Search Results for author: Hongyi Fan

Found 5 papers, 1 papers with code

Condition numbers in multiview geometry, instability in relative pose estimation, and RANSAC

no code implementations4 Oct 2023 Hongyi Fan, Joe Kileel, Benjamin Kimia

In this paper we introduce a general framework for analyzing the numerical conditioning of minimal problems in multiple view geometry, using tools from computational algebra and Riemannian geometry.

Pose Estimation

On the Instability of Relative Pose Estimation and RANSAC's Role

no code implementations CVPR 2022 Hongyi Fan, Joe Kileel, Benjamin Kimia

In this paper we study the numerical instabilities of the 5- and 7-point problems for essential and fundamental matrix estimation in multiview geometry.

Pose Estimation

Benchmarking Pedestrian Odometry: The Brown Pedestrian Odometry Dataset (BPOD)

no code implementations24 Dec 2021 David Charatan, Hongyi Fan, Benjamin Kimia

We present the Brown Pedestrian Odometry Dataset (BPOD) for benchmarking visual odometry algorithms in head-mounted pedestrian settings.

Benchmarking Position +1

GPU-Based Homotopy Continuation for Minimal Problems in Computer Vision

no code implementations CVPR 2022 Chiang-Heng Chien, Hongyi Fan, Ahmad Abdelfattah, Elias Tsigaridas, Stanimire Tomov, Benjamin Kimia

Homotopy Continuation (HC) can solve more complex problems without the stability issues, and with guarantees of a global solution, but they are known to be slow.

Pose Estimation

Trifocal Relative Pose from Lines at Points and its Efficient Solution

1 code implementation23 Mar 2019 Ricardo Fabbri, Timothy Duff, Hongyi Fan, Margaret Regan, David da Costa de Pinho, Elias Tsigaridas, Charles Wampler, Jonathan Hauenstein, Benjamin Kimia, Anton Leykin, Tomas Pajdla

We present a method for solving two minimal problems for relative camera pose estimation from three views, which are based on three view correspondences of i) three points and one line and the novel case of ii) three points and two lines through two of the points.

Pose Estimation

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