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

The precise estimation of camera poses within large camera networks is a foundational problem in computer vision and robotics, with broad applications spanning autonomous navigation, surveillance, and augmented reality. In this paper, we…

Many robotics and mapping systems contain multiple sensors to perceive the environment. Extrinsic parameter calibration, the identification of the position and rotation transform between the frames of the different sensors, is critical to…

Accurate camera pose estimation is a fundamental requirement for numerous applications, such as autonomous driving, mobile robotics, and augmented reality. In this work, we address the problem of estimating the global 6 DoF camera pose from…

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…

Camera, and associated with its objects within the field of view, localization could benefit many computer vision fields, such as autonomous driving, robot navigation, and augmented reality (AR). In this survey, we first introduce specific…

Cross-camera image data association is essential for many multi-camera computer vision tasks, such as multi-camera pedestrian detection, multi-camera multi-target tracking, 3D pose estimation, etc. This association task is typically stated…

Vision based localization is the problem of inferring the pose of the camera given a single image. One solution to this problem is to learn a deep neural network to infer the pose of a query image after learning on a dataset of images with…

We propose a novel end-to-end method for cross-view pose estimation. Given a ground-level query image and an aerial image that covers the query's local neighborhood, the 3 Degrees-of-Freedom camera pose of the query is estimated by matching…

Over the past few years, the vision transformer and its various forms have gained significance in human pose estimation. By treating image patches as tokens, transformers can capture global relationships wisely, estimate the keypoint tokens…

Concurrently estimating the 6-DOF pose of multiple cameras or robots---cooperative localization---is a core problem in contemporary robotics. Current works focus on a set of mutually observable world landmarks and often require inbuilt…

In this paper, we present a motion planning framework for multi-modal vehicle dynamics. Our proposed algorithm employs transcription of the optimization objective function, vehicle dynamics, and state and control constraints into sparse…

This paper proposes a pose-graph attentional graph neural network, called P-GAT, which compares (key)nodes between sequential and non-sequential sub-graphs for place recognition tasks as opposed to a common frame-to-frame retrieval problem…

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…

Pairwise pose estimation from images with little or no overlap is an open challenge in computer vision. Existing methods, even those trained on large-scale datasets, struggle in these scenarios due to the lack of identifiable…

This paper presents a generic 6DOF camera pose estimation method, which can be used for both the pinhole camera and the fish-eye camera. Different from existing methods, relative positions of 3D points rather than absolute coordinates in…

Vision-based regression tasks, such as hand pose estimation, have achieved higher accuracy and faster convergence through representation learning. However, existing representation learning methods often encounter the following issues: the…

Estimating 3D shapes and poses of static objects from a single image has important applications for robotics, augmented reality and digital content creation. Often this is done through direct mesh predictions which produces unrealistic,…

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,…

This paper proposes a statistical approach to 2D pose estimation from human images. The main problems with the standard supervised approach, which is based on a deep recognition (image-to-pose) model, are that it often yields anatomically…

A pose-graph-based optimization technique is widely used to estimate robot poses using various sensor measurements from devices such as laser scanners and cameras. The global navigation satellite system (GNSS) has recently been used to…