相关论文: P1AC: Revisiting Absolute Pose From a Single Affin…

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…

Visual re-localization means using a single image as input to estimate the camera's location and orientation relative to a pre-recorded environment. The highest-scoring methods are "structure based," and need the query camera's intrinsics…

Active camera relocalization (ACR) is a new problem in computer vision that significantly reduces the false alarm caused by image distortions due to camera pose misalignment in fine-grained change detection (FGCD). Despite the fruitful…

Visual relocalization is the task of estimating the camera pose given an image it views. Absolute pose regression offers a solution to this task by training a neural network, directly regressing the camera pose from image features. While an…

This paper introduces a modular, non-deep learning method for filtering and refining sparse correspondences in image matching. Assuming that motion flow within the scene can be approximated by local homography transformations, matches are…

The estimation of the relative pose of two camera views is a fundamental problem in computer vision. Kneip et al. proposed to solve this problem by introducing the normal epipolar constraint (NEC). However, their approach does not take into…

Pose refinement is an interesting and practically relevant research direction. Pose refinement can be used to (1) obtain a more accurate pose estimate from an initial prior (e.g., from retrieval), (2) as pre-processing, i.e., to provide 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…

We present a new mathematical formulation to estimate the intrinsic parameters of a camera in active or robotic platforms. We show that the focal lengths can be estimated using only one point correspondence that relates images taken before…

Prevalent Computational Aberration Correction (CAC) methods are typically tailored to specific optical systems, leading to poor generalization and labor-intensive re-training for new lenses. Developing CAC paradigms capable of generalizing…

Image-based localization, or camera relocalization, is a fundamental problem in computer vision and robotics, and it refers to estimating camera pose from an image. Recent state-of-the-art approaches use learning based methods, such as…

Recovering camera poses from a set of images is a foundational task in 3D computer vision, which powers key applications such as 3D scene/object reconstructions. Classic methods often depend on feature correspondence, such as keypoints,…

Accurate camera localization is crucial for modern retail environments, enabling enhanced customer experiences, streamlined inventory management, and autonomous operations. While Absolute Pose Regression (APR) from a single image offers a…

Single-view RGB model-based object pose estimation methods achieve strong generalization but are fundamentally limited by depth ambiguity, clutter, and occlusions. Multi-view pose estimation methods have the potential to solve these issues,…

Pose regression networks predict the camera pose of a query image relative to a known environment. Within this family of methods, absolute pose regression (APR) has recently shown promising accuracy in the range of a few centimeters in…

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…

Image based localization is one of the important problems in computer vision due to its wide applicability in robotics, augmented reality, and autonomous systems. There is a rich set of methods described in the literature how to…

Estimating relative camera poses between images has been a central problem in computer vision. Methods that find correspondences and solve for the fundamental matrix offer high precision in most cases. Conversely, methods predicting pose…

Camera pose estimation from sparse correspondences is a fundamental problem in geometric computer vision and remains particularly challenging in near-field scenarios, where strong perspective effects and heterogeneous measurement noise can…

Robust estimation of object poses in robotic manipulation is often addressed using foundational general estimators, that aim to handle diverse error sources naively within a single model. Still, they struggle due to environmental…