相关论文: Linear solution to the minimal absolute pose rolli…

Estimating absolute camera orientations is essential for attitude estimation tasks. An established approach is to first carry out visual odometry (VO) or visual SLAM (V-SLAM), and retrieve the camera orientations (3 DOF) from the camera…

We propose a PnP algorithm for a camera constrained to two-dimensional motion (applicable, for instance, to many wheeled robotics platforms). Leveraging this assumption allows accuracy and performance improvements over 3D PnP algorithms due…

In industrial applications requiring real-time feedback, such as quality control and robotic manipulation, the demand for high-speed and accurate pose estimation remains critical. Despite advances improving speed and accuracy in pose…

Estimating the 6D pose of objects using only RGB images remains challenging because of problems such as occlusion and symmetries. It is also difficult to construct 3D models with precise texture without expert knowledge or specialized…

The vast majority of modern consumer-grade cameras employ a rolling shutter mechanism, leading to image distortions if the camera moves during image acquisition. In this paper, we present a novel deep network to solve the generic rolling…

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…

A simple method for synchronization of video streams with a precision better than one millisecond is proposed. The method is applicable to any number of rolling shutter cameras and when a few photographic flashes or other abrupt lighting…

We propose an approach for estimating the relative pose between calibrated image pairs by jointly exploiting points, lines, and their coincidences in a hybrid manner. We investigate all possible configurations where these data modalities…

Piecewise constant curvature is a popular kinematics framework for continuum robots. Computing the model parameters from the desired end pose, known as the inverse kinematics problem, is fundamental in manipulation, tracking and planning…

6D object pose estimation involves determining the three-dimensional translation and rotation of an object within a scene and relative to a chosen coordinate system. This problem is of particular interest for many practical applications in…

This work presents two novel solvers for estimating the relative poses among views with known vertical directions. The vertical directions of camera views can be easily obtained using inertial measurement units (IMUs) which have been widely…

In this work, we propose a generalized alternating Anderson acceleration method, a periodic scheme composed of $t$ fixed-point iteration steps, interleaved with $s$ steps of Anderson acceleration with window size $m$, to solve linear and…

Many computer vision applications require robust and efficient estimation of camera geometry. The robust estimation is usually based on solving camera geometry problems from a minimal number of input data measurements, i.e., solving minimal…

In this work, we tackle the problem of active camera localization, which controls the camera movements actively to achieve an accurate camera pose. The past solutions are mostly based on Markov Localization, which reduces the position-wise…

Many problems in machine learning can be solved by rounding the solution of an appropriate linear program (LP). This paper shows that we can recover solutions of comparable quality by rounding an approximate LP solution instead of the ex-…

Minimal solutions for relative rotation and translation estimation tasks have been explored in different scenarios, typically relying on the so-called co-visibility graph. However, how to build direct rotation relationships between two…

Image restoration refers to the process of reconstructing noisy, destroyed, or missing parts of an image, which is an ill-posed inverse problem. A specific regularization term and image degradation are typically assumed to achieve…

Estimating the 6D pose of textureless objects from RGB images is an important problem in robotics. Due to appearance ambiguities, rotational symmetries, and severe occlusions, single-view based 6D pose estimators are still unable to handle…

To address the challenge of short-term object pose tracking in dynamic environments with monocular RGB input, we introduce a large-scale synthetic dataset OmniPose6D, crafted to mirror the diversity of real-world conditions. We additionally…

The Next Release Problem consists in selecting a subset of requirements to develop in the next release of a software product. The selection should be done in a way that maximizes the satisfaction of the stakeholders while the development…