相关论文: Solving Viewing Graph Optimization for Simultaneou…

The analysis of large collections of image data is still a challenging problem due to the difficulty of capturing the true concepts in visual data. The similarity between images could be computed using different and possibly multimodal…

During about 30 years, a lot of research teams have worked on the big challenge of detection of moving objects in various challenging environments. First applications concern static cameras but with the rise of the mobile sensors studies on…

Despite the remarkable advances in image matching and pose estimation, image-based localization of a camera in a temporally-varying outdoor environment is still a challenging problem due to huge appearance disparity between query and…

Deformable image registration is a very important field of research in medical imaging. Recently multiple deep learning approaches were published in this area showing promising results. However, drawbacks of deep learning methods are the…

Reconstructing 3D geometry and appearance from a sparse set of fixed cameras is a foundational task with broad applications, yet it remains fundamentally constrained by the limited viewpoints. We show that this bound can be broken by…

While both navigation and manipulation are challenging topics in isolation, many tasks require the ability to both navigate and manipulate in concert. To this end, we propose a mobile manipulation system that leverages novel navigation and…

In this paper, we present a novel linear algorithm to estimate the 6 DoF relative pose from consecutive frames of stereo rolling shutter (RS) cameras. Our method is derived based on the assumption that stereo cameras undergo motion with…

Pose graph optimization (PGO) is a well-known technique for solving the pose-based simultaneous localization and mapping (SLAM) problem. In this paper, we represent the rotation and translation by a unit quaternion and a three-dimensional…

We give a new algorithmic solution to the well-known five-point relative pose problem. Our approach does not deal with the famous cubic constraint on an essential matrix. Instead, we use the Cayley representation of rotations in order to…

Road network graphs provide critical information for autonomous-vehicle applications, such as drivable areas that can be used for motion planning algorithms. To find road network graphs, manually annotation is usually inefficient and…

Real-time robotic grasping, supporting a subsequent precise object-in-hand operation task, is a priority target towards highly advanced autonomous systems. However, such an algorithm which can perform sufficiently-accurate grasping with…

A cornerstone of geometric reconstruction, rotation averaging seeks the set of absolute rotations that optimally explains a set of measured relative orientations between them. In spite of being an integral part of bundle adjustment and…

Many iterative methods in applied mathematics can be thought of as fixed-point iterations, and such algorithms are usually analyzed analytically, with inequalities. In this paper, we present a geometric approach to analyzing contractive and…

Visual localization is the problem of estimating a camera within a scene and a key component in computer vision applications such as self-driving cars and Mixed Reality. State-of-the-art approaches for accurate visual localization use…

Automatic road graph extraction from aerial and satellite images is a long-standing challenge. Existing algorithms are either based on pixel-level segmentation followed by vectorization, or on iterative graph construction using next move…

We propose an approach to detect flying objects such as UAVs and aircrafts when they occupy a small portion of the field of view, possibly moving against complex backgrounds, and are filmed by a camera that itself moves. Solving such a…

This paper addresses the problem of document image dewarping, which aims at eliminating the geometric distortion in document images for document digitization. Instead of designing a better neural network to approximate the optical flow…

Data association is at the core of many computer vision tasks, e.g., multiple object tracking, image matching, and point cloud registration. however, current data association solutions have some defects: they mostly ignore the intra-view…

One of the main problems in the study of system of equations of the gravitational lens, is the computation of coordinates from the known position of the source. In the process of computing finds the solution of equations with two unknowns.…

Relative pose estimation is crucial for various computer vision applications, including Robotic and Autonomous Driving. Current methods primarily depend on selecting and matching feature points prone to incorrect matches, leading to poor…