相关论文: Uncertainty-Aware Camera Pose Estimation from Poin…

We present an approach for estimating the pose of an external camera with respect to a robot using a single RGB image of the robot. The image is processed by a deep neural network to detect 2D projections of keypoints (such as joints)…

We propose a novel camera-based DNN method for 3D lane detection with uncertainty estimation. Our method is based on a semi-local, BEV, tile representation that breaks down lanes into simple lane segments. It combines learning a parametric…

In this paper, we propose a method for coarse camera pose computation which is robust to viewing conditions and does not require a detailed model of the scene. This method meets the growing need of easy deployment of robotics or augmented…

In real-world applications the Perspective-n-Point (PnP) problem should generally be applied in a sequence of images which a set of drift-prone features are tracked over time. In this paper, we consider both the temporal dependency of…

Camera pose tracking attracts much interest both from academic and industrial communities, of which the methods based on planar markers are easy to be implemented. However, most of the existing methods need to identify multiple points in…

Conventional absolute camera pose via a Perspective-n-Point (PnP) solver often assumes that the correspondences between 2D image pixels and 3D points are given. When the correspondences between 2D and 3D points are not known a priori, the…

We introduce UPose3D, a novel approach for multi-view 3D human pose estimation, addressing challenges in accuracy and scalability. Our method advances existing pose estimation frameworks by improving robustness and flexibility without…

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…

State-of-the-art lidar place recognition models exhibit unreliable performance when tested on environments different from their training dataset, which limits their use in complex and evolving environments. To address this issue, we…

Particle Image Velocimetry (PIV) is a widely used technique for flow measurement that traditionally relies on cross-correlation to track the displacement. Recent advances in deep learning-based methods have significantly improved the…

Absolute Pose Regressors (APRs) directly estimate camera poses from monocular images, but their accuracy is unstable for different queries. Uncertainty-aware APRs provide uncertainty information on the estimated pose, alleviating the impact…

Solving Perspective-n-Point (PnP) problems is a traditional way of estimating object poses. Given outlier-contaminated data, a pose of an object is calculated with PnP algorithms of n = {3, 4} in the RANSAC-based scheme. However, the…

Pose estimation and tracking of objects is a fundamental application in 3D vision. Event cameras possess remarkable attributes such as high dynamic range, low latency, and resilience against motion blur, which enables them to address…

The reduced cost and computational and calibration requirements of monocular cameras make them ideal positioning sensors for mobile robots, albeit at the expense of any meaningful depth measurement. Solutions proposed by some scholars to…

Few-shot 3D semantic segmentation aims to generate accurate semantic masks for query point clouds with only a few annotated support examples. Existing prototype-based methods typically construct compact and deterministic prototypes from the…

The perspective-$n$-point (P$n$P) problem is important for robotic pose estimation. It is well studied for optical cameras, but research is lacking for 2D forward-looking sonar (FLS) in underwater scenarios due to the vastly different…

Estimating the position and orientation of a camera with respect to an observed scene is one of the central problems in computer vision, particularly in the context of camera calibration and multi-sensor systems. This paper addresses the…

Learning methods for relative camera pose estimation have been developed largely in isolation from classical geometric approaches. The question of how to integrate predictions from deep neural networks (DNNs) and solutions from geometric…

This work addresses the certification of the local robustness of vision-based two-stage 6D object pose estimation. The two-stage method for object pose estimation achieves superior accuracy by first employing deep neural network-driven…

3D human pose estimation has been a long-standing challenge in computer vision and graphics, where multi-view methods have significantly progressed but are limited by the tedious calibration processes. Existing multi-view methods are…