相关论文: Linear Relative Pose Estimation Founded on Pose-on…

Time-varying, smooth trajectory estimation is of great interest to the vision community for accurate and well behaving 3D systems. In this paper, we propose a novel principal component local regression filter acting directly on 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…

This paper derives a novel linear position constraint for cameras seeing a common scene point, which leads to a direct linear method for global camera translation estimation. Unlike previous solutions, this method deals with collinear…

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…

Multi-camera systems offer rich observation capabilities for visual navigation and 3D scene reconstruction; however, the resulting feature redundancy often compromises computational efficiency. This challenge is particularly pronounced…

Solving 6D pose estimation is non-trivial to cope with intrinsic appearance and shape variation and severe inter-object occlusion, and is made more challenging in light of extrinsic large illumination changes and low quality of the acquired…

High-precision localization is pivotal in underwater reinspection missions. Traditional localization methods like inertial navigation systems, Doppler velocity loggers, and acoustic positioning face significant challenges and are not…

Pose estimation is a vital step in many robotics and perception tasks such as robotic manipulation, autonomous vehicle navigation, etc. Current state-of-the-art pose estimation methods rely on deep neural networks with complicated…

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…

Linear perspectivecues deriving from regularities of the built environment can be used to recalibrate both intrinsic and extrinsic camera parameters online, but these estimates can be unreliable due to irregularities in the scene,…

Hand-held light field (LF) cameras have unique advantages in computer vision such as 3D scene reconstruction and depth estimation. However, the related applications are limited by the ultra-small baseline, e.g., leading to the extremely low…

The point pair feature (PPF) is widely used for 6D pose estimation. In this paper, we propose an efficient 6D pose estimation method based on the PPF framework. We introduce a well-targeted down-sampling strategy that focuses more on edge…

We presented a separation based optimization algorithm which, rather than optimization the entire variables altogether, This would allow us to employ: 1) a class of nonlinear functions with three variables and 2) a convex quadratic…

Humans can easily deduce the relative pose of a previously unseen object, without labeling or training, given only a single query-reference image pair. This is arguably achieved by incorporating i) 3D/2.5D shape perception from a single…

Estimating pose from given 3D correspondences, including point-to-point, point-to-line and point-to-plane correspondences, is a fundamental task in computer vision with many applications. We present a complete solution for this task,…

This paper introduces a new architecture for human pose estimation using a multi- layer convolutional network architecture and a modified learning technique that learns low-level features and higher-level weak spatial models. Unconstrained…

We address the task of 6D multi-object pose: given a set of known 3D objects and an RGB or RGB-D input image, we detect and estimate the 6D pose of each object. We propose a new approach to 6D object pose estimation which consists of an…

We introduce FocalPose, a neural render-and-compare method for jointly estimating the camera-object 6D pose and camera focal length given a single RGB input image depicting a known object. The contributions of this work are twofold. First,…

As the density of spacecraft in Earth's orbit increases, their recognition, pose and trajectory identification becomes crucial for averting potential collisions and executing debris removal operations. However, training models able to…

Estimating the 6D pose of unseen objects from monocular RGB images remains a challenging problem, especially due to the lack of prior object-specific knowledge. To tackle this issue, we propose RefPose, an innovative approach to object pose…