相关论文: Trifocal Relative Pose from Lines at Points and it…

We give a new algorithmic solution to the well-known five-point relative pose problem. Our approach does not deal with the famous cubic constraint on an essential matrix. Instead, we use the Cayley representation of rotations in order to…

In this paper, we propose a novel approach for recovering focal lengths from three-view homographies. By examining the consistency of normal vectors between two homographies, we derive new explicit constraints between the focal lengths and…

Two-view pose estimation is essential for map-free visual relocalization and object pose tracking tasks. However, traditional matching methods suffer from time-consuming robust estimators, while deep learning-based pose regressors only…

We study the set of image tuples arising from fixed cameras observing varying planar 3-dimensional point configurations. We derive a formula for the number of complex critical points of the triangulation problem, which seeks to reconstruct…

The rolling shutter camera has received great attention due to its low cost imaging capability, however, the estimation of relative pose between rolling shutter cameras still remains a difficult problem owing to its line-by-line image…

Pose estimation is one of the most important problems in computer vision. It can be divided in two different categories -- absolute and relative -- and may involve two different types of camera models: central and non-central.…

In this paper we present a fast minimal solver for absolute camera pose estimation from four known points that lie in a plane. We assume a perspective camera model with unknown focal length and unknown radial distortion. The radial…

6-DoF object pose estimation from a monocular image is challenging, and a post-refinement procedure is generally needed for high-precision estimation. In this paper, we propose a framework based on a recurrent neural network (RNN) for…

In this paper, we propose the first minimal solutions for estimating the semi-generalized homography given a perspective and a generalized camera. The proposed solvers use five 2D-2D image point correspondences induced by a scene plane. One…

Estimating the relative camera pose from $n \geq 5$ correspondences between two calibrated views is a fundamental task in computer vision. This process typically involves two stages: 1) estimating the essential matrix between the views, and…

We propose a new approach for combining deep-learned non-metric monocular depth with affine correspondences (ACs) to estimate the relative pose of two calibrated cameras from a single correspondence. Considering the depth information and…

Recent advances in monocular depth estimation methods (MDE) and their improved accuracy open new possibilities for their applications. In this paper, we investigate how monocular depth estimates can be used for relative pose estimation. In…

We introduce FocalPose, a neural render-and-compare method for jointly estimating the camera-object 6D pose and camera focal length given a single RGB input image depicting a known object. The contributions of this work are twofold. First,…

Accurate 3D human pose estimation from single images is possible with sophisticated deep-net architectures that have been trained on very large datasets. However, this still leaves open the problem of capturing motions for which no such…

The goal of Point Distance Solving Problems is to find 2D or 3D placements of points knowing distances between some pairs of points. The common guideline is to solve them by a numerical iterative method (\emph{e.g.} Newton-Raphson method).…

We introduce FocalPose++, a neural render-and-compare method for jointly estimating the camera-object 6D pose and camera focal length given a single RGB input image depicting a known object. The contributions of this work are threefold.…

Estimating metric relative camera pose from a pair of images is of great importance for 3D reconstruction and localisation. However, conventional two-view pose estimation methods are not metric, with camera translation known only up to a…

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…

This paper studies the relative pose problem for autonomous vehicle driving in highly dynamic and possibly cluttered environments. This is a challenging scenario due to the existence of multiple, large, and independently moving objects in…

We present a lightweight solution to recover 3D pose from multi-view images captured with spatially calibrated cameras. Building upon recent advances in interpretable representation learning, we exploit 3D geometry to fuse input images into…