相关论文: The Probabilistic Normal Epipolar Constraint for F…

Estimating position and orientation change of a mobile platform from two consecutive point clouds provided by a high-resolution sensor is a key problem in autonomous navigation. In particular, scan matching algorithms aim to find the…

6-DoF object pose estimation from a monocular image is challenging, and a post-refinement procedure is generally needed for high-precision estimation. In this paper, we propose a framework based on a recurrent neural network (RNN) for…

Circular markers are planar markers which offer great performances for detection and pose estimation. For an uncalibrated camera with an unknown focal length, at least the images of at least two coplanar circles are generally required to…

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…

Neural surface reconstruction methods typically treat camera poses as fixed values, assuming perfect accuracy from Structure-from-Motion (SfM) systems. This assumption breaks down with imperfect pose estimates, leading to distorted or…

The technique requires the epipolar geometry to be pre-estimated between each image pair. It exploits the constraints which the camera movement implies, in order to apply a closed-form correction to the parameters of the input affinities.…

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…

Mobile devices equipped with a multi-camera system and an inertial measurement unit (IMU) are widely used nowadays, such as self-driving cars. The task of relative pose estimation using visual and inertial information has important…

Two-view relative pose estimation and structure reconstruction is a classical problem in computer vision. The typical methods usually employ the singular value decomposition of the essential matrix to get multiple solutions of the relative…

The estimation of 6D poses of rigid objects is a fundamental problem in computer vision. Traditionally pose estimation is concerned with the determination of a single best estimate. However, a single estimate is unable to express visual…

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,…

Recovering camera poses from a set of images is a foundational task in 3D computer vision, which powers key applications such as 3D scene/object reconstructions. Classic methods often depend on feature correspondence, such as keypoints,…

This paper proposes a new method for rigid body pose estimation based on spectrahedral representations of the tautological orbitopes of $SE(2)$ and $SE(3)$. The approach can use dense point cloud data from stereo vision or an RGB-D sensor…

We introduce a novel neural volumetric pose feature, termed PoseMap, designed to enhance camera localization by encapsulating the information between images and the associated camera poses. Our framework leverages an Absolute Pose…

In this paper, we propose a novel method for monocular depth estimation in dynamic scenes. We first explore the arbitrariness of object's movement trajectory in dynamic scenes theoretically. To overcome the arbitrariness, we use assume that…

We address the problem of epipolar geometry using the motion of silhouettes. Such methods match epipolar lines or frontier points across views, which are then used as the set of putative correspondences. We introduce an approach that…

We present gP4Pc, a new method for computing the absolute pose of a generalized camera with unknown internal scale from four corresponding 3D point-and-ray pairs. Unlike most pose-and-scale methods, gP4Pc is based on constraints arising…

The vast majority of modern consumer-grade cameras employ a rolling shutter mechanism. In dynamic geometric computer vision applications such as visual SLAM, the so-called rolling shutter effect therefore needs to be properly taken into…

While end-to-end approaches have achieved state-of-the-art performance in many perception tasks, they are not yet able to compete with 3D geometry-based methods in pose estimation. Moreover, absolute pose regression has been shown to be…

In recent years, considerable progress has been made for the task of rigid object pose estimation from a single RGB-image, but achieving robustness to partial occlusions remains a challenging problem. Pose refinement via rendering has shown…