相关论文: Minimal Solutions for Relative Pose with a Single …

Monocular depth estimation (MDE) models have undergone significant advancements over recent years. Many MDE models aim to predict affine-invariant relative depth from monocular images, while recent developments in large-scale training and…

This paper introduces minimal solvers that jointly solve for radial lens undistortion and affine-rectification using local features extracted from the image of coplanar translated and reflected scene texture, which is common in man-made…

Hand-held light field (LF) cameras have unique advantages in computer vision such as 3D scene reconstruction and depth estimation. However, the related applications are limited by the ultra-small baseline, e.g., leading to the extremely low…

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…

We present a fast and accurate solution to the perspective $n$-points problem, by way of a new approach to the n=4 case. Our solution hinges on a novel separation of variables: given four 3D points and four corresponding 2D points on the…

Affine correspondences have received significant attention due to their benefits in tasks like image matching and pose estimation. Existing methods for extracting affine correspondences still have many limitations in terms of performance;…

Line features are valid complements for point features in man-made environments. 3D-2D constraints provided by line features have been widely used in Visual Odometry (VO) and Structure-from-Motion (SfM) systems. However, how to accurately…

We consider the problem of two-view matching under significant viewpoint changes with view synthesis. We propose two novel methods, minimizing the view synthesis overhead. The first one, named DenseAffNet, uses dense affine shapes estimates…

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…

Absolute pose estimation is a fundamental problem in computer vision, and it is a typical parameter estimation problem, meaning that efforts to solve it will always suffer from outlier-contaminated data. Conventionally, for a fixed…

This paper presents a simple algebraic method to estimate the pose of a camera relative to a planar target from $n \geq 4$ reference points with known coordinates in the target frame and their corresponding bearing measurements in the…

This paper presents new efficient solutions to the rolling shutter camera absolute pose problem. Unlike the state-of-the-art polynomial solvers, we approach the problem using simple and fast linear solvers in an iterative scheme. We present…

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…

Stereo relative pose problem lies at the core of stereo visual odometry systems that are used in many applications. In this work, we present two minimal solvers for the stereo relative pose. We specifically consider the case when a minimal…

Smartphones, tablets and camera systems used, e.g., in cars and UAVs, are typically equipped with IMUs (inertial measurement units) that can measure the gravity vector accurately. Using this additional information, the $y$-axes of the…

In this paper we present the first fast optimality certifier for the non-minimal version of the Relative Pose problem for calibrated cameras from epipolar constraints. The proposed certifier is based on Lagrangian duality and relies on a…

In this technical note, we derive a closed-form expression for the affine transformation mapping local image patches between two calibrated views. We show that the transformation is a function of the relative camera pose, the image…

The estimation of the camera poses associated with a set of images commonly relies on feature matches between the images. In contrast, we are the first to address this challenge by using objectness regions to guide the pose estimation…

In this paper we consider a collection of relative pose problems which arise naturally in applications for visual indoor UAV navigation. We focus on cases where additional information from an onboard IMU is available and thus provides a…

We propose a new deep learning based approach for camera relocalization. Our approach localizes a given query image by using a convolutional neural network (CNN) for first retrieving similar database images and then predicting the relative…