相关论文: Relative Pose for Nonrigid Multi-Perspective Camer…

The task of "relative placement" is to predict the placement of one object in relation to another, e.g. placing a mug onto a mug rack. Through explicit object-centric geometric reasoning, recent methods for relative placement have made…

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…

Accurate state estimation for flexible robotic systems poses significant challenges, particularly for platforms with dynamically deforming structures that invalidate rigid-body assumptions. This paper addresses this problem and enables the…

Multi-perspective cameras are quickly gaining importance in many applications such as smart vehicles and virtual or augmented reality. However, a large system size or absence of overlap in neighbouring fields-of-view often complicate their…

In general, the problem of non-rigid registration is about matching two different scans of a dynamic object taken at two different points in time. These scans can undergo both rigid motions and non-rigid deformations. Since new parts of the…

Smartphones, tablets and camera systems used, e.g., in cars and UAVs, are typically equipped with IMUs (inertial measurement units) that can measure the gravity vector accurately. Using this additional information, the $y$-axes of the…

Appearance-based gaze estimation has been actively studied in recent years. However, its generalization performance for unseen head poses is still a significant limitation for existing methods. This work proposes a generalizable multi-view…

We present an approach for estimating a mobile robot's pose w.r.t. the allocentric coordinates of a network of static cameras using multi-view RGB images. The images are processed online, locally on smart edge sensors by deep neural…

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…

The 3D depth estimation and relative pose estimation problem within a decentralized architecture is a challenging problem that arises in missions that require coordination among multiple vision-controlled robots. The depth estimation…

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…

Despite the remarkable advances in image matching and pose estimation, image-based localization of a camera in a temporally-varying outdoor environment is still a challenging problem due to huge appearance disparity between query and…

This paper considers the problem of nonlinear attitude estimation for a rigid body system using intermittent and multi-rate inertial vector measurements as well as continuous (high-rate) angular velocity measurements. Two types of hybrid…

We present a novel non-rigid reconstruction method using a moving RGB-D camera. Current approaches use only non-rigid part of the scene and completely ignore the rigid background. Non-rigid parts often lack sufficient geometric and…

Human-robot collaboration requires the establishment of methods to guarantee the safety of participating operators. A necessary part of this process is ensuring reliable human pose estimation. Established vision-based modalities encounter…

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…

Robots and other smart devices need efficient object-based scene representations from their on-board vision systems to reason about contact, physics and occlusion. Recognized precise object models will play an important role alongside…

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…

In multi-robot missions, relative position and attitude information between agents is valuable for a variety of tasks such as mapping, planning, and formation control. In this paper, the problem of estimating relative poses from a set of…

This paper proposes a computationally efficient method to estimate the time-varying relative pose between two visual-inertial sensor rigs mounted on the flexible wings of a fixed-wing unmanned aerial vehicle (UAV). The estimated relative…