相关论文: Averaging Essential and Fundamental Matrices in Co…
A cornerstone of geometric reconstruction, rotation averaging seeks the set of absolute rotations that optimally explains a set of measured relative orientations between them. In addition to being an integral part of bundle adjustment and…
This paper introduces an algorithmic approach to the analysis of bifurcation of limit cycles from the centers of nonlinear continuous differential systems via the averaging method. We develop three algorithms to implement the averaging…
We propose a new order preserving bilinear framework that exploits low-resolution video for person detection in a multi-modal setting using deep neural networks. In this setting cameras are strategically placed such that less robust…
We presented a separation based optimization algorithm which, rather than optimization the entire variables altogether, This would allow us to employ: 1) a class of nonlinear functions with three variables and 2) a convex quadratic…
Attitude estimation is the process of computing the orientation angles of an object with respect to a fixed frame of reference. Gyroscope, accelerometer, and magnetometer are some of the fundamental sensors used in attitude estimation. The…
Iterative methods based on tensors have emerged as powerful tools for solving tensor equations, and have significantly advanced across multiple disciplines. In this study, we propose two-step tensor-based iterative methods to solve the…
Precise sensor calibration is critical for autonomous vehicles as a prerequisite for perception algorithms to function properly. Rotation error of one degree can translate to position error of meters in target object detection at large…
Linear inverse problems are highly common in practical real-world applications from industry to medical imaging. The forward operator is often built on some approximations of the studied system. Handling inaccuracies in the forward operator…
Image-based localization, or camera relocalization, is a fundamental problem in computer vision and robotics, and it refers to estimating camera pose from an image. Recent state-of-the-art approaches use learning based methods, such as…
We present a multimodal camera relocalization framework that captures ambiguities and uncertainties with continuous mixture models defined on the manifold of camera poses. In highly ambiguous environments, which can easily arise due to…
Estimating the diagonal entries of a matrix, that is not directly accessible but only available as a linear operator in the form of a computer routine, is a common necessity in many computational applications, especially in image…
Existing calibration methods occasionally fail for large field-of-view cameras due to the non-linearity of the underlying problem and the lack of good initial values for all parameters of the used camera model. This might occur because a…
The essential matrix incorporates relative rotation and translation parameters of two calibrated cameras. The well-known algebraic characterization of essential matrices, i.e. necessary and sufficient conditions under which an arbitrary…
This paper focuses on detecting anomalies in surveillance video using keywords by leveraging foundational models' feature representation generalization capabilities. We present a novel, lightweight pipeline for anomaly classification using…
We present a novel target-based lidar-camera extrinsic calibration methodology that can be used for non-overlapping field of view (FOV) sensors. Contrary to previous work, our methodology overcomes the non-overlapping FOV challenge using a…
Camera-to-robot calibration is crucial for vision-based robot control and requires effort to make it accurate. Recent advancements in markerless pose estimation methods have eliminated the need for time-consuming physical setups for…
We present new methods for simultaneously estimating camera geometry and time shift from video sequences from multiple unsynchronized cameras. Algorithms for simultaneous computation of a fundamental matrix or a homography with unknown time…
We address the task of estimating camera parameters from a set of images depicting a scene. Popular feature-based structure-from-motion (SfM) tools solve this task by incremental reconstruction: they repeat triangulation of sparse 3D points…
In this paper, a novel method for vision-aided navigation based on trifocal tensor is presented. The main goal of the proposed method is to provide position estimation in GPS-denied environments for vehicles equipped with a standard…
Camera calibration is a crucial step in photogrammetry and 3D vision applications. This paper introduces a novel camera calibration method using a designed collimator system. Our collimator system provides a reliable and controllable…