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

In this paper we present a fast minimal solver for absolute camera pose estimation from four known points that lie in a plane. We assume a perspective camera model with unknown focal length and unknown radial distortion. The radial…

This paper introduces a novel approach to the fine alignment of images in a burst captured by a handheld camera. In contrast to traditional techniques that estimate two-dimensional transformations between frame pairs or rely on discrete…

We consider the classical camera pose estimation problem that arises in many computer vision applications, in which we are given n 2D-3D correspondences between points in the scene and points in the camera image (some of which are incorrect…

Accurate and robust relative pose estimation is crucial for enabling challenging Active Debris Removal (ADR) missions targeting tumbling derelict satellites such as ESA's ENVISAT. This work presents a complete pipeline integrating advanced…

The process of tracking human anatomy in computer vision is referred to pose estimation, and it is used in fields ranging from gaming to surveillance. Three-dimensional pose estimation traditionally requires advanced equipment, such as…

Understanding the geometry and pose of objects in 2D images is a fundamental necessity for a wide range of real world applications. Driven by deep neural networks, recent methods have brought significant improvements to object pose…

We present a fast and accurate solution to the perspective $n$-points problem, by way of a new approach to the n=4 case. Our solution hinges on a novel separation of variables: given four 3D points and four corresponding 2D points on the…

In this paper, we propose the first minimal solutions for estimating the semi-generalized homography given a perspective and a generalized camera. The proposed solvers use five 2D-2D image point correspondences induced by a scene plane. One…

Applications in the field of augmented reality or robotics often require joint localisation and 6D pose estimation of multiple objects. However, most algorithms need one network per object class to be trained in order to provide the best…

Estimating metric relative camera pose from a pair of images is of great importance for 3D reconstruction and localisation. However, conventional two-view pose estimation methods are not metric, with camera translation known only up to a…

We present a robust and real-time monocular six degree of freedom relocalization system. Our system trains a convolutional neural network to regress the 6-DOF camera pose from a single RGB image in an end-to-end manner with no need of…

Human pose estimation is an important topic in computer vision with many applications including gesture and activity recognition. However, pose estimation from image is challenging due to appearance variations, occlusions, clutter…

In many robotic applications, the environment setting in which the 6-DoF pose estimation of a known, rigid object and its subsequent grasping is to be performed, remains nearly unchanging and might even be known to the robot in advance. In…

State-of-the-art object pose estimation handles multiple instances in a test image by using multi-model formulations: detection as a first stage and then separately trained networks per object for 2D-3D geometric correspondence prediction…

Pose regression networks predict the camera pose of a query image relative to a known environment. Within this family of methods, absolute pose regression (APR) has recently shown promising accuracy in the range of a few centimeters in…

Differentiable rendering aims to compute the derivative of the image rendering function with respect to the rendering parameters. This paper presents a novel algorithm for 6-DoF pose estimation through gradient-based optimization using a…

Relative pose estimation provides a promising way for achieving object-agnostic pose estimation. Despite the success of existing 3D correspondence-based methods, the reliance on explicit feature matching suffers from small overlaps in…

We introduce an approach for recovering the 6D pose of multiple known objects in a scene captured by a set of input images with unknown camera viewpoints. First, we present a single-view single-object 6D pose estimation method, which we use…

We propose a new method for estimating the relative pose between two images, where we jointly learn keypoint detection, description extraction, matching and robust pose estimation. While our architecture follows the traditional pipeline for…

Absolute pose estimation is a fundamental problem in computer vision, and it is a typical parameter estimation problem, meaning that efforts to solve it will always suffer from outlier-contaminated data. Conventionally, for a fixed…