相关论文: Minimal Cases for Computing the Generalized Relati…

We present a novel method to compute the relative pose of multi-camera systems using two affine correspondences (ACs). Existing solutions to the multi-camera relative pose estimation are either restricted to special cases of motion, have…

In this paper we present four cases of minimal solutions for two-view relative pose estimation by exploiting the affine transformation between feature points and we demonstrate efficient solvers for these cases. It is shown, that under the…

The point correspondence (PC) and affine correspondence (AC) are widely used for relative pose estimation. An AC consists of a PC across two views and an affine transformation between the small patches around this PC. Previous work…

Two solvers are proposed for estimating the extrinsic camera parameters from a single affine correspondence assuming general planar motion. In this case, the camera movement is constrained to a plane and the image plane is orthogonal to the…

Mobile devices equipped with a multi-camera system and an inertial measurement unit (IMU) are widely used nowadays, such as self-driving cars. The task of relative pose estimation using visual and inertial information has important…

In this paper, we aim to estimate the relative pose and focal length between two views with known intrinsic parameters except for an unknown focal length from two affine correspondences (ACs). Cameras are commonly used in combination with…

We propose two minimal solutions to the problem of relative pose estimation of (i) a calibrated camera from four points in two views and (ii) a calibrated generalized camera from five points in two views. In both cases, the relative…

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…

Affine correspondences have traditionally been used to improve feature matching over wide baselines. While recent work has successfully used affine correspondences to solve various relative camera pose estimation problems, less attention…

We propose a new approach for combining deep-learned non-metric monocular depth with affine correspondences (ACs) to estimate the relative pose of two calibrated cameras from a single correspondence. Considering the depth information and…

Relative pose estimation using point correspondences (PC) is a widely used technique. A minimal configuration of six PCs is required for two views of generalized cameras. In this paper, we present several minimal solvers that use six PCs to…

This work presents two novel solvers for estimating the relative poses among views with known vertical directions. The vertical directions of camera views can be easily obtained using inertial measurement units (IMUs) which have been widely…

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 studies the relative pose problem for autonomous vehicle driving in highly dynamic and possibly cluttered environments. This is a challenging scenario due to the existence of multiple, large, and independently moving objects in…

A minimal solution using two affine correspondences is presented to estimate the common focal length and the fundamental matrix between two semi-calibrated cameras - known intrinsic parameters except a common focal length. To the best of…

Estimating the relative camera pose from $n \geq 5$ correspondences between two calibrated views is a fundamental task in computer vision. This process typically involves two stages: 1) estimating the essential matrix between the views, and…

This paper presents a new algorithm to estimate absolute camera pose given an axis of the camera's rotation matrix. Current algorithms solve the problem via algebraic solutions on limited input domains. This paper shows that the problem can…

We present a method for solving two minimal problems for relative camera pose estimation from three views, which are based on three view correspondences of i) three points and one line and the novel case of ii) three points and two lines…

How to efficiently and accurately handle image matching outliers is a critical issue in two-view relative estimation. The prevailing RANSAC method necessitates that the minimal point pairs be inliers. This paper introduces a linear relative…

Estimating the relative pose between two cameras is a fundamental step in many applications such as Structure-from-Motion. The common approach to relative pose estimation is to apply a minimal solver inside a RANSAC loop. Highly efficient…