相关论文: T-Graph: Enhancing Sparse-view Camera Pose Estimat…

Two-view pose estimation is essential for map-free visual relocalization and object pose tracking tasks. However, traditional matching methods suffer from time-consuming robust estimators, while deep learning-based pose regressors only…

Camera pose estimation or camera relocalization is the centerpiece in numerous computer vision tasks such as visual odometry, structure from motion (SfM) and SLAM. In this paper we propose a neural network approach with a graph transformer…

Given sparse views of a 3D object, estimating their camera poses is a long-standing and intractable problem. Toward this goal, we consider harnessing the pre-trained diffusion model of novel views conditioned on viewpoints (Zero-1-to-3). We…

Relative pose estimation is crucial for various computer vision applications, including Robotic and Autonomous Driving. Current methods primarily depend on selecting and matching feature points prone to incorrect matches, leading to poor…

3D pose estimation from sparse multi-views is a critical task for numerous applications, including action recognition, sports analysis, and human-robot interaction. Optimization-based methods typically follow a two-stage pipeline, first…

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…

Robustly estimating camera poses from a set of images is a fundamental task which remains challenging for differentiable methods, especially in the case of small and sparse camera pose graphs. To overcome this challenge, we propose…

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,…

Camera pose estimation is a key step in standard 3D reconstruction pipelines that operate on a dense set of images of a single object or scene. However, methods for pose estimation often fail when only a few images are available because…

Estimating the location and orientation of humans is an essential skill for service and assistive robots. To achieve a reliable estimation in a wide area such as an apartment, multiple RGBD cameras are frequently used. Firstly, these setups…

The estimation of the camera poses associated with a set of images commonly relies on feature matches between the images. In contrast, we are the first to address this challenge by using objectness regions to guide the pose estimation…

Pairwise translation directions are a key input to camera location estimation in global structure-from-motion. Existing estimators usually process each image pair independently, producing directions that may be locally plausible but…

In this paper, we address the problem of wide-baseline camera pose estimation from a group of 360$^\circ$ panoramas under upright-camera assumption. Recent work has demonstrated the merit of deep-learning for end-to-end direct relative pose…

Visual re-localization means using a single image as input to estimate the camera's location and orientation relative to a pre-recorded environment. The highest-scoring methods are "structure based," and need the query camera's intrinsics…

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…

Estimating the 6D pose of textureless objects from RGB images is an important problem in robotics. Due to appearance ambiguities, rotational symmetries, and severe occlusions, single-view based 6D pose estimators are still unable to handle…

Camera pose estimation from sparse correspondences is a fundamental problem in geometric computer vision and remains particularly challenging in near-field scenarios, where strong perspective effects and heterogeneous measurement noise can…

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…

Existing monocular 3D pose estimation methods primarily rely on joint positional features, while overlooking intrinsic directional and angular correlations within the skeleton. As a result, they often produce implausible poses under joint…

A viewing graph is a set of unknown camera poses, as the vertices, and the observed relative motions, as the edges. Solving the viewing graph is an essential step in a Structure-from-Motion procedure, where a set of relative motions is…