Search Results for author: Daniel Barath

Found 28 papers, 12 papers with code

Relative Pose from SIFT Features

no code implementations15 Mar 2022 Daniel Barath, Zuzana Kukelova

This paper proposes the geometric relationship of epipolar geometry and orientation- and scale-covariant, e. g., SIFT, features.

Deep MAGSAC++

no code implementations28 Nov 2021 Wei Tong, Jiri Matas, Daniel Barath

We propose Deep MAGSAC++ combining the advantages of traditional and deep robust estimators.

Space-Partitioning RANSAC

no code implementations24 Nov 2021 Daniel Barath, Gabor Valasek

A new algorithm is proposed to accelerate RANSAC model quality calculations.

Homography Estimation

VSAC: Efficient and Accurate Estimator for H and F

no code implementations ICCV 2021 Maksym Ivashechkin, Daniel Barath, Jiri Matas

Experiments on four standard datasets show that VSAC is significantly faster than all its predecessors and runs on average in 1-2 ms, on a CPU.

USACv20: robust essential, fundamental and homography matrix estimation

no code implementations11 Apr 2021 Maksym Ivashechkin, Daniel Barath, Jiri Matas

We review the most recent RANSAC-like hypothesize-and-verify robust estimators.

Progressive-X+: Clustering in the Consensus Space

no code implementations25 Mar 2021 Daniel Barath, Denys Rozumny, Ivan Eichhardt, Levente Hajder, Jiri Matas

We propose Progressive-X+, a new algorithm for finding an unknown number of geometric models, e. g., homographies.

Pose Estimation

Calibrated and Partially Calibrated Semi-Generalized Homographies

1 code implementation ICCV 2021 Snehal Bhayani, Torsten Sattler, Daniel Barath, Patrik Beliansky, Janne Heikkila, Zuzana Kukelova

In this paper, we propose the first minimal solutions for estimating the semi-generalized homography given a perspective and a generalized camera.

Image-Based Localization

Globally Optimal Relative Pose Estimation with Gravity Prior

no code implementations CVPR 2021 Yaqing Ding, Daniel Barath, Jian Yang, Hui Kong, Zuzana Kukelova

Smartphones, tablets and camera systems used, e. g., in cars and UAVs, are typically equipped with IMUs (inertial measurement units) that can measure the gravity vector accurately.

Pose Estimation

Minimal Solutions for Panoramic Stitching Given Gravity Prior

no code implementations ICCV 2021 Yaqing Ding, Daniel Barath, Zuzana Kukelova

When capturing panoramas, people tend to align their cameras with the vertical axis, i. e., the direction of gravity.

Image Stitching

Pose Estimation for Vehicle-mounted Cameras via Horizontal and Vertical Planes

no code implementations13 Aug 2020 Istan Gergo Gal, Daniel Barath, Levente Hajder

For the first class of solvers, the sought plane is expected to be perpendicular to one of the camera axes.

Pose Estimation

Making Affine Correspondences Work in Camera Geometry Computation

1 code implementation ECCV 2020 Daniel Barath, Michal Polic, Wolfgang Förstner, Torsten Sattler, Tomas Pajdla, Zuzana Kukelova

The main advantage of such solvers is that their sample size is smaller, e. g., only two instead of four matches are required to estimate a homography.

Homography Estimation

Relative Pose from Deep Learned Depth and a Single Affine Correspondence

1 code implementation ECCV 2020 Ivan Eichhardt, Daniel Barath

We propose a new approach for combining deep-learned non-metric monocular depth with affine correspondences (ACs) to estimate the relative pose of two calibrated cameras from a single correspondence.

Pose Estimation

EPOS: Estimating 6D Pose of Objects with Symmetries

1 code implementation CVPR 2020 Tomas Hodan, Daniel Barath, Jiri Matas

A data-dependent number of corresponding 3D locations is selected per pixel, and poses of possibly multiple object instances are estimated using a robust and efficient variant of the PnP-RANSAC algorithm.

6D Pose Estimation 6D Pose Estimation using RGB +1

Least-squares Optimal Relative Planar Motion for Vehicle-mounted Cameras

no code implementations13 Dec 2019 Levente Hajder, Daniel Barath

A new closed-form solver is proposed minimizing the algebraic error optimally, in the least-squares sense, to estimate the relative planar motion of two calibrated cameras.

Relative planar motion for vehicle-mounted cameras from a single affine correspondence

no code implementations13 Dec 2019 Levente Hajder, Daniel Barath

A new minimal solver is proposed for the semi-calibrated case, i. e. the camera parameters are known except a common focal length.

Homography from two orientation- and scale-covariant features

1 code implementation ICCV 2019 Daniel Barath, Zuzana Kukelova

Two new general constraints are derived on the scales and rotations which can be used in any geometric model estimation tasks.

Homography Estimation

Progressive-X: Efficient, Anytime, Multi-Model Fitting Algorithm

2 code implementations ICCV 2019 Daniel Barath, Jiri Matas

The Progressive-X algorithm, Prog-X in short, is proposed for geometric multi-model fitting.

Motion Segmentation

Progressive NAPSAC: sampling from gradually growing neighborhoods

no code implementations5 Jun 2019 Daniel Barath, Maksym Ivashechkin, Jiri Matas

We propose Progressive NAPSAC, P-NAPSAC in short, which merges the advantages of local and global sampling by drawing samples from gradually growing neighborhoods.

Optimal Multi-view Correction of Local Affine Frames

1 code implementation1 May 2019 Ivan Eichhardt, Daniel Barath

The technique requires the epipolar geometry to be pre-estimated between each image pair.

Homography Estimation Pose Estimation

Recovering affine features from orientation- and scale-invariant ones

1 code implementation10 Jul 2018 Daniel Barath

An approach is proposed for recovering affine correspondences (ACs) from orientation- and scale-invariant, e. g. SIFT, features.

MAGSAC: marginalizing sample consensus

2 code implementations CVPR 2019 Daniel Barath, Jana Noskova, Jiri Matas

A method called, sigma-consensus, is proposed to eliminate the need for a user-defined inlier-outlier threshold in RANSAC.

Homography Estimation

Five-point Fundamental Matrix Estimation for Uncalibrated Cameras

no code implementations CVPR 2018 Daniel Barath

We aim at estimating the fundamental matrix in two views from five correspondences of rotation invariant features obtained by e. g.\ the SIFT detector.

Motion Estimation

A Minimal Solution for Two-view Focal-length Estimation using Two Affine Correspondences

no code implementations CVPR 2017 Daniel Barath, Tekla Toth, Levente Hajder

To select the best one out of the remaining candidates, a root selection technique is proposed outperforming the recent ones especially in case of high-level noise.

Graph-Cut RANSAC

1 code implementation CVPR 2018 Daniel Barath, Jiri Matas

A novel method for robust estimation, called Graph-Cut RANSAC, GC-RANSAC in short, is introduced.

Multi-Class Model Fitting by Energy Minimization and Mode-Seeking

1 code implementation ECCV 2018 Daniel Barath, Jiri Matas

The move replaces a set of labels with the corresponding density mode in the model parameter domain, thus achieving fast and robust optimization.

Motion Detection Motion Segmentation

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