相关论文: Rolling Shutter Camera Relative Pose: Generalized …
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…
Omnidirectional depth estimation has received much attention from researchers in recent years. However, challenges arise due to camera soiling and variations in camera layouts, affecting the robustness and flexibility of the algorithm. In…
Determining the position and orientation of a calibrated camera from a single image with respect to a 3D model is an essential task for many applications. When 2D-3D correspondences can be obtained reliably, perspective-n-point solvers can…
A viewing graph is a set of unknown camera poses, as the vertices, and the observed relative motions, as the edges. Solving the viewing graph is an essential step in a Structure-from-Motion procedure, where a set of relative motions is…
Map-centric SLAM is emerging as an alternative of conventional graph-based SLAM for its accuracy and efficiency in long-term mapping problems. However, in map-centric SLAM, the process of loop closure differs from that of conventional SLAM…
CMOS sensors employ row-wise acquisition mechanism while imaging a scene, which can result in undesired motion artifacts known as rolling shutter (RS) distortions in the captured image. Existing single image RS rectification methods attempt…
Deep approaches to predict monocular depth and ego-motion have grown in recent years due to their ability to produce dense depth from monocular images. The main idea behind them is to optimize the photometric consistency over image…
This paper presents a method for extrinsic camera calibration (estimation of camera rotation and translation matrices) from a sequence of images. It is assumed camera intrinsic matrix and distortion coefficients are known and fixed during…
Most geometric approaches to monocular Visual Odometry (VO) provide robust pose estimates, but sparse or semi-dense depth estimates. Off late, deep methods have shown good performance in generating dense depths and VO from monocular images…
Modern deep learning techniques that regress the relative camera pose between two images have difficulty dealing with challenging scenarios, such as large camera motions resulting in occlusions and significant changes in perspective that…
Object pose estimation is a non-trivial task that enables robotic manipulation, bin picking, augmented reality, and scene understanding, to name a few use cases. Monocular object pose estimation gained considerable momentum with the rise of…
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 technique requires the epipolar geometry to be pre-estimated between each image pair. It exploits the constraints which the camera movement implies, in order to apply a closed-form correction to the parameters of the input affinities.…
Planar markers are useful in robotics and computer vision for mapping and localisation. Given a detected marker in an image, a frequent task is to estimate the 6DOF pose of the marker relative to the camera, which is an instance of planar…
Camera pose refinement aims at improving the accuracy of initial pose estimation for applications in 3D computer vision. Most refinement approaches rely on 2D-3D correspondences with specific descriptors or dedicated networks, requiring…
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…
Two-view pose estimation is essential for map-free visual relocalization and object pose tracking tasks. However, traditional matching methods suffer from time-consuming robust estimators, while deep learning-based pose regressors only…
This paper presents an effective and reliable pose tracking solution, termed ERPoT, for mobile robots operating in large-scale outdoor and challenging indoor environments, underpinned by an innovative prior polygon map. Especially, to…
In this paper we consider critical motion sequences (CMSs) of rolling-shutter (RS) SfM. Employing an RS camera model with linearized pure rotation, we show that the RS distortion can be approximately expressed by two internal parameters of…
Absolute Pose Regression (APR) predicts 6D camera poses but lacks the adaptability to unknown environments without retraining, while Relative Pose Regression (RPR) generalizes better yet requires a large image retrieval database. Visual…