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

Minimum distance estimation methodology based on an empirical distribution function has been popular due to its desirable properties including robustness. Even though the statistical literature is awash with the research on the minimum…

We study the challenging problem of estimating the relative pose of three calibrated cameras from four point correspondences. We propose novel efficient solutions to this problem that are based on the simple idea of using four…

We tackle the problem of estimating a Manhattan frame, i.e. three orthogonal vanishing points, and the unknown focal length of the camera, leveraging a prior vertical direction. The direction can come from an Inertial Measurement Unit that…

We present new methods for simultaneously estimating camera geometry and time shift from video sequences from multiple unsynchronized cameras. Algorithms for simultaneous computation of a fundamental matrix or a homography with unknown time…

Event cameras are novel vision sensors that output pixel-level brightness changes ("events") instead of traditional video frames. These asynchronous sensors offer several advantages over traditional cameras, such as, high temporal…

Estimating neural radiance fields (NeRFs) from "ideal" images has been extensively studied in the computer vision community. Most approaches assume optimal illumination and slow camera motion. These assumptions are often violated in robotic…

We propose a new method for six-degree-of-freedom (6-DoF) autonomous camera movement for minimally invasive surgery, which, unlike previous methods, takes into account both the position and orientation information from structures in the…

Vision-based localization is a cost-effective and thus attractive solution for many intelligent mobile platforms. However, its accuracy and especially robustness still suffer from low illumination conditions, illumination changes, and…

Local features e.g. SIFT and its affine and learned variants provide region-to-region rather than point-to-point correspondences. This has recently been exploited to create new minimal solvers for classical problems such as homography,…

Submodular function minimization is a fundamental optimization problem that arises in several applications in machine learning and computer vision. The problem is known to be solvable in polynomial time, but general purpose algorithms have…

Vision-based perception systems are typically exposed to large orientation changes in different robot applications. In such conditions, their performance might be compromised due to the inherent complexity of processing data captured under…

We consider the problem of tracking $n$ targets in the plane using $2n$ cameras. We can use two cameras to estimate the location of a target. We are then interested in forming $n$ camera pairs where each camera belongs to exactly one pair,…

We pose the problem of the optimal approximation of a given nonnegative signal $y_t$ with the scalar autoconvolution $(x*x)_t$ of a nonnegative signal $x_t$, where $x_t$ and $y_t$ are signals of equal length. The $\mathcal{I}$-divergence…

The motion measurement of point targets constitutes a fundamental problem in photogrammetry, with extensive applications across various engineering domains. Reconstructing a point's 3D motion just from the images captured by only a…

To determine the 3D orientation and 3D location of objects in the surroundings of a camera mounted on a robot or mobile device, we developed two powerful algorithms in object detection and temporal tracking that are combined seamlessly for…

Mobile devices equipped with a multi-camera system and an inertial measurement unit (IMU) are widely used nowadays, such as self-driving cars. The task of relative pose estimation using visual and inertial information has important…

This paper presents a new algorithm to estimate absolute camera pose given an axis of the camera's rotation matrix. Current algorithms solve the problem via algebraic solutions on limited input domains. This paper shows that the problem can…

Real time outdoor navigation in highly dynamic environments is an crucial problem. The recent literature on real time static SLAM don't scale up to dynamic outdoor environments. Most of these methods assume moving objects as outliers or…

Event-based cameras are bio-inspired vision sensors whose pixels work independently from each other and respond asynchronously to brightness changes, with microsecond resolution. Their advantages make it possible to tackle challenging…

In this paper, we investigate the visual tracking problem for robotic systems without image-space velocity measurement, simultaneously taking into account the uncertainties of the camera model and the manipulator kinematics and dynamics. We…