相关论文: Minimal Solvers for Mini-Loop Closures in 3D Multi…

2D to 3D registration is essential in tasks such as diagnosis, surgical navigation, environmental understanding, navigation in robotics, autonomous systems, or augmented reality. In medical imaging, the aim is often to place a 2D image in a…

Multi-view registration is a fundamental but challenging problem in 3D reconstruction and robot vision. Although the original motion averaging algorithm has been introduced as an effective means to solve the multi-view registration problem,…

We introduce Cycle-Sync, a robust and global framework for estimating camera poses (both rotations and locations). Our core innovation is a location solver that adapts message-passing least squares (MPLS) -- originally developed for group…

Event-based cameras are ideal for line-based motion estimation, since they predominantly respond to edges in the scene. However, accurately determining the camera displacement based on events continues to be an open problem. This is because…

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…

Structure and continuous motion estimation from point correspondences is a fundamental problem in computer vision that has been powered by well-known algorithms such as the familiar 5-point or 8-point algorithm. However, despite their…

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…

This paper presents an approach for improving 2D/3D pelvis registration in optimization-based pose estimators using a learned initialization function. Current methods often fail to converge to the optimal solution when initialized naively.…

A new closed-form solver is proposed minimizing the algebraic error optimally, in the least-squares sense, to estimate the relative planar motion of two calibrated cameras. The main objective is to solve the over-determined case, i.e., when…

Screening colonoscopy is an important clinical application for several 3D computer vision techniques, including depth estimation, surface reconstruction, and missing region detection. However, the development, evaluation, and comparison of…

Multiview point cloud registration serves as a cornerstone of various computer vision tasks. Previous approaches typically adhere to a global paradigm, where a pose graph is initially constructed followed by motion synchronization to…

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…

We propose a CNN-based approach for multi-camera markerless motion capture of the human body. Unlike existing methods that first perform pose estimation on individual cameras and generate 3D models as post-processing, our approach makes use…

We propose a novel approach for estimating the relative pose between rolling shutter cameras using the intersections of line projections with a single scanline per image. This allows pose estimation without explicitly modeling camera…

This paper proposes minimal solvers that use combinations of imaged translational symmetries and parallel scene lines to jointly estimate lens undistortion with either affine rectification or focal length and absolute orientation. We use…

With the rise in consumer depth cameras, a wealth of unlabeled RGB-D data has become available. This prompts the question of how to utilize this data for geometric reasoning of scenes. While many RGB-D registration meth- ods rely on…

Multi-beam LiDAR sensors, as used on autonomous vehicles and mobile robots, acquire sequences of 3D range scans ("frames"). Each frame covers the scene sparsely, due to limited angular scanning resolution and occlusion. The sparsity…

This paper considers the task of locating articulated poses of multiple robots in images. Our approach simultaneously infers the number of robots in a scene, identifies joint locations and estimates sparse depth maps around joint locations.…

In this paper, we propose an approach to address the problem of 3D reconstruction of scenes from a single image captured by a light-field camera equipped with a rolling shutter sensor. Our method leverages the 3D information cues present in…

While much progress has been made on the task of 3D point cloud registration, there still exists no learning-based method able to estimate the 6D pose of an object observed by a 2.5D sensor in a scene. The challenges of this scenario…