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

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…

Estimating camera intrinsics and extrinsics is a fundamental problem in computer vision, and while advances in structure-from-motion (SfM) have improved accuracy and robustness, open challenges remain. In this paper, we introduce a robust…

In 3D human pose estimation one of the biggest problems is the lack of large, diverse datasets. This is especially true for multi-person 3D pose estimation, where, to our knowledge, there are only machine generated annotations available for…

Planar markers are useful in robotics and computer vision for mapping and localisation. Given a detected marker in an image, a frequent task is to estimate the 6DOF pose of the marker relative to the camera, which is an instance of planar…

In this paper, we propose a method to determine the 3D relative pose of pairs of communicating robots by using human pose-based key-points as correspondences. We adopt a 'leader-follower' framework, where at first, the leader robot visually…

Real-time applications for autonomous operations depend largely on fast and robust vision-based localization systems. Since image processing tasks require processing large amounts of data, the computational resources often limit the…

We consider the problem of relative pose regression in visual relocalization. Recently, several promising approaches have emerged in this area. We claim that even though they demonstrate on the same datasets using the same split to train…

Extracting point correspondences from two or more views of a scene is a fundamental computer vision problem with particular importance for relative camera pose estimation and structure-from-motion. Existing local feature matching…

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.…

While a great variety of 3D cameras have been introduced in recent years, most publicly available datasets for object recognition and pose estimation focus on one single camera. In this work, we present a dataset of 32 scenes that have been…

In this paper, we address the problem of 6-DoF object pose estimation from a single RGB image. Indirect methods that typically predict intermediate 2D keypoints, followed by a Perspective-n-Point solver, have shown great performance. Direct…

Relative pose estimation is a fundamental problem in computer vision and it has been studied for conventional global shutter cameras for decades. However, recently, a rolling shutter camera has been widely used due to its low cost imaging…

Previous methods solve feature matching and pose estimation using a two-stage process by first finding matches and then estimating the pose. As they ignore the geometric relationships between the two tasks, they focus on either improving…

6 DoF poses estimation problem aims to estimate the rotation and translation parameters between two coordinates, such as object world coordinate and camera world coordinate. Although some advances are made with the help of deep learning,…

Line features are valid complements for point features in man-made environments. 3D-2D constraints provided by line features have been widely used in Visual Odometry (VO) and Structure-from-Motion (SfM) systems. However, how to accurately…

Object recognition and 6DoF pose estimation are quite challenging tasks in computer vision applications. Despite efficiency in such tasks, standard methods deliver far from real-time processing rates. This paper presents a novel pipeline to…

We address the task of estimating 6D camera poses from sparse-view image sets (2-8 images). This task is a vital pre-processing stage for nearly all contemporary (neural) reconstruction algorithms but remains challenging given sparse views,…

We consider the problem of two-view matching under significant viewpoint changes with view synthesis. We propose two novel methods, minimizing the view synthesis overhead. The first one, named DenseAffNet, uses dense affine shapes estimates…

This paper introduces a novel multi-view 6 DoF object pose refinement approach focusing on improving methods trained on synthetic data. It is based on the DPOD detector, which produces dense 2D-3D correspondences between the model vertices…

In this paper, we present a novel, end-to-end 6D object pose estimation method that operates on RGB inputs. Our approach is composed of 2 main components: the first component classifies the objects in the input image and proposes an initial…