squares sense, to estimate the relative planar motion of two calibrated cameras. The main objective is to solve the over-determined case, i.e., when…
Two solvers are proposed for estimating the extrinsic camera parameters from a single affine correspondence assuming general planar motion. In this case, the camera movement is constrained to a plane and the image plane is orthogonal to the…