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

Solving non-linear least-squares problem for pose estimation (rotation and translation) is often a time consuming yet fundamental problem in several real-time computer vision applications. With an adequate rotation parametrization, the…

This paper addresses the problem of mirror surface reconstruction, and proposes a solution based on observing the reflections of a moving reference plane on the mirror surface. Unlike previous approaches which require tedious calibration,…

This work contributes an efficient algorithm to compute the Relative Pose problem (RPp) between calibrated cameras and certify the optimality of the solution, given a set of pair-wise feature correspondences affected by noise and probably…

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,…

6D pose estimation is a central problem in robot vision. Compared with pose estimation based on point correspondences or its robust versions, correspondence-free methods are often more flexible. However, existing correspondence-free methods…

$3$D structure recovery from a collection of $2$D images requires the estimation of the camera locations and orientations, i.e. the camera motion. For large, irregular collections of images, existing methods for the location estimation…

We present gP4Pc, a new method for computing the absolute pose of a generalized camera with unknown internal scale from four corresponding 3D point-and-ray pairs. Unlike most pose-and-scale methods, gP4Pc is based on constraints arising…

We present a novel method for extrinsically calibrating a camera and a 2D Laser Rangefinder (LRF) whose beams are invisible from the camera image. We show that point-to-plane constraints from a single observation of a V-shaped calibration…

In this paper, we present a novel affine-invariant feature based on SIFT, leveraging the regular appearance of man-made objects. The feature achieves full affine invariance without needing to simulate over affine parameter space. Low-rank…

We present a derivation for estimating the roll and pitch orientation of a partially calibrated camera mounted above a planar surface, using minimal scene information. Specifically, we assume known intrinsic parameters and a fixed height…

Camera pose estimation is a key step in standard 3D reconstruction pipelines that operate on a dense set of images of a single object or scene. However, methods for pose estimation often fail when only a few images are available because…

Accurate calibration of camera intrinsic parameters is crucial to various computer vision-based applications in the fields of intelligent systems, autonomous vehicles, etc. However, existing calibration schemes are incompetent for finding…

We describe a data-driven method for inferring the camera viewpoints given multiple images of an arbitrary object. This task is a core component of classic geometric pipelines such as SfM and SLAM, and also serves as a vital pre-processing…

RANSAC is a popular technique for estimating model parameters in the presence of outliers. The best speed is achieved when the minimum possible number of points is used to estimate hypotheses for the model. Many useful problems can be…

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…

Humans can easily deduce the relative pose of a previously unseen object, without labeling or training, given only a single query-reference image pair. This is arguably achieved by incorporating i) 3D/2.5D shape perception from a single…

Planar markers are useful in robotics and computer vision for mapping and localisation. Given a detected marker in an image, a frequent task is to estimate the 6DOF pose of the marker relative to the camera, which is an instance of planar…

We consider the problem of relative pose regression in visual relocalization. Recently, several promising approaches have emerged in this area. We claim that even though they demonstrate on the same datasets using the same split to train…

We introduce RoboPose, a method to estimate the joint angles and the 6D camera-to-robot pose of a known articulated robot from a single RGB image. This is an important problem to grant mobile and itinerant autonomous systems the ability to…

The internal geometry of most modern consumer cameras is not adequately described by the perspective projection. Almost all cameras exhibit some radial lens distortion and are equipped with an electronic rolling shutter that induces…