相关论文: Resultant Based Incremental Recovery of Camera Pos…

The Point Pair Feature (Drost et al. 2010) has been one of the most successful 6D pose estimation method among model-based approaches as an efficient, integrated and compromise alternative to the traditional local and global pipelines.…

Differentiable rendering aims to compute the derivative of the image rendering function with respect to the rendering parameters. This paper presents a novel algorithm for 6-DoF pose estimation through gradient-based optimization using a…

In this work we present a unified method of relative camera pose estimation from points and lines correspondences. Given a set of 2D points and lines correspondences in three views, of which two are known, a method has been developed for…

In this work, we introduce a novel method for calculating the 6DoF pose of an object using a single RGB-D image. Unlike existing methods that either directly predict objects' poses or rely on sparse keypoints for pose recovery, our approach…

We revisit certain problems of pose estimation based on 3D--2D correspondences between features which may be points or lines. Specifically, we address the two previously-studied minimal problems of estimating camera extrinsics from $p \in…

We address the task of 6D multi-object pose: given a set of known 3D objects and an RGB or RGB-D input image, we detect and estimate the 6D pose of each object. We propose a new approach to 6D object pose estimation which consists of an…

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…

We present Point2Pose, a model-free method for causal 6D pose tracking of multiple rigid objects from monocular RGB-D video. Initialized only from sparse image points on the objects to be tracked, our approach tracks multiple unseen objects…

We introduce a camera relocalization pipeline that combines absolute pose regression (APR) and direct feature matching. By incorporating exposure-adaptive novel view synthesis, our method successfully addresses photometric distortions in…

We examine 3D reconstruction of architectural scenes in unordered sets of uncalibrated images. We introduce a linear method to self-calibrate and find the metric reconstruction of a camera pair. We assume unknown and different focal lengths…

In this paper, we address the problem of camera pose estimation in outdoor and indoor scenarios. In comparison to the currently top-performing methods that rely on 2D to 3D matching, we propose a model that can directly regress the camera…

Accurate estimation of camera matrices is an important step in structure from motion algorithms. In this paper we introduce a novel rank constraint on collections of fundamental matrices in multi-view settings. We show that in general, with…

Conventional absolute camera pose via a Perspective-n-Point (PnP) solver often assumes that the correspondences between 2D image pixels and 3D points are given. When the correspondences between 2D and 3D points are not known a priori, the…

Relative pose estimation using point correspondences (PC) is a widely used technique. A minimal configuration of six PCs is required for two views of generalized cameras. In this paper, we present several minimal solvers that use six PCs to…

High-precision camera re-localization technology in a pre-established 3D environment map is the basis for many tasks, such as Augmented Reality, Robotics and Autonomous Driving. The point-based visual re-localization approaches are…

Acquiring 3D geometry of real world objects has various applications in 3D digitization, such as navigation and content generation in virtual environments. Image remains one of the most popular media for such visual tasks due to its…

Camera model identification has earned paramount importance in the field of image forensics with an upsurge of digitally altered images which are constantly being shared through websites, media, and social applications. But, the task of…

Existing works on motion deblurring either ignore the effects of depth-dependent blur or work with the assumption of a multi-layered scene wherein each layer is modeled in the form of fronto-parallel plane. In this work, we consider the…

Image deconvolution is still to be a challenging ill-posed problem for recovering a clear image from a given blurry image, when the point spread function is known. Although competitive deconvolution methods are numerically impressive and…

Estimating the 6-DoF pose of a camera from a single image relative to a pre-computed 3D point-set is an important task for many computer vision applications. Perspective-n-Point (PnP) solvers are routinely used for camera pose estimation,…