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

The task of 6DoF object pose estimation is one of the fundamental problems of 3D vision with many practical applications such as industrial automation. Traditional deep learning approaches for this task often require extensive training data…

High-precision localization is pivotal in underwater reinspection missions. Traditional localization methods like inertial navigation systems, Doppler velocity loggers, and acoustic positioning face significant challenges and are not…

We propose a novel camera pose estimation or perspective-n-point (PnP) algorithm, based on the idea of consistency regions and half-space intersections. Our algorithm has linear time-complexity and a squared reconstruction error that…

The proposed system outlined in this paper is a solution to a use case that requires the autonomous picking of cuboidal objects from an organized or unorganized pile with high precision. This paper presents an efficient method for precise…

3D pose estimation from a single 2D image is an important and challenging task in computer vision with applications in autonomous driving, robot manipulation and augmented reality. Since 3D pose is a continuous quantity, a natural…

We present a complete classification of minimal problems for generic arrangements of points and lines in space observed partially by three calibrated perspective cameras when each line is incident to at most one point. This is a large class…

Camera calibration is an essential prerequisite for event-based vision applications. Current event camera calibration methods typically involve using flashing patterns, reconstructing intensity images, and utilizing the features extracted…

We present a method for estimating articulated human pose from a single static image based on a graphical model with novel pairwise relations that make adaptive use of local image measurements. More precisely, we specify a graphical model…

The point pair feature (PPF) is widely used for 6D pose estimation. In this paper, we propose an efficient 6D pose estimation method based on the PPF framework. We introduce a well-targeted down-sampling strategy that focuses more on edge…

3D object detection and pose estimation has been studied extensively in recent decades for its potential applications in robotics. However, there still remains challenges when we aim at detecting multiple objects while retaining low false…

Full 3D estimation of human pose from a single image remains a challenging task despite many recent advances. In this paper, we explore the hypothesis that strong prior information about scene geometry can be used to improve pose estimation…

Most modern image-based 6D object pose estimation methods learn to predict 2D-3D correspondences, from which the pose can be obtained using a PnP solver. Because of the non-differentiable nature of common PnP solvers, these methods are…

In this paper, we present a new approach for improving 3D point and line mapping regression for camera re-localization. Previous methods typically rely on feature matching (FM) with stored descriptors or use a single network to encode both…

Visual localization aims to determine the camera pose of a query image relative to a database of posed images. In recent years, deep neural networks that directly regress camera poses have gained popularity due to their fast inference…

We presented a separation based optimization algorithm which, rather than optimization the entire variables altogether, This would allow us to employ: 1) a class of nonlinear functions with three variables and 2) a convex quadratic…

Thin structures, such as wire-frame sculptures, fences, cables, power lines, and tree branches, are common in the real world. It is extremely challenging to acquire their 3D digital models using traditional image-based or depth-based…

Estimating camera poses is a fundamental task for 3D reconstruction and remains challenging given sparsely sampled views (<10). In contrast to existing approaches that pursue top-down prediction of global parametrizations of camera…

This paper presents a new method to recover the relative pose between two images, using three points and the vertical direction information. The vertical direction can be determined in two ways: 1- using direct physical measurement like IMU…

This paper introduces a novel approach to the fine alignment of images in a burst captured by a handheld camera. In contrast to traditional techniques that estimate two-dimensional transformations between frame pairs or rely on discrete…

We propose a CNN-based approach for multi-camera markerless motion capture of the human body. Unlike existing methods that first perform pose estimation on individual cameras and generate 3D models as post-processing, our approach makes use…