相关论文: Single-Scanline Relative Pose Estimation for Rolli…

Most consumer cameras are equipped with electronic rolling shutter, leading to image distortions when the camera moves during image capture. We explore a surprisingly simple camera configuration that makes it possible to undo the rolling…

Existing learning-based methods for object pose estimation in RGB images are mostly model-specific or category based. They lack the capability to generalize to new object categories at test time, hence severely hindering their…

This paper presents a hybrid real-time camera pose estimation framework with a novel partitioning scheme and introduces motion averaging to monocular Simultaneous Localization and Mapping (SLAM) systems. Breaking through the limitations of…

The point correspondence (PC) and affine correspondence (AC) are widely used for relative pose estimation. An AC consists of a PC across two views and an affine transformation between the small patches around this PC. Previous work…

We present a direct method to calculate a 6DoF pose change of a monocular camera for mobile navigation. The calculated pose is estimated up to a constant unknown scale parameter that is kept constant over the entire reconstruction process.…

Estimating the relative pose between two cameras is a fundamental step in many applications such as Structure-from-Motion. The common approach to relative pose estimation is to apply a minimal solver inside a RANSAC loop. Highly efficient…

This work is concerned with camera pose estimation from correspondences of 3D/2D lines, i. e. with the Perspective-n-Line (PnL) problem. We focus on large line sets, which can be efficiently solved by methods using linear formulation of…

There has been extensive progress in the reconstruction and generation of 4D scenes from monocular casually-captured video. While these tasks rely heavily on known camera poses, the problem of finding such poses using structure-from-motion…

To build commercial robots, skid-steering mechanical design is of increased popularity due to its manufacturing simplicity and unique mechanism. However, these also cause significant challenges on software and algorithm design, especially…

Estimating the relative rigid pose between two RGB-D scans of the same underlying environment is a fundamental problem in computer vision, robotics, and computer graphics. Most existing approaches allow only limited maximum relative pose…

The $\mathrm{SE}(3)$ invariants of a pose include its rotation angle and screw translation. In this paper, we present a complete comprehensive study of the relative pose estimation problem for a calibrated camera constrained by known…

This work presents two novel solvers for estimating the relative poses among views with known vertical directions. The vertical directions of camera views can be easily obtained using inertial measurement units (IMUs) which have been widely…

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 propose an approach for estimating the relative pose between calibrated image pairs by jointly exploiting points, lines, and their coincidences in a hybrid manner. We investigate all possible configurations where these data modalities…

In this paper, we derive a new differential homography that can account for the scanline-varying camera poses in Rolling Shutter (RS) cameras, and demonstrate its application to carry out RS-aware image stitching and rectification at one…

This paper proposes a generalizable, end-to-end deep learning-based method for relative pose regression between two images. Given two images of the same scene captured from different viewpoints, our method predicts the relative rotation and…

Novel view synthesis (NVS) approaches such as NeRFs or 3DGS can produce photo-realistic 3D scene representation from a set of images with known extrinsic and intrinsic parameters. The necessary camera poses and calibrations are typically…

This paper addresses the problem of rolling shutter correction in complex nonlinear and dynamic scenes with extreme occlusion. Existing methods suffer from two main drawbacks. Firstly, they face challenges in estimating the accurate…

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…

When capturing panoramas, people tend to align their cameras with the vertical axis, i.e., the direction of gravity. Moreover, modern devices, such as smartphones and tablets, are equipped with an IMU (Inertial Measurement Unit) that can…