相关论文: Rolling Shutter Camera Relative Pose: Generalized …

Rolling shutter distortion is highly undesirable for photography and computer vision algorithms (e.g., visual SLAM) because pixels can be potentially captured at different times and poses. In this paper, we propose a deep neural network to…

Accurately estimating camera motion from image sequences poses a significant challenge in computer vision and robotics. Many computer vision methods first compute the essential matrix associated with a motion and then extract orientation…

Accurate relative pose is one of the key components in visual odometry (VO) and simultaneous localization and mapping (SLAM). Recently, the self-supervised learning framework that jointly optimizes the relative pose and target image depth…

Mobile devices equipped with a multi-camera system and an inertial measurement unit (IMU) are widely used nowadays, such as self-driving cars. The task of relative pose estimation using visual and inertial information has important…

The estimation of the relative pose of two camera views is a fundamental problem in computer vision. Kneip et al. proposed to solve this problem by introducing the normal epipolar constraint (NEC). However, their approach does not take into…

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…

The rolling shutter (RS) mechanism is widely used by consumer-grade cameras, which are essential parts in smartphones and autonomous vehicles. The RS effect leads to image distortion upon relative motion between a camera and the scene. This…

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…

Many problems in computer vision can be formulated as geometric estimation problems, i.e. given a collection of measurements (e.g. point correspondences) we wish to fit a model (e.g. an essential matrix) that agrees with our observations.…

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…

Rolling-shutter (RS) cameras are ubiquitous, but RS SfM (structure-from-motion) has not been fully solved yet. This work suggests an approach to remedy this: We characterize RS single-view geometry of observed world points or lines.…

We address the problem of epipolar geometry using the motion of silhouettes. Such methods match epipolar lines or frontier points across views, which are then used as the set of putative correspondences. We introduce an approach that…

This paper addresses the problem of rolling shutter correction in complex nonlinear and dynamic scenes with extreme occlusion. Existing methods suffer from two main drawbacks. Firstly, they face challenges in estimating the accurate…

Estimating absolute camera orientations is essential for attitude estimation tasks. An established approach is to first carry out visual odometry (VO) or visual SLAM (V-SLAM), and retrieve the camera orientations (3 DOF) from the camera…

Camera calibration is a crucial prerequisite in many applications of computer vision. In this paper, a new, geometry-based camera calibration technique is proposed, which resolves two main issues associated with the widely used Zhang's…

We study the challenging problem of estimating the relative pose of three calibrated cameras from four point correspondences. We propose novel efficient solutions to this problem that are based on the simple idea of using four…

We describe a data-driven method for inferring the camera viewpoints given multiple images of an arbitrary object. This task is a core component of classic geometric pipelines such as SfM and SLAM, and also serves as a vital pre-processing…

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…

Most computer vision systems assume distortion-free images as inputs. The widely used rolling-shutter (RS) image sensors, however, suffer from geometric distortion when the camera and object undergo motion during capture. Extensive…

Multi-perspective cameras are quickly gaining importance in many applications such as smart vehicles and virtual or augmented reality. However, a large system size or absence of overlap in neighbouring fields-of-view often complicate their…