相关论文: RelMobNet: End-to-end relative camera pose estimat…

We propose an easy-to-use non-overlapping camera calibration method. First, successive images are fed to a PoseNet-based network to obtain ego-motion of cameras between frames. Next, the pose between cameras are estimated. Instead of using…

We propose a novel method for estimating the global rotations of the cameras independently of their positions and the scene structure. When two calibrated cameras observe five or more of the same points, their relative rotation can be…

Many applications require a camera to be relocalised online, without expensive offline training on the target scene. Whilst both keyframe and sparse keypoint matching methods can be used online, the former often fail away from the training…

We propose two minimal solutions to the problem of relative pose estimation of (i) a calibrated camera from four points in two views and (ii) a calibrated generalized camera from five points in two views. In both cases, the relative…

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…

We introduce FocalPose, a neural render-and-compare method for jointly estimating the camera-object 6D pose and camera focal length given a single RGB input image depicting a known object. The contributions of this work are twofold. First,…

Image goal navigation requires two different skills: firstly, core navigation skills, including the detection of free space and obstacles, and taking decisions based on an internal representation; and secondly, computing directional…

We propose a direct, regression-based approach to 2D human pose estimation from single images. We formulate the problem as a sequence prediction task, which we solve using a Transformer network. This network directly learns a regression…

We present an approach for estimating a mobile robot's pose w.r.t. the allocentric coordinates of a network of static cameras using multi-view RGB images. The images are processed online, locally on smart edge sensors by deep neural…

Absolute camera pose regressors estimate the position and orientation of a camera from the captured image alone. Typically, a convolutional backbone with a multi-layer perceptron head is trained with images and pose labels to embed a single…

We introduce CenDerNet, a framework for 6D pose estimation from multi-view images based on center and curvature representations. Finding precise poses for reflective, textureless objects is a key challenge for industrial robotics. Our…

In this work, we introduce pose interpreter networks for 6-DoF object pose estimation. In contrast to other CNN-based approaches to pose estimation that require expensively annotated object pose data, our pose interpreter network is trained…

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…

We address the task of estimating camera parameters from a set of images depicting a scene. Popular feature-based structure-from-motion (SfM) tools solve this task by incremental reconstruction: they repeat triangulation of sparse 3D points…

We propose an end-to-end architecture for joint 2D and 3D human pose estimation in natural images. Key to our approach is the generation and scoring of a number of pose proposals per image, which allows us to predict 2D and 3D poses of…

The objective of this work is to estimate 3D human pose from a single RGB image. Extracting image representations which incorporate both spatial relation of body parts and their relative depth plays an essential role in accurate3D pose…

Real-world robotics applications demand object pose estimation methods that work reliably across a variety of scenarios. Modern learning-based approaches require large labeled datasets and tend to perform poorly outside the training domain.…

Estimating robot pose from RGB images is a crucial problem in computer vision and robotics. While previous methods have achieved promising performance, most of them presume full knowledge of robot internal states, e.g. ground-truth robot…

We describe a data-driven method for inferring the camera viewpoints given multiple images of an arbitrary object. This task is a core component of classic geometric pipelines such as SfM and SLAM, and also serves as a vital pre-processing…

Modern deep learning techniques that regress the relative camera pose between two images have difficulty dealing with challenging scenarios, such as large camera motions resulting in occlusions and significant changes in perspective that…