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Found 45 papers, 10 papers with code
An N-Point Linear Solver for Line and Motion Estimation with Event Cameras
To recover the full linear camera velocity we fuse observations from multiple lines with a novel velocity averaging scheme that relies on a geometrically-motivated residual, and thus solves the problem more efficiently than previous schemes which minimize an algebraic residual.
Six-Point Method for Multi-Camera Systems with Reduced Solution Space
A minimal configuration of six PCs is required for generalized cameras.
Relative Pose for Nonrigid Multi-Perspective Cameras: The Static Case
Multi-perspective cameras with potentially non-overlapping fields of view have become an important exteroceptive sensing modality in a number of applications such as intelligent vehicles, drones, and mixed reality headsets.
Tight Fusion of Events and Inertial Measurements for Direct Velocity Estimation
However, this poses a risk in velocity-based control scenarios, as the quality of the estimation of kinematics depends on the stability of absolute camera and landmark coordinates estimation.
Online Stability Improvement of Groebner Basis Solvers using Deep Learning
Over the past decade, the Gr\"obner basis theory and automatic solver generation have lead to a large number of solutions to geometric vision problems.
Event-Based Visual Odometry on Non-Holonomic Ground Vehicles
Despite the promise of superior performance under challenging conditions, event-based motion estimation remains a hard problem owing to the difficulty of extracting and tracking stable features from event streams.
Cross-Modal Semi-Dense 6-DoF Tracking of an Event Camera in Challenging Conditions
Vision-based localization is a cost-effective and thus attractive solution for many intelligent mobile platforms.
AP$n$P: A Less-constrained P$n$P Solver for Pose Estimation with Unknown Anisotropic Scaling or Focal Lengths
Experimental results on both simulated and real datasets demonstrate the effectiveness of AP$n$P as a more flexible and practical solution to camera pose estimation.
A 5-Point Minimal Solver for Event Camera Relative Motion Estimation
Event-based cameras are ideal for line-based motion estimation, since they predominantly respond to edges in the scene.
RGB-based Category-level Object Pose Estimation via Decoupled Metric Scale Recovery
While showing promising results, recent RGB-D camera-based category-level object pose estimation methods have restricted applications due to the heavy reliance on depth sensors.
MV-ROPE: Multi-view Constraints for Robust Category-level Object Pose and Size Estimation
The object pose predictor then generates canonical object representations from RGB images.
Revisiting Event-based Video Frame Interpolation
We therefore propose to incorporate RGB information in an event-guided optical flow refinement strategy.
Cross-modal Place Recognition in Image Databases using Event-based Sensors
Visual place recognition is an important problem towards global localization in many robotics tasks.
Accelerating Globally Optimal Consensus Maximization in Geometric Vision
Branch-and-bound-based consensus maximization stands out due to its important ability of retrieving the globally optimal solution to outlier-affected geometric problems.
Fast geometric trim fitting using partial incremental sorting and accumulation
We apply our method to two distinct camera resectioning algorithms, and demonstrate highly efficient and reliable, geometric trim fitting.
Accurate Instance-Level CAD Model Retrieval in a Large-Scale Database
We present a new solution to the fine-grained retrieval of clean CAD models from a large-scale database in order to recover detailed object shape geometries for RGBD scans.
VECtor: A Versatile Event-Centric Benchmark for Multi-Sensor SLAM
Event cameras have recently gained in popularity as they hold strong potential to complement regular cameras in situations of high dynamics or challenging illumination.
Globally-Optimal Contrast Maximisation for Event Cameras
The practical validity of our approach is demonstrated by a successful application to three different event camera motion estimation problems.
Spotlights: Probing Shapes from Spherical Viewpoints
Recent years have witnessed the surge of learned representations that directly build upon point clouds.
Globally-Optimal Event Camera Motion Estimation
The practical validity of our approach is supported by a highly successful application to AGV motion estimation with a downward facing event camera, a challenging scenario in which the sensor experiences fronto-parallel motion in front of noisy, fast moving textures.
Efficient Globally-Optimal Correspondence-Less Visual Odometry for Planar Ground Vehicles
We encountered this difficulty by introducing the first globally-optimal, correspondence-less solution to plane-based Ackermann motion estimation.
FP-Loc: Lightweight and Drift-free Floor Plan-assisted LiDAR Localization
Our approach relies on robust ceiling and ground plane detection, which solves part of the pose and supports the segmentation of vertical structure elements such as walls and pillars.
DEVO: Depth-Event Camera Visual Odometry in Challenging Conditions
We present a novel real-time visual odometry framework for a stereo setup of a depth and high-resolution event camera.
Accurate calibration of multi-perspective cameras from a generalization of the hand-eye constraint
Multi-perspective cameras are quickly gaining importance in many applications such as smart vehicles and virtual or augmented reality.
Dynamic Event Camera Calibration
Camera calibration is an important prerequisite towards the solution of 3D computer vision problems.
Visual Odometry with an Event Camera Using Continuous Ray Warping and Volumetric Contrast Maximization
We present a new solution to tracking and mapping with an event camera.
Hybrid Rotation Averaging: A Fast and Robust Rotation Averaging Approach
We push the envelope of rotation averaging by leveraging the advantages of a global RA method and a local RA method.
Canny-VO: Visual Odometry with RGB-D Cameras based on Geometric 3D-2D Edge Alignment
The present paper reviews the classical problem of free-form curve registration and applies it to an efficient RGBD visual odometry system called Canny-VO, as it efficiently tracks all Canny edge features extracted from the images.
Globally optimal point set registration by joint symmetry plane fitting
The present work proposes a solution to the challenging problem of registering two partial point sets of the same object with very limited overlap.
Deep-SLAM++: Object-level RGBD SLAM based on class-specific deep shape priors
In an effort to increase the capabilities of SLAM systems and produce object-level representations, the community increasingly investigates the imposition of higher-level priors into the estimation process.
The Alignment of the Spheres: Globally-Optimal Spherical Mixture Alignment for Camera Pose Estimation
Determining the position and orientation of a calibrated camera from a single image with respect to a 3D model is an essential task for many applications.
Fully automatic structure from motion with a spline-based environment representation
Results prove that curve-based structure from motion with splines is able to outperform state-of-the-art sparse feature-based methods, as well as to model curved edges in the environment.
An algebraic-geometric approach for linear regression without correspondences
This naturally leads to a polynomial system of $n$ equations in $n$ unknowns, which contains $\xi^*$ in its root locus.
Dense Object Reconstruction from RGBD Images with Embedded Deep Shape Representations
Most problems involving simultaneous localization and mapping can nowadays be solved using one of two fundamentally different approaches.
Semi-Dense 3D Reconstruction with a Stereo Event Camera
Event cameras are bio-inspired sensors that offer several advantages, such as low latency, high-speed and high dynamic range, to tackle challenging scenarios in computer vision.
A Certifiably Globally Optimal Solution to the Non-Minimal Relative Pose Problem
Finding the relative pose between two calibrated views ranks among the most fundamental geometric vision problems.
Globally-Optimal Inlier Set Maximisation for Simultaneous Camera Pose and Feature Correspondence
Estimating the 6-DoF pose of a camera from a single image relative to a pre-computed 3D point-set is an important task for many computer vision applications.
Semi-Dense Visual Odometry for RGB-D Cameras Using Approximate Nearest Neighbour Fields
This paper presents a robust and efficient semi-dense visual odometry solution for RGB-D cameras.
A Direct Least-Squares Solution to the PnP Problem With Unknown Focal Length
The advantages of our proposed solution over existing ones are that (i) the objective function is directly built upon the imaging equation, such that all the 3D-to-2D correspondences are treated with balance, and that (ii) the proposed solution is noniterative, in the sense that the stationary points are retrieved by means of standard eigenvalue factorization and the common iterative refinement step is not needed.
Rolling Shutter Camera Relative Pose: Generalized Epipolar Geometry
The vast majority of modern consumer-grade cameras employ a rolling shutter mechanism.
Learning Image Matching by Simply Watching Video
This work presents an unsupervised learning based approach to the ubiquitous computer vision problem of image matching.
Computing Similarity Transformations From Only Image Correspondences
We propose a novel solution for computing the relative pose between two generalized cameras that includes reconciling the internal scale of the generalized cameras.
Simplified Mirror-Based Camera Pose Computation via Rotation Averaging
Our theoretical contribution extends the applicability of rotation averaging to a more general case, and enables mirror-based pose estimation in closed-form under the chordal L2-metric, or in an outlier-robust way by employing iterative L1-norm averaging.
Efficient Computation of Relative Pose for Multi-Camera Systems
We present a novel solution to compute the relative pose of a generalized camera.
Rolling Shutter Camera Calibration
Rolling Shutter (RS) cameras are used across a wide range of consumer electronic devices--from smart-phones to high-end cameras.
