相关论文: Vectorial Parameterizations of Pose

Robots rely on visual relocalization to estimate their pose from camera images when they lose track. One of the challenges in visual relocalization is repetitive structures in the operation environment of the robot. This calls for…

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…

Visual navigation and three-dimensional (3D) scene reconstruction are essential for robotics to interact with the surrounding environment. Large-scale scenes and critical camera motions are great challenges facing the research community to…

Estimating relative camera poses from consecutive frames is a fundamental problem in visual odometry (VO) and simultaneous localization and mapping (SLAM), where classic methods consisting of hand-crafted features and sampling-based outlier…

We introduce partially ordered sets (posets) with an additional structure given by a collection of vector subspaces of an algebra $A$. We call them algebraically equipped posets. Some particular cases of these, are generalized equipped…

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.…

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…

Object pose estimation is a core perception task that enables, for example, object grasping and scene understanding. The widely available, inexpensive and high-resolution RGB sensors and CNNs that allow for fast inference based on this…

We present a novel solution to the camera pose estimation problem, where rotation and translation of a camera between two views are estimated from matched feature points in the images. The camera pose estimation problem is traditionally…

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…

This work provides a theoretical analysis for optimally solving the pose estimation problem using total least squares for vector observations from landmark features, which is central to applications involving simultaneous localization and…

The paper focuses on the calibration of serial industrial robots using partial pose measurements. In contrast to other works, the developed advanced robot calibration technique is suitable for geometrical and elastostatic calibration. The…

Single image pose estimation is a fundamental problem in many vision and robotics tasks, and existing deep learning approaches suffer by not completely modeling and handling: i) uncertainty about the predictions, and ii) symmetric objects…

Pose Graph Optimization involves the estimation of a set of poses from pairwise measurements and provides a formalization for many problems arising in mobile robotics and geometric computer vision. In this paper, we consider the case in…

An arbitrary rigid transformation in $\mathbf{SE}(3)$ can be separated into two parts, namely, a translation and a rigid rotation. This technical report reviews, under a unifying viewpoint, three common alternatives to representing the…

Robotic systems often require precise scene analysis capabilities, especially in unstructured, cluttered situations, as occurring in human-made environments. While current deep-learning based methods yield good estimates of object poses,…

Vision based object grasping and manipulation in robotics require accurate estimation of object's 6D pose. The 6D pose estimation has received significant attention in computer vision community and multiple datasets and evaluation metrics…

Rotation representations are foundational in fields such as computer graphics, robotics, and machine learning, where precise and efficient modeling of 3D orientations is critical. This paper comprehensively investigates diverse…

Visual Place Recognition (VPR) is a core component in computer vision, typically formulated as an image retrieval task for localization, mapping, and navigation. In this work, we instead study VPR as an image pair retrieval front-end for…

Squared planar markers are a popular tool for fast, accurate and robust camera localization, but its use is frequently limited to a single marker, or at most, to a small set of them for which their relative pose is known beforehand. Mapping…