相关论文: M\"obius Photogrammetry

We consider the task of re-calibrating the 3D pose of a static surveillance camera, whose pose may change due to external forces, such as birds, wind, falling objects or earthquakes. Conventionally, camera pose estimation can be solved with…

This paper addresses the problem of vision-based pedestrian localization, which estimates a pedestrian's location using images and camera parameters. In practice, however, calibrated camera parameters often deviate from the ground truth,…

Perspective distortion (PD) leads to substantial alterations in the shape, size, orientation, angles, and spatial relationships of visual elements in images. Accurately determining camera intrinsic and extrinsic parameters is challenging,…

3D object detection from monocular images has proven to be an enormously challenging task, with the performance of leading systems not yet achieving even 10\% of that of LiDAR-based counterparts. One explanation for this performance gap is…

A Manhattan world lying along cuboid buildings is useful for camera angle estimation. However, accurate and robust angle estimation from fisheye images in the Manhattan world has remained an open challenge because general scene images tend…

Robotic manipulation systems operating in complex environments rely on perception systems that provide information about the geometry (pose and 3D shape) of the objects in the scene along with other semantic information such as object…

3-D pose estimation of instruments is a crucial step towards automatic scene understanding in robotic minimally invasive surgery. Although robotic systems can potentially directly provide joint values, this information is not commonly…

In this article we purpose a novel method for planar pose estimation of mobile robots. This method is based on an analytic solution (which we derived) for the projection of 3D straight lines, onto the mirror of Non-Central Catadioptric…

We define and present some proprieties of the M\"obius inversion of surfaces in the Minkowski 3-space. We prove that the M\"obius inversion preserves the lines of principal curvature and the locus of points where the metric is degenerate,…

In this paper, we introduce a rotational primitive prediction based 6D object pose estimation using a single image as an input. We solve for the 6D object pose of a known object relative to the camera using a single image with occlusion.…

Existing learning-based methods for object pose estimation in RGB images are mostly model-specific or category based. They lack the capability to generalize to new object categories at test time, hence severely hindering their…

A sliding camera inside an orthogonal polygon $P$ is a point guard that travels back and forth along an orthogonal line segment $\gamma$ in $P$. The sliding camera $g$ can see a point $p$ in $P$ if the perpendicular from $p$ onto $\gamma$…

Visual relocalization aims to estimate the pose of a camera from one or more images. In recent years deep learning based pose regression methods have attracted many attentions. They feature predicting the absolute poses without relying on…

We study fixed-points of scalar fields that transform in the bifundamental representation of $O(N)\times O(M)$ in $3-\epsilon$ dimensions, generalizing the classic tricritical sextic vector model. In the limit where $N$ is large but $M$ is…

This paper addresses object perception applied to mobile robotics. Being able to perceive semantically meaningful objects in unstructured environments is a key capability in order to make robots suitable to perform high-level tasks in home…

We consider the problem of recovering the position and orientation of a camera equipped with an accelerometer from sensor images of two labeled landmarks whose positions in a coordinate system aligned in a known way with gravity are known.…

The VAMOS++ magnetic spectrometer is characterized by a large angular and momentum acceptance and highly non-linear ion optics properties requiring the use of software ion trajectory reconstruction methods to measure the ion magnetic…

Fine-grained image classification is to recognize hundreds of subcategories belonging to the same basic-level category, such as 200 subcategories belonging to the bird, which is highly challenging due to large variance in the same…

The goal of Point Distance Solving Problems is to find 2D or 3D placements of points knowing distances between some pairs of points. The common guideline is to solve them by a numerical iterative method (\emph{e.g.} Newton-Raphson method).…

The M\"obius polynomial is an invariant of ranked posets, closely related to the M\"obius function. In this paper, we study the M\"obius polynomial of face posets of convex polytopes. We present formulas for computing the M\"obius…