no code implementations • 9 Feb 2024 • Arihant Gaur, G. Dias Pais, Pedro Miraldo
Compared to the use of regular grids, our geometric encoder is shown to converge in fewer steps and obtain sharper 3D surfaces.
no code implementations • ICCV 2023 • Fabien Delattre, David Dirnfeld, Phat Nguyen, Stephen Scarano, Michael J. Jones, Pedro Miraldo, Erik Learned-Miller
We present an approach to estimating camera rotation in crowded, real-world scenes from handheld monocular video.
1 code implementation • ICCV 2023 • Valter Piedade, Pedro Miraldo
This paper presents a new adaptive sampling process for RANSAC.
1 code implementation • CVPR 2022 • Pedro Miraldo, José Pedro Iglesias
Lines are among the most used computer vision features, in applications such as camera calibration to object detection.
no code implementations • 4 Oct 2020 • Siddhant Ranade, Xin Yu, Shantnu Kakkar, Pedro Miraldo, Srikumar Ramalingam
We propose a novel technique to register sparse 3D scans in the absence of texture.
no code implementations • 16 Mar 2020 • Romulo T. Rodrigues, Pedro Miraldo, Dimos V. Dimarogonas, A. Pedro Aguiar
Recovering the 3D structure of the surrounding environment is an essential task in any vision-controlled Structure-from-Motion (SfM) scheme.
no code implementations • 1 Aug 2019 • Romulo T. Rodrigues, Pedro Miraldo, Dimos V. Dimarogonas, A. Pedro Aguiar
The basic idea consists in estimating the depth of the points by explicitly considering the dynamics of the camera mounted on a ground robot, and feeding the estimates of 3D points observed by both cameras in a filter that computes the relative pose between the robots.
no code implementations • 13 Jun 2019 • Siddhant Ranade, Xin Yu, Shantnu Kakkar, Pedro Miraldo, Srikumar Ramalingam
In contrast to correspondence based methods, we take a different viewpoint and formulate the sparse 3D registration problem based on the constraints from the intersection of line segments from adjacent scans.
no code implementations • 9 Apr 2019 • Joao Campos, Joao R. Cardoso, Pedro Miraldo
Since the objective function will depend on the rotation and translation it is not possible to solve it as a simple minimization problem.
no code implementations • CVPR 2019 • Pedro Miraldo, Surojit Saha, Srikumar Ramalingam
3D scan registration is a classical, yet a highly useful problem in the context of 3D sensors such as Kinect and Velodyne.
1 code implementation • CVPR 2020 • G. Dias Pais, Srikumar Ramalingam, Venu Madhav Govindu, Jacinto C. Nascimento, Rama Chellappa, Pedro Miraldo
Given a set of 3D point correspondences, we build a deep neural network to address the following two challenges: (i) classification of the point correspondences into inliers/outliers, and (ii) regression of the motion parameters that align the scans into a common reference frame.
no code implementations • 2 Mar 2019 • G. Dias Pais, Tiago J. Dias, Jacinto C. Nascimento, Pedro Miraldo
Pedestrian detection is one of the most explored topics in computer vision and robotics.
1 code implementation • ECCV 2018 • Pedro Miraldo, Tiago Dias, Srikumar Ramalingam
We show that the solution for the case of two points and one line can be formulated as a fourth degree equation.
no code implementations • CVPR 2018 • Pedro Miraldo, Francisco Eiras, Srikumar Ramalingam
Vanishing points and vanishing lines are classical geometrical concepts in perspective cameras that have a lineage dating back to 3 centuries.
no code implementations • 19 Sep 2017 • Tiago Dias, Helder Araujo, Pedro Miraldo
The approaches tested were based on the use of the polynomial model of radial distortion, and on the application of the division model.
no code implementations • 19 Sep 2017 • Pedro Miraldo, Joao R. Cardoso
This paper addresses the problem of finding the closest generalized essential matrix from a given $6\times 6$ matrix, with respect to the Frobenius norm.
no code implementations • 15 Jul 2016 • Andre Mateus, David Ribeiro, Pedro Miraldo, Jacinto C. Nascimento
This paper addresses the problem of Human-Aware Navigation (HAN), using multi camera sensors to implement a vision-based person tracking system.
no code implementations • 15 Jul 2016 • David Ribeiro, Andre Mateus, Pedro Miraldo, Jacinto C. Nascimento
A real-time Deep Learning based method for Pedestrian Detection (PD) is applied to the Human-Aware robot navigation problem.
no code implementations • 8 Jul 2016 • Andre Mateus, Pedro Miraldo, Pedro U. Lima
This method is based on an analytic solution (which we derived) for the projection of 3D straight lines, onto the mirror of Non-Central Catadioptric Cameras (NCCS).
no code implementations • 18 Feb 2016 • João R. Cardoso, Pedro Miraldo, Helder Araujo
A given six dimensional vector represents a 3D straight line in Plucker coordinates if its coordinates satisfy the Klein quadric constraint.