相关论文: Towards Initialization-free Calibrated Bundle Adju…

Accurate extrinsic sensor calibration is essential for both autonomous vehicles and robots. Traditionally this is an involved process requiring calibration targets, known fiducial markers and is generally performed in a lab. Moreover, even…

We propose an approach for reconstructing free-moving object from a monocular RGB video. Most existing methods either assume scene prior, hand pose prior, object category pose prior, or rely on local optimization with multiple sequence…

We tackle the problem of bundle adjustment (i.e., simultaneous refinement of camera poses and scene map) for a purely rotating event camera. Starting from first principles, we formulate the problem as a classical non-linear least squares…

We consider optimal experimental design (OED) for nonlinear inverse problems within the Bayesian framework. Optimizing the data acquisition process for large-scale nonlinear Bayesian inverse problems is a computationally challenging task…

Accurate null depth retrieval is critical in nulling interferometry. However, achieving accurate null depth calibration is challenging due to various noise sources, instrumental imperfections, and the complexity of real observational…

This paper presents an online initialization method for bootstrapping the optimization-based monocular visual-inertial odometry (VIO). The method can online calibrate the relative transformation (spatial) and time offsets (temporal) among…

The paper focuses on the calibration of serial industrial robots using partial pose measurements. In contrast to other works, the developed advanced robot calibration technique is suitable for geometrical and elastostatic calibration. The…

Category-level object pose estimation aims to determine the pose and size of novel objects in specific categories. Existing correspondence-based approaches typically adopt point-based representations to establish the correspondences between…

A central theme in classical algorithms for the reconstruction of discontinuous functions from observational data is perimeter regularization via the use of the total variation. On the other hand, sparse or noisy data often demands a…

This paper presents a scalable approximate Bayesian method for image restoration using total variation (TV) priors. In contrast to most optimization methods based on maximum a posteriori estimation, we use the expectation propagation (EP)…

This paper tackles the task of uncalibrated photometric stereo for 3D object reconstruction, where both the object shape, object reflectance, and lighting directions are unknown. This is an extremely difficult task, and the challenge is…

Spacecraft Pose Estimation (SPE) is a fundamental capability for autonomous space operations such as rendezvous, docking, and in-orbit servicing. Hybrid pipelines that combine object detection, keypoint regression, and Perspective-n-Point…

General Visual Inspection is a manual inspection process regularly used to detect and localise obvious damage on the exterior of commercial aircraft. There has been increasing demand to perform this process at the boarding gate to minimize…

Image Phase Alignment Super-sampling (ImPASS) is a computational method for combining displaced low-resolution images into a single high-resolution image. The general steps include measuring the relative displacements, up-sampling, aligning…

Reliable probabilities are critical in high-risk applications, yet common calibration criteria (confidence, class-wise) are only necessary for full distributional calibration, and post-hoc methods often lack distribution-free guarantees. We…

Time of flight based Non-line-of-sight (NLOS) imaging approaches require precise calibration of illumination and detector positions on the visible scene to produce reasonable results. If this calibration error is sufficiently high,…

Robot pose estimation is a challenging and crucial task for vision-based surgical robotic automation. Typical robotic calibration approaches, however, are not applicable to surgical robots, such as the da Vinci Research Kit (dVRK), due to…

We study zero-shot 3D alignment of two given meshes, using a text prompt describing their spatial relation -- an essential capability for content creation and scene assembly. Earlier approaches primarily rely on geometric alignment…

Multi-objective Bayesian optimization (MOBO) provides a principled framework for optimizing expensive black-box functions with multiple objectives. However, existing MOBO methods often struggle with coverage, scalability with respect to the…

Both, robot and hand-eye calibration haven been object to research for decades. While current approaches manage to precisely and robustly identify the parameters of a robot's kinematic model, they still rely on external devices, such as…