相关论文: Affine Correspondences between Multi-Camera System…

The point correspondence (PC) and affine correspondence (AC) are widely used for relative pose estimation. An AC consists of a PC across two views and an affine transformation between the small patches around this PC. Previous work…

We propose three novel solvers for estimating the relative pose of a multi-camera system from affine correspondences (ACs). A new constraint is derived interpreting the relationship of ACs and the generalized camera model. Using the…

We propose a new approach for combining deep-learned non-metric monocular depth with affine correspondences (ACs) to estimate the relative pose of two calibrated cameras from a single correspondence. Considering the depth information and…

Relative pose estimation using point correspondences (PC) is a widely used technique. A minimal configuration of six PCs is required for two views of generalized cameras. In this paper, we present several minimal solvers that use six PCs to…

In this paper, we aim to estimate the relative pose and focal length between two views with known intrinsic parameters except for an unknown focal length from two affine correspondences (ACs). Cameras are commonly used in combination with…

In this paper we present four cases of minimal solutions for two-view relative pose estimation by exploiting the affine transformation between feature points and we demonstrate efficient solvers for these cases. It is shown, that under the…

We study the challenging problem of estimating the relative pose of three calibrated cameras from four point correspondences. We propose novel efficient solutions to this problem that are based on the simple idea of using four…

Affine correspondences have traditionally been used to improve feature matching over wide baselines. While recent work has successfully used affine correspondences to solve various relative camera pose estimation problems, less attention…

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…

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…

A minimal solution using two affine correspondences is presented to estimate the common focal length and the fundamental matrix between two semi-calibrated cameras - known intrinsic parameters except a common focal length. To the best of…

Estimating relative camera poses between images has been a central problem in computer vision. Methods that find correspondences and solve for the fundamental matrix offer high precision in most cases. Conversely, methods predicting pose…

This paper studies the relative pose problem for autonomous vehicle driving in highly dynamic and possibly cluttered environments. This is a challenging scenario due to the existence of multiple, large, and independently moving objects in…

Monocular depth estimation (MDE) models have undergone significant advancements over recent years. Many MDE models aim to predict affine-invariant relative depth from monocular images, while recent developments in large-scale training and…

Estimating the relative camera pose from $n \geq 5$ correspondences between two calibrated views is a fundamental task in computer vision. This process typically involves two stages: 1) estimating the essential matrix between the views, and…

We propose a minimal solution for pose estimation using both points and lines for a multi-perspective camera. In this paper, we treat the multi-perspective camera as a collection of rigidly attached perspective cameras. These type of…

In this work we present a unified method of relative camera pose estimation from points and lines correspondences. Given a set of 2D points and lines correspondences in three views, of which two are known, a method has been developed for…

Multiple Camera Systems (MCS) have been widely used in many vision applications and attracted much attention recently. There are two principle types of MCS, one is the Rigid Multiple Camera System (RMCS); the other is the Articulated Camera…

Two solvers are proposed for estimating the extrinsic camera parameters from a single affine correspondence assuming general planar motion. In this case, the camera movement is constrained to a plane and the image plane is orthogonal to the…

Local features e.g. SIFT and its affine and learned variants provide region-to-region rather than point-to-point correspondences. This has recently been exploited to create new minimal solvers for classical problems such as homography,…