相关论文: InCaRPose: In-Cabin Relative Camera Pose Estimatio…

Recent advancements have integrated camera pose as a user-friendly and physics-informed condition in video diffusion models, enabling precise camera control. In this paper, we identify one of the key challenges as effectively modeling noisy…

This work contributes an efficient algorithm to compute the Relative Pose problem (RPp) between calibrated cameras and certify the optimality of the solution, given a set of pair-wise feature correspondences affected by noise and probably…

This technical report introduces CyberLoc, an image-based visual localization pipeline for robust and accurate long-term pose estimation under challenging conditions. The proposed method comprises four modules connected in a sequence.…

Image-based localization, or camera relocalization, is a fundamental problem in computer vision and robotics, and it refers to estimating camera pose from an image. Recent state-of-the-art approaches use learning based methods, such as…

The three-dimensional representation of objects or scenes starting from a set of images has been a widely discussed topic for years and has gained additional attention after the diffusion of NeRF-based approaches. However, an underestimated…

Accurate and robust extrinsic calibration is necessary for deploying autonomous systems which need multiple sensors for perception. In this paper, we present a robust system for real-time extrinsic calibration of multiple lidars in vehicle…

We propose FoundPose, a model-based method for 6D pose estimation of unseen objects from a single RGB image. The method can quickly onboard new objects using their 3D models without requiring any object- or task-specific training. In…

We propose a new method for estimating the relative pose between two images, where we jointly learn keypoint detection, description extraction, matching and robust pose estimation. While our architecture follows the traditional pipeline for…

Accurate 6D object pose estimation from images is a key problem in object-centric scene understanding, enabling applications in robotics, augmented reality, and scene reconstruction. Despite recent advances, existing methods often produce…

Visual localization, i.e., determining the position and orientation of a vehicle with respect to a map, is a key problem in autonomous driving. We present a multicamera visual inertial localization algorithm for large scale environments. To…

We seek to predict the 6 degree-of-freedom (6DoF) pose of a query photograph with respect to a large indoor 3D map. The contributions of this work are three-fold. First, we develop a new large-scale visual localization method targeted for…

Recent trends in SLAM and visual navigation have embraced 3D Gaussians as the preferred scene representation, highlighting the importance of estimating camera poses from a single image using a pre-built Gaussian model. However, existing…

Motion capture is facing some new possibilities brought by the inertial sensing technologies which do not suffer from occlusion or wide-range recordings as vision-based solutions do. However, as the recorded signals are sparse and quite…

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,…

We present a technique and benchmark dataset for estimating the relative 3D orientation between a pair of Internet images captured in an extreme setting, where the images have limited or non-overlapping field of views. Prior work targeting…

Intrinsic decomposition from a single image is a highly challenging task, due to its inherent ambiguity and the scarcity of training data. In contrast to traditional fully supervised learning approaches, in this paper we propose learning…

We present a novel multi-modal extrinsic calibration framework designed to simultaneously estimate the relative poses between event cameras, LiDARs, and RGB cameras, with particular focus on the challenging event camera calibration. Core of…

In this paper, we propose a robust 3D face recognition system which can handle pose as well as occlusions in real world. The system at first takes as input, a 3D range image, simultaneously registers it using ICP(Iterative Closest Point)…

Determining extrinsic calibration parameters is a necessity in any robotic system composed of actuators and cameras. Once a system is outside the lab environment, parameters must be determined without relying on outside artifacts such as…

This paper presents MEMROC (Multi-Eye to Mobile RObot Calibration), a novel motion-based calibration method that simplifies the process of accurately calibrating multiple cameras relative to a mobile robot's reference frame. MEMROC utilizes…