Related papers: Efficient closed-form approaches for pose estimati…
We present a novel approach for 3D human pose estimation by employing probabilistic modeling. This approach leverages the advantages of normalizing flows in non-Euclidean geometries to address uncertain poses. Specifically, our method…
We present a novel solution to the camera pose estimation problem, where rotation and translation of a camera between two views are estimated from matched feature points in the images. The camera pose estimation problem is traditionally…
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…
We give a new algorithmic solution to the well-known five-point relative pose problem. Our approach does not deal with the famous cubic constraint on an essential matrix. Instead, we use the Cayley representation of rotations in order to…
In this paper, we introduce a novel RGB-D based relative pose estimation approach that is suitable for small-overlapping or non-overlapping scans and can output multiple relative poses. Our method performs scene completion and matches the…
The classical $\textit{Procrustes}$ problem is to find a rigid motion (orthogonal transformation and translation) that best aligns two given point-sets in the least-squares sense. The $\textit{Robust Procrustes}$ problem is an important…
We present a novel method to infer, in closed-form, a general 3D spatial occupancy and orientation of a collection of rigid objects given 2D image detections from a sequence of images. In particular, starting from 2D ellipses fitted to…
In this paper, we study closed-form optimal solutions to two-view triangulation with known internal calibration and pose. By formulating the triangulation problem as $L_1$ and $L_\infty$ minimization of angular reprojection errors, we…
We show the closed-form solution to the maximization of trace(A'R), where A is given and R is unknown rotation matrix. This problem occurs in many computer vision tasks involving optimal rotation matrix estimation. The solution has been…
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…
In this work, we aim to improve the 3D reasoning ability of Transformers in multi-view 3D human pose estimation. Recent works have focused on end-to-end learning-based transformer designs, which struggle to resolve geometric information…
Estimating the head pose of a person is a crucial problem for numerous applications that is yet mainly addressed as a subtask of frontal pose prediction. We present a novel method for unconstrained end-to-end head pose estimation to tackle…
The dominant paradigm in 3D human pose estimation that lifts a 2D pose sequence to 3D heavily relies on long-term temporal clues (i.e., using a daunting number of video frames) for improved accuracy, which incurs performance saturation,…
The Sylvester smallest enclosing circle problem involves finding the smallest circle that encloses a finite number of points in the plane. We consider generalized versions of the Sylvester problem in which the points are replaced by sets.…
Object shape and pose estimation is a foundational robotics problem, supporting tasks from manipulation to scene understanding and navigation. We present a fast local solver for shape and pose estimation which requires only category-level…
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…
We solve the problem of determining the pose of known shapes in $\mathbb{R}^3$ from their unoccluded silhouettes. The pose is determined up to global optimality using a simple yet under-explored property of the area-of-silhouette: its…
While the voxel-based methods have achieved promising results for multi-person 3D pose estimation from multi-cameras, they suffer from heavy computation burdens, especially for large scenes. We present Faster VoxelPose to address the…
Estimating the relative camera pose from $n \geq 5$ correspondences between two calibrated views is a fundamental task in computer vision. This process typically involves two stages: 1) estimating the essential matrix between the views, and…
This work presents two novel solvers for estimating the relative poses among views with known vertical directions. The vertical directions of camera views can be easily obtained using inertial measurement units (IMUs) which have been widely…