相关论文: Camera Calibration by Global Constraints on the Mo…

Computing the epipolar geometry between cameras with very different viewpoints is often problematic as matching points are hard to find. In these cases, it has been proposed to use information from dynamic objects in the scene for…

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…

Keypoint matching can be slow and unreliable in challenging conditions such as repetitive textures or wide-baseline views. In such cases, known geometric relations (e.g., the fundamental matrix) can be used to restrict potential…

It is known that epipolar geometry can be computed from three epipolar line correspondences but this computation is rarely used in practice since there are no simple methods to find corresponding lines. Instead, methods for finding…

In a multi-sensor fusion system composed of cameras and LiDAR, precise extrinsic calibration contributes to the system's long-term stability and accurate perception of the environment. However, methods based on extracting and registering…

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…

This paper deals with the problem of recovering the unknown norm of relative translations between cameras based on the knowledge of relative rotations and translation directions. We provide theoretical conditions for the solvability of such…

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…

Given 2D point correspondences between an image pair, inferring the camera motion is a fundamental issue in the computer vision community. The existing works generally set out from the epipolar constraint and estimate the essential matrix,…

Offline camera calibration techniques typically employ parametric or generic camera models. Selecting parametric models relies heavily on user experience, and an inappropriate camera model can significantly affect calibration accuracy.…

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…

Computing the epipolar geometry between cameras with very different viewpoints is often very difficult. The appearance of objects can vary greatly, and it is difficult to find corresponding feature points. Prior methods searched for…

Extracting point correspondences from two or more views of a scene is a fundamental computer vision problem with particular importance for relative camera pose estimation and structure-from-motion. Existing local feature matching…

This paper derives a novel linear position constraint for cameras seeing a common scene point, which leads to a direct linear method for global camera translation estimation. Unlike previous solutions, this method deals with collinear…

Many problems in robust control and motion planning can be reduced to either find a sound approximation of the solution space determined by a set of nonlinear inequalities, or to the ``guaranteed tuning problem'' as defined by Jaulin and…

In recent work, algebraic computational software was used to provide the exact algebraic conditions under which a sixtuple $\{F^{ij}\}$ of fundamental matrices, corresponding to $4$ images, will be compatible, i.e. there will exist cameras…

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…

Two solvers are proposed for estimating the extrinsic camera parameters from a single affine correspondence assuming general planar motion. In this case, the camera movement is constrained to a plane and the image plane is orthogonal to the…

In this paper a deterministic preprocessing algorithm is presented, whose output can be given as input to most state-of-the-art epipolar geometry estimation algorithms, improving their results considerably. They are now able to succeed on…

Multiple lidars are prevalently used on mobile vehicles for rendering a broad view to enhance the performance of localization and perception systems. However, precise calibration of multiple lidars is challenging since the feature…