相关论文: Minimal Solvers for Full DoF Motion Estimation fro…

Event-based cameras are bio-inspired sensors with pixels that independently and asynchronously respond to brightness changes at microsecond resolution, offering the potential to handle visual tasks in challenging scenarios. However, due to…

In many robotics and VR/AR applications, fast camera motions lead to a high level of motion blur, causing existing camera pose estimation methods to fail. In this work, we propose a novel framework that leverages motion blur as a rich cue…

We consider the problem of tracking multiple, unknown, and time-varying numbers of objects using a distributed network of heterogeneous sensors. In an effort to derive a formulation for practical settings, we consider limited and unknown…

Many organisms, from flies to humans, use visual signals to estimate their motion through the world. To explore the motion estimation problem, we have constructed a camera/gyroscope system that allows us to sample, at high temporal…

We propose a robust and fast bundle adjustment solution that estimates the 6-DoF pose of the camera and the geometry of the environment based on measurements from a rolling shutter (RS) camera. This tackles the challenges in the existing…

Event cameras are bio-inspired sensors that perform well in challenging illumination conditions and have high temporal resolution. However, their concept is fundamentally different from traditional frame-based cameras. The pixels of an…

We propose two novel solvers for estimating the egomotion of a calibrated camera mounted to a moving vehicle from a single affine correspondence via recovering special homographies. For the first class of solvers, the sought plane is…

We present a method for solving two minimal problems for relative camera pose estimation from three views, which are based on three view correspondences of i) three points and one line and the novel case of ii) three points and two lines…

Compared to regular cameras, Dynamic Vision Sensors or Event Cameras can output compact visual data based on a change in the intensity in each pixel location asynchronously. In this paper, we study the application of current image-based…

We present a novel solution to the camera pose estimation problem, where rotation and translation of a camera between two views are estimated from matched feature points in the images. The camera pose estimation problem is traditionally…

Because of their high temporal resolution, increased resilience to motion blur, and very sparse output, event cameras have been shown to be ideal for low-latency and low-bandwidth feature tracking, even in challenging scenarios. Existing…

State-of-the-art solutions for Shape-from-Polarization (SfP) suffer from a speed-resolution tradeoff: they either sacrifice the number of polarization angles measured or necessitate lengthy acquisition times due to framerate constraints,…

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…

The motion of planar ground vehicles is often non-holonomic, and as a result may be modelled by the 2 DoF Ackermann steering model. We analyse the feasibility of estimating such motion with a downward facing camera that exerts…

Many computer vision applications require robust estimation of the underlying geometry, in terms of camera motion and 3D structure of the scene. These robust methods often rely on running minimal solvers in a RANSAC framework. In this paper…

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…

In this paper, we propose to combine detections from background subtraction and from a multiclass object detector for multiple object tracking (MOT) in urban traffic scenes. These objects are associated across frames using spatial, colour…

Event cameras are a promising candidate to enable high speed vision-based control due to their low sensor latency and high temporal resolution. However, purely event-based feedback has yet to be used in the control of drones. In this work,…

Accurate single-object tracking and short-term motion forecasting remain challenging under occlusion, scale variation, and temporal drift, which disrupt the temporal coherence required for real-time perception. We introduce…

Event-based vision sensors, such as the Dynamic Vision Sensor (DVS), are ideally suited for real-time motion analysis. The unique properties encompassed in the readings of such sensors provide high temporal resolution, superior sensitivity…