Related papers: A Minimal Solver for Relative Pose Estimation with…
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…
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…
In this paper we present a fast minimal solver for absolute camera pose estimation from four known points that lie in a plane. We assume a perspective camera model with unknown focal length and unknown radial distortion. The radial…
Affine correspondences have traditionally been used to improve feature matching over wide baselines. While recent work has successfully used affine correspondences to solve various relative camera pose estimation problems, less attention…
The $\mathrm{SE}(3)$ invariants of a pose include its rotation angle and screw translation. In this paper, we present a complete comprehensive study of the relative pose estimation problem for a calibrated camera constrained by known…
We propose an approach for estimating the relative pose between calibrated image pairs by jointly exploiting points, lines, and their coincidences in a hybrid manner. We investigate all possible configurations where these data modalities…
In this paper, we propose the first minimal solutions for estimating the semi-generalized homography given a perspective and a generalized camera. The proposed solvers use five 2D-2D image point correspondences induced by a scene plane. One…
We introduce FocalPose, a neural render-and-compare method for jointly estimating the camera-object 6D pose and camera focal length given a single RGB input image depicting a known object. The contributions of this work are twofold. First,…
In this paper, we present a novel linear algorithm to estimate the 6 DoF relative pose from consecutive frames of stereo rolling shutter (RS) cameras. Our method is derived based on the assumption that stereo cameras undergo motion with…
The capability to extract task specific, semantic information from raw sensory data is a crucial requirement for many applications of mobile robotics. Autonomous inspection of critical infrastructure with Unmanned Aerial Vehicles (UAVs),…
We propose a method for estimating the 3D pose for the camera of a mobile device in outdoor conditions, using only an untextured 2D model. Previous methods compute only a relative pose using a SLAM algorithm, or require many registered…
The problem of identifying the 3D pose of a known object from a given 2D image has important applications in Computer Vision ranging from robotic vision to image analysis. Our proposed method of registering a 3D model of a known object on a…
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…
We revisit certain problems of pose estimation based on 3D--2D correspondences between features which may be points or lines. Specifically, we address the two previously-studied minimal problems of estimating camera extrinsics from $p \in…
Line features are valid complements for point features in man-made environments. 3D-2D constraints provided by line features have been widely used in Visual Odometry (VO) and Structure-from-Motion (SfM) systems. However, how to accurately…
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…
Hand-held light field (LF) cameras have unique advantages in computer vision such as 3D scene reconstruction and depth estimation. However, the related applications are limited by the ultra-small baseline, e.g., leading to the extremely low…
Estimating the 6-DoF pose of a camera from a single image relative to a pre-computed 3D point-set is an important task for many computer vision applications. Perspective-n-Point (PnP) solvers are routinely used for camera pose estimation,…
Recent advances in monocular depth estimation methods (MDE) and their improved accuracy open new possibilities for their applications. In this paper, we investigate how monocular depth estimates can be used for relative pose estimation. In…
In this paper we consider a collection of relative pose problems which arise naturally in applications for visual indoor UAV navigation. We focus on cases where additional information from an onboard IMU is available and thus provides a…