相关论文: Pointless Global Bundle Adjustment With Relative M…

Recent advances in 3D Gaussian Splatting have shown promising results. Existing methods typically assume static scenes and/or multiple images with prior poses. Dynamics, sparse views, and unknown poses significantly increase the problem…

This paper presents a model for head and body pose estimation (HBPE) when labelled samples are highly sparse. The current state-of-the-art multimodal approach to HBPE utilizes the matrix completion method in a transductive setting to…

Conformal prediction has emerged as a popular technique for facilitating valid predictive inference across a spectrum of machine learning models, under minimal assumption of exchangeability. Recently, Hoff (2023) showed that full conformal…

This work reports a novel multi-frame Bundle Adjustment (BA) framework called RKHS-BA. It uses continuous landmark representations that encode RGB-D/LiDAR and semantic observations in a Reproducing Kernel Hilbert Space (RKHS). With a…

Existing calibration methods occasionally fail for large field-of-view cameras due to the non-linearity of the underlying problem and the lack of good initial values for all parameters of the used camera model. This might occur because a…

We revisit the classical, full-fledged Bayesian model averaging (BMA) paradigm to ensemble pre-trained and/or lightly-finetuned foundation models to enhance the classification performance on image and text data. To make BMA tractable under…

In this paper we propose a novel square root sliding-window bundle adjustment suitable for real-time odometry applications. The square root formulation pervades three major aspects of our optimization-based sliding-window estimator: for…

Image stitching algorithms often adopt the global transformation, such as homography, and work well for planar scenes or parallax free camera motions. However, these conditions are easily violated in practice. With casual camera motions,…

Image editing and compositing have become ubiquitous in entertainment, from digital art to AR and VR experiences. To produce beautiful composites, the camera needs to be geometrically calibrated, which can be tedious and requires a physical…

Gaussian mixture alignment is a family of approaches that are frequently used for robustly solving the point-set registration problem. However, since they use local optimisation, they are susceptible to local minima and can only guarantee…

Visual localization is the task of accurate camera pose estimation in a known scene. It is a key problem in computer vision and robotics, with applications including self-driving cars, Structure-from-Motion, SLAM, and Mixed Reality.…

Fusing data from LiDAR and camera is conceptually attractive because of their complementary properties. For instance, camera images are higher resolution and have colors, while LiDAR data provide more accurate range measurements and have a…

In this paper, we tackle the accurate and consistent Structure from Motion (SfM) problem, in particular camera registration, far exceeding the memory of a single computer in parallel. Different from the previous methods which drastically…

The proximal bundle method (PBM) is a fundamental and computationally effective algorithm for solving nonsmooth optimization problems. In this paper, we present the first variant of the PBM for smooth objectives, achieving an accelerated…

Typical template-based object pose pipelines estimate the pose by retrieving the closest matching template and aligning it with the observed image. However, failure to retrieve the correct template often leads to inaccurate pose…

Traditional novel view synthesis methods heavily rely on external camera pose estimation tools such as COLMAP, which often introduce computational bottlenecks and propagate errors. To address these challenges, we propose a unified framework…

We introduce Cycle-Sync, a robust and global framework for estimating camera poses (both rotations and locations). Our core innovation is a location solver that adapts message-passing least squares (MPLS) -- originally developed for group…

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…

Human pose estimation (HPE) has received increasing attention recently due to its wide application in motion analysis, virtual reality, healthcare, etc. However, it suffers from the lack of labeled diverse real-world datasets due to the…

Image retrieval can be formulated as a ranking problem where the goal is to order database images by decreasing similarity to the query. Recent deep models for image retrieval have outperformed traditional methods by leveraging…