相关论文: Camera Pose Estimation from Lines using Pl\"ucker …

This work provides a theoretical analysis for optimally solving the pose estimation problem using total least squares for vector observations from landmark features, which is central to applications involving simultaneous localization and…

This paper presents a convolutional neural network based approach for estimating the relative pose between two cameras. The proposed network takes RGB images from both cameras as input and directly produces the relative rotation and…

6D pose estimation is a central problem in robot vision. Compared with pose estimation based on point correspondences or its robust versions, correspondence-free methods are often more flexible. However, existing correspondence-free methods…

For building a Augmented Reality (AR) pipeline, the most crucial step is the camera calibration as overall quality heavily depends on it. In turn camera calibration itself is influenced most by the choice of camera-to-pattern poses - yet…

We introduce new linear mathematical formulations to calculate the focal length of a camera in an active platform. Through mathematical derivations, we show that the focal lengths in each direction can be estimated using only one point…

Extracting planes from a 3D scene is useful for downstream tasks in robotics and augmented reality. In this paper we tackle the problem of estimating the planar surfaces in a scene from posed images. Our first finding is that a surprisingly…

Camera localization in 3D LiDAR maps has gained increasing attention due to its promising ability to handle complex scenarios, surpassing the limitations of visual-only localization methods. However, existing methods mostly focus on…

We propose a novel approach for estimating the relative pose between rolling shutter cameras using the intersections of line projections with a single scanline per image. This allows pose estimation without explicitly modeling camera…

The rolling shutter camera has received great attention due to its low cost imaging capability, however, the estimation of relative pose between rolling shutter cameras still remains a difficult problem owing to its line-by-line image…

We propose an approach to estimate 3D human pose in real world units from a single RGBD image and show that it exceeds performance of monocular 3D pose estimation approaches from color as well as pose estimation exclusively from depth. Our…

3D hand pose tracking/estimation will be very important in the next generation of human-computer interaction. Most of the currently available algorithms rely on low-cost active depth sensors. However, these sensors can be easily interfered…

LiDAR-camera calibration is a precondition for many heterogeneous systems that fuse data from LiDAR and camera. However, the constraint from common field of view and the requirement for strict time synchronization make the calibration a…

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…

Estimating pose from given 3D correspondences, including point-to-point, point-to-line and point-to-plane correspondences, is a fundamental task in computer vision with many applications. We present a complete solution for this task,…

We propose to estimate 3D human pose from multi-view images and a few IMUs attached at person's limbs. It operates by firstly detecting 2D poses from the two signals, and then lifting them to the 3D space. We present a geometric approach to…

Augmented reality aims to enrich our real world by inserting 3D virtual objects. In order to accomplish this goal, it is important that virtual elements are rendered and aligned in the real scene in an accurate and visually acceptable way.…

We propose an end-to-end architecture for joint 2D and 3D human pose estimation in natural images. Key to our approach is the generation and scoring of a number of pose proposals per image, which allows us to predict 2D and 3D poses of…

Given two images, we can estimate the relative camera pose between them by establishing image-to-image correspondences. Usually, correspondences are 2D-to-2D and the pose we estimate is defined only up to scale. Some applications, aiming at…

This letter presents a novel method to estimate the relative poses between RGB-D cameras with minimal overlapping fields of view in a panoramic RGB-D camera system. This calibration problem is relevant to applications such as indoor 3D…

Pose estimation purely based on 3D point-cloud could suffer from degradation, e.g. scan blocks or scans in repetitive environments. To deal with this problem, we propose an approach for fusing 3D spinning LiDAR and IMU to estimate the…