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

In this paper, we introduce a novel RGB-D based relative pose estimation approach that is suitable for small-overlapping or non-overlapping scans and can output multiple relative poses. Our method performs scene completion and matches the…

Appearance-based gaze estimation has been actively studied in recent years. However, its generalization performance for unseen head poses is still a significant limitation for existing methods. This work proposes a generalizable multi-view…

Multi-person 3D human pose estimation from a single image is a challenging problem, especially for in-the-wild settings due to the lack of 3D annotated data. We propose HG-RCNN, a Mask-RCNN based network that also leverages the benefits of…

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 presents a convolutional neural network based approach for estimating the relative pose between two cameras. The proposed network takes RGB images from both cameras as input and directly produces the relative rotation and…

Feature point matching for camera localization suffers from scalability problems. Even when feature descriptors associated with 3D scene points are locally unique, as coverage grows, similar or repeated features become increasingly common.…

Learning model-free object pose estimation for unseen instances remains a fundamental challenge in 3D vision. Existing methods typically fall into two disjoint paradigms: category-level approaches predict absolute poses in a canonical space…

We present a novel, data driven approach for solving the problem of registration of two point cloud scans. Our approach is direct in the sense that a single pair of corresponding local patches already provides the necessary transformation…

We present a novel method to infer, in closed-form, a general 3D spatial occupancy and orientation of a collection of rigid objects given 2D image detections from a sequence of images. In particular, starting from 2D ellipses fitted to…

While object reconstruction has made great strides in recent years, current methods typically require densely captured images and/or known camera poses, and generalize poorly to novel object categories. To step toward object reconstruction…

Accurate registration of 2D imagery with point clouds is a key technology for image-LiDAR point cloud fusion, camera to laser scanner calibration and camera localization. Despite continuous improvements, automatic registration of 2D and 3D…

3D Gaussian Splatting (3DGS) is a powerful reconstruction technique, but it needs to be initialized from accurate camera poses and high-fidelity point clouds. Typically, the initialization is taken from Structure-from-Motion (SfM)…

Supervised approaches to 3D pose estimation from single images are remarkably effective when labeled data is abundant. However, as the acquisition of ground-truth 3D labels is labor intensive and time consuming, recent attention has shifted…

We study several natural instances of the geometric hitting set problem for input consisting of sets of line segments (and rays, lines) having a small number of distinct slopes. These problems model path monitoring (e.g., on road networks)…

The point pair feature (PPF) is widely used for 6D pose estimation. In this paper, we propose an efficient 6D pose estimation method based on the PPF framework. We introduce a well-targeted down-sampling strategy that focuses more on edge…

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…

This paper proposes a new method for rigid body pose estimation based on spectrahedral representations of the tautological orbitopes of $SE(2)$ and $SE(3)$. The approach can use dense point cloud data from stereo vision or an RGB-D sensor…

Single camera 3D pose estimation is an ill-defined problem due to inherent ambiguities from depth, occlusion or keypoint noise. Multi-hypothesis pose estimation accounts for this uncertainty by providing multiple 3D poses consistent with…

In this paper, we present an accurate approach to estimate vehicles' pose and shape from off-board multiview images. The images are taken by monocular cameras and have small overlaps. We utilize state-of-the-art convolutional neural…

The problem of identifying the 3D pose of a known object from a given 2D image has important applications in Computer Vision ranging from robotic vision to image analysis. Our proposed method of registering a 3D model of a known object on a…