Related papers: Camera Pose Revisited
The precise estimation of camera poses within large camera networks is a foundational problem in computer vision and robotics, with broad applications spanning autonomous navigation, surveillance, and augmented reality. In this paper, we…
The challenging task of 3D planar reconstruction from images involves several sub-tasks including frame-wise plane detection, segmentation, parameter regression and possibly depth prediction, along with cross-frame plane correspondence and…
We present novel, convex relaxations for rotation and pose estimation problems that can a posteriori guarantee global optimality for practical measurement noise levels. Some such relaxations exist in the literature for specific problem…
The task of estimating the 6D pose of an object from RGB images can be broken down into two main steps: an initial pose estimation step, followed by a refinement procedure to correctly register the object and its observation. In this paper,…
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…
We present a method named iComMa to address the 6D camera pose estimation problem in computer vision. Conventional pose estimation methods typically rely on the target's CAD model or necessitate specific network training tailored to…
General Visual Inspection is a manual inspection process regularly used to detect and localise obvious damage on the exterior of commercial aircraft. There has been increasing demand to perform this process at the boarding gate to minimise…
This paper presents a generic 6DOF camera pose estimation method, which can be used for both the pinhole camera and the fish-eye camera. Different from existing methods, relative positions of 3D points rather than absolute coordinates in…
We consider the problem of unsupervised camera pose estimation. Given an input video sequence, our goal is to estimate the camera pose (i.e. the camera motion) between consecutive frames. Traditionally, this problem is tackled by placing…
In this paper, we present an accurate yet effective solution for 6D pose estimation from an RGB image. The core of our approach is that we first designate a set of surface points on target object model as keypoints and then train a keypoint…
We study the inverse graphics problem of inferring a holistic representation for natural images. Given an input image, our goal is to induce a neuro-symbolic, program-like representation that jointly models camera poses, object locations,…
Estimating relative camera poses from consecutive frames is a fundamental problem in visual odometry (VO) and simultaneous localization and mapping (SLAM), where classic methods consisting of hand-crafted features and sampling-based outlier…
Given 2D point correspondences between an image pair, inferring the camera motion is a fundamental issue in the computer vision community. The existing works generally set out from the epipolar constraint and estimate the essential matrix,…
We present a derivation for estimating the roll and pitch orientation of a partially calibrated camera mounted above a planar surface, using minimal scene information. Specifically, we assume known intrinsic parameters and a fixed height…
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 this paper, we address the problem of camera pose estimation in outdoor and indoor scenarios. In comparison to the currently top-performing methods that rely on 2D to 3D matching, we propose a model that can directly regress the camera…
Accurate camera calibration is a well-known and widely used task in computer vision that has been researched for decades. However, the standard approach based on checkerboard calibration patterns has some drawbacks that limit its…
In many scenarios where cameras are applied, such as robot positioning and unmanned driving, camera calibration is one of the most important pre-work. The interactive calibration method based on the plane board is becoming popular in camera…
We present gP4Pc, a new method for computing the absolute pose of a generalized camera with unknown internal scale from four corresponding 3D point-and-ray pairs. Unlike most pose-and-scale methods, gP4Pc is based on constraints arising…
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…