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

Camera calibration is a crucial step in photogrammetry and 3D vision applications. This paper introduces a novel camera calibration method using a designed collimator system. Our collimator system provides a reliable and controllable…

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…

Pose graph relaxation has become an indispensable addition to SLAM enabling efficient global registration of sensor reference frames under the objective of satisfying pair-wise relative transformation constraints. The latter may be given by…

Transformers are powerful visual learners, in large part due to their conspicuous lack of manually-specified priors. This flexibility can be problematic in tasks that involve multiple-view geometry, due to the near-infinite possible…

The optical resolution of a digital camera is one of its most crucial parameters with broad relevance for consumer electronics, surveillance systems, remote sensing, or medical imaging. However, resolution is physically limited by the…

Relative Pose Regression (RPR) generalizes well to unseen environments, but its performance is often limited due to pairwise and local spatial views. To this end, we propose MultiLoc, a novel multi-view guided RPR model trained at scale,…

Motion blur is a frequently observed image artifact, especially under insufficient illumination where exposure time has to be prolonged so as to collect more photons for a bright enough image. Rather than simply removing such blurring…

Accurate camera pose estimation result is essential for visual SLAM (VSLAM). This paper presents a novel pose correction method to improve the accuracy of the VSLAM system. Firstly, the relationship between the camera pose estimation error…

This paper proposes the first real-world rolling shutter (RS) correction dataset, BS-RSC, and a corresponding model to correct the RS frames in a distorted video. Mobile devices in the consumer market with CMOS-based sensors for video…

Understanding natural relative motion trajectories is critical to enable fuel-efficient multi-satellite missions operating in complex environments. This paper studies the problem of computing and efficiently parameterizing satellite…

Knowledge about the own pose is key for all mobile robot applications. Thus pose estimation is part of the core functionalities of mobile robots. Over the last two decades, LiDAR scanners have become the standard sensor for robot…

In this paper, we aim to estimate the relative pose and focal length between two views with known intrinsic parameters except for an unknown focal length from two affine correspondences (ACs). Cameras are commonly used in combination with…

Absolute Pose Regression (APR) has emerged as a compelling paradigm for visual localization. However, APR models typically operate as black boxes, directly regressing a 6-DoF pose from a query image, which can lead to memorizing training…

We present a novel Structure from Motion pipeline that is capable of reconstructing accurate camera poses for panorama-style video capture without prior camera intrinsic calibration. While panorama-style capture is common and convenient,…

In this paper, we derive a new differential homography that can account for the scanline-varying camera poses in Rolling Shutter (RS) cameras, and demonstrate its application to carry out RS-aware image stitching and rectification at one…

Relative pose regressors (RPRs) localize a camera by estimating its relative translation and rotation to a pose-labelled reference. Unlike scene coordinate regression and absolute pose regression methods, which learn absolute scene…

Pose estimation is a widely explored problem, enabling many robotic tasks such as grasping and manipulation. In this paper, we tackle the problem of pose estimation for objects that exhibit rotational symmetry, which are common in man-made…

We introduce Cycle-Sync, a robust and global framework for estimating camera poses (both rotations and locations). Our core innovation is a location solver that adapts message-passing least squares (MPLS) -- originally developed for group…

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 $\gamma$…

Quaternions are important for a wide variety of rotation-related problems in computer graphics, machine vision, and robotics. We study the nontrivial geometry of the relationship between quaternions and rotation matrices by exploiting the…