相关论文: Calculating Pose with Vanishing Points of Visual-S…

Estimating the position and orientation of a camera with respect to an observed scene is one of the central problems in computer vision, particularly in the context of camera calibration and multi-sensor systems. This paper addresses the…

We propose a viewpoint invariant model for 3D human pose estimation from a single depth image. To achieve this, our discriminative model embeds local regions into a learned viewpoint invariant feature space. Formulated as a multi-task…

Camera calibration is a process of paramount importance in computer vision applications that require accurate quantitative measurements. The popular method developed by Zhang relies on the use of a large number of images of a planar grid of…

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…

Camera with a fisheye or ultra-wide lens covers a wide field of view that cannot be modeled by the perspective projection. Serious fisheye lens distortion in the peripheral region of the image leads to degraded performance of the existing…

Object pose estimation is an important component of most vision pipelines for embodied agents, as well as in 3D vision more generally. In this paper we tackle the problem of estimating the pose of novel object categories in a zero-shot…

Despite the attention marker-less pose estimation has attracted in recent years, marker-based approaches still provide unbeatable accuracy under controlled environmental conditions. Thus, they are used in many fields such as robotics or…

The rolling shutter camera has received great attention due to its low cost imaging capability, however, the estimation of relative pose between rolling shutter cameras still remains a difficult problem owing to its line-by-line image…

Visual localization has traditionally been formulated as a pair-wise pose regression problem. Existing approaches mainly estimate relative poses between two images and employ a late-fusion strategy to obtain absolute pose estimates.…

Determining the relative pose of a previously unseen object between two images is pivotal to the success of generalizable object pose estimation. Existing approaches typically predict 3D translation utilizing the ground-truth object…

The goal of this paper is to estimate directly the rotation and translation between two stereoscopic images with the help of five homologous points. The methodology presented does not mix the rotation and translation parameters, which is…

The goal of object pose estimation is to visually determine the pose of a specific object in the RGB-D input. Unfortunately, when faced with new categories, both instance-based and category-based methods are unable to deal with unseen…

Estimating the 6D pose of objects accurately, quickly, and robustly remains a difficult task. However, recent methods for directly regressing poses from RGB images using dense features have achieved state-of-the-art results. Stereo vision,…

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…

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…

Predicting the pose of objects from a single image is an important but difficult computer vision problem. Methods that predict a single point estimate do not predict the pose of objects with symmetries well and cannot represent uncertainty.…

Relative pose estimation, a fundamental computer vision problem, has been extensively studied for decades. Existing methods either estimate and decompose the essential matrix or directly estimate the rotation and translation to obtain the…

This paper addresses the challenge of probabilistic parameter estimation given measurement uncertainty in real-time. We provide a general formulation and apply this to pose estimation for an autonomous visual landing system. We present…

Visual sensor networks are used for monitoring traffic in large cities and are promised to support automated driving in complex road segments. The pose of these sensors, i.e. position and orientation, directly determines the coverage of the…

This paper introduces a novel approach for the grasping and precise placement of various known rigid objects using multiple grippers within highly cluttered scenes. Using a single depth image of the scene, our method estimates multiple 6D…