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

We propose a minimal solution for pose estimation using both points and lines for a multi-perspective camera. In this paper, we treat the multi-perspective camera as a collection of rigidly attached perspective cameras. These type of…

We propose an approach for estimating the relative pose between calibrated image pairs by jointly exploiting points, lines, and their coincidences in a hybrid manner. We investigate all possible configurations where these data modalities…

Local features e.g. SIFT and its affine and learned variants provide region-to-region rather than point-to-point correspondences. This has recently been exploited to create new minimal solvers for classical problems such as homography,…

We propose two novel solvers for estimating the egomotion of a calibrated camera mounted to a moving vehicle from a single affine correspondence via recovering special homographies. For the first class of solvers, the sought plane is…

Pose estimation is one of the most important problems in computer vision. It can be divided in two different categories -- absolute and relative -- and may involve two different types of camera models: central and non-central.…

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…

We aim at estimating the fundamental matrix in two views from five correspondences of rotation invariant features obtained by e.g.\ the SIFT detector. The proposed minimal solver first estimates a homography from three correspondences…

A new closed-form solver is proposed minimizing the algebraic error optimally, in the least-squares sense, to estimate the relative planar motion of two calibrated cameras. The main objective is to solve the over-determined case, i.e., when…

In this paper we present a fast minimal solver for absolute camera pose estimation from four known points that lie in a plane. We assume a perspective camera model with unknown focal length and unknown radial distortion. The radial…

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 study the problem of estimating the semi-generalized pose of a partially calibrated camera, i.e., the pose of a perspective camera with unknown focal length w.r.t. a generalized camera, from a hybrid set of 2D-2D and 2D-3D…

In this paper, we propose the first minimal solutions for estimating the semi-generalized homography given a perspective and a generalized camera. The proposed solvers use five 2D-2D image point correspondences induced by a scene plane. One…

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…

The $\mathrm{SE}(3)$ invariants of a pose include its rotation angle and screw translation. In this paper, we present a complete comprehensive study of the relative pose estimation problem for a calibrated camera constrained by known…

We revisit certain problems of pose estimation based on 3D--2D correspondences between features which may be points or lines. Specifically, we address the two previously-studied minimal problems of estimating camera extrinsics from $p \in…

We present an approach to solving hard geometric optimization problems in the RANSAC framework. The hard minimal problems arise from relaxing the original geometric optimization problem into a minimal problem with many spurious solutions.…

An approach is proposed for recovering affine correspondences (ACs) from orientation- and scale-invariant, e.g. SIFT, features. The method calculates the affine parameters consistent with a pre-estimated epipolar geometry from the point…

This paper introduces the first minimal solvers that jointly solve for affine-rectification and radial lens distortion from coplanar repeated patterns. Even with imagery from moderately distorted lenses, plane rectification using the…

We present a new insight into the systematic generation of minimal solvers in computer vision, which leads to smaller and faster solvers. Many minimal problem formulations are coupled sets of linear and polynomial equations where image…

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…