相关论文: On Relative Pose Recovery for Multi-Camera Systems

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…

Multi-perspective cameras with potentially non-overlapping fields of view have become an important exteroceptive sensing modality in a number of applications such as intelligent vehicles, drones, and mixed reality headsets. In this work, we…

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…

Estimating metric relative camera pose from a pair of images is of great importance for 3D reconstruction and localisation. However, conventional two-view pose estimation methods are not metric, with camera translation known only up to a…

We give a non-iterative solution to a particular case of the four-point three-views pose problem when three camera centers are collinear. Using the well-known Cayley representation of orthogonal matrices, we derive from the epipolar…

The most prevalent routine for camera calibration is based on the detection of well-defined feature points on a purpose-made calibration artifact. These could be checkerboard saddle points, circles, rings or triangles, often printed on a…

6D Object pose estimation is a fundamental component in robotics enabling efficient interaction with the environment. It is particularly challenging in bin-picking applications, where many objects are low-feature and reflective, and…

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…

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…

Estimating the 6D pose of objects using only RGB images remains challenging because of problems such as occlusion and symmetries. It is also difficult to construct 3D models with precise texture without expert knowledge or specialized…

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…

3D pose estimation from sparse multi-views is a critical task for numerous applications, including action recognition, sports analysis, and human-robot interaction. Optimization-based methods typically follow a two-stage pipeline, first…

Object pose estimation is an integral part of robot vision and AR. Previous 6D pose retrieval pipelines treat the problem either as a regression task or discretize the pose space to classify. We change this paradigm and reformulate the…

Estimating the relative rigid pose between two RGB-D scans of the same underlying environment is a fundamental problem in computer vision, robotics, and computer graphics. Most existing approaches allow only limited maximum relative pose…

Absolute Pose Regression (APR) has emerged as a compelling paradigm for visual localization. However, APR models typically operate as black boxes, directly regressing a 6-DoF pose from a query image, which can lead to memorizing training…

The process of tracking human anatomy in computer vision is referred to pose estimation, and it is used in fields ranging from gaming to surveillance. Three-dimensional pose estimation traditionally requires advanced equipment, such as…

The typical bottom-up human pose estimation framework includes two stages, keypoint detection and grouping. Most existing works focus on developing grouping algorithms, e.g., associative embedding, and pixel-wise keypoint regression that we…

We introduce HybridPose, a novel 6D object pose estimation approach. HybridPose utilizes a hybrid intermediate representation to express different geometric information in the input image, including keypoints, edge vectors, and symmetry…

Relative Pose Regression (RPR) generalizes well to unseen environments, but its performance is often limited due to pairwise and local spatial views. To this end, we propose MultiLoc, a novel multi-view guided RPR model trained at scale,…

In this article we purpose a novel method for planar pose estimation of mobile robots. This method is based on an analytic solution (which we derived) for the projection of 3D straight lines, onto the mirror of Non-Central Catadioptric…