相关论文: Equivalent Constraints for Two-View Geometry: Pose…

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…

3D Gaussian Splatting (3DGS) has recently emerged as a powerful scene representation and is increasingly used for visual localization and pose refinement. However, despite its high-quality differentiable rendering, the robustness of…

We present a novel solution to the camera pose estimation problem, where rotation and translation of a camera between two views are estimated from matched feature points in the images. The camera pose estimation problem is traditionally…

Detecting 3D lanes from the camera is a rising problem for autonomous vehicles. In this task, the correct camera pose is the key to generating accurate lanes, which can transform an image from perspective-view to the top-view. With this…

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…

Blind Perspective-n-Point (PnP) is the problem of estimating the position and orientation of a camera relative to a scene, given 2D image points and 3D scene points, without prior knowledge of the 2D-3D correspondences. Solving for pose and…

In the domain of 3D Human Pose Estimation, which finds widespread daily applications, the requirement for convenient acquisition equipment continues to grow. To satisfy this demand, we set our sights on a short-baseline binocular setting…

We consider the problem of relative pose regression in visual relocalization. Recently, several promising approaches have emerged in this area. We claim that even though they demonstrate on the same datasets using the same split to train…

3D human pose estimation involves reconstructing the human skeleton by detecting the body joints. Accurate and efficient solutions are required for several real-world applications including animation, human-robot interaction, surveillance,…

Two-view structure-from-motion (SfM) is the cornerstone of 3D reconstruction and visual SLAM. Existing deep learning-based approaches formulate the problem by either recovering absolute pose scales from two consecutive frames or predicting…

The vast majority of modern consumer-grade cameras employ a rolling shutter mechanism. In dynamic geometric computer vision applications such as visual SLAM, the so-called rolling shutter effect therefore needs to be properly taken into…

In this work we address the challenging problem of 3D human pose estimation from single images. Recent approaches learn deep neural networks to regress 3D pose directly from images. One major challenge for such methods, however, is the…

The rapid development of multi-view 3D human pose estimation (HPE) is attributed to the maturation of monocular 2D HPE and the geometry of 3D reconstruction. However, 2D detection outliers in occluded views due to neglect of view…

Determining the 3D orientations of an object in an image, known as single-image pose estimation, is a crucial task in 3D vision applications. Existing methods typically learn 3D rotations parametrized in the spatial domain using Euler…

We propose an unsupervised vision-based system to estimate the joint configurations of the robot arm from a sequence of RGB or RGB-D images without knowing the model a priori, and then adapt it to the task of category-independent…

We present an approach to recover absolute 3D human poses from multi-view images by incorporating multi-view geometric priors in our model. It consists of two separate steps: (1) estimating the 2D poses in multi-view images and (2)…

We present iFusion, a novel 3D object reconstruction framework that requires only two views with unknown camera poses. While single-view reconstruction yields visually appealing results, it can deviate significantly from the actual object,…

Existing approaches for multi-view multi-person 3D pose estimation explicitly establish cross-view correspondences to group 2D pose detections from multiple camera views and solve for the 3D pose estimation for each person. Establishing…

3D pose estimation from sparse multi-views is a critical task for numerous applications, including action recognition, sports analysis, and human-robot interaction. Optimization-based methods typically follow a two-stage pipeline, first…

The fundamental matrix and trifocal tensor are convenient algebraic representations of the epipolar geometry of two and three view configurations, respectively. The estimation of these entities is central to most reconstruction algorithms,…