Search Results for author:
Found 53 papers, 22 papers with code
Calibration-free Structure-from-Motion with Calibrated Radial Trifocal Tensors
In this paper we consider the problem of Structure-from-Motion from images with unknown intrinsic calibration.
Privacy Preserving Structure-from-Motion
The recent trend towards cloud-based localization and mapping systems has raised significant privacy concerns.
Handcrafted Outlier Detection Revisited
As a result, outlier detection is a fundamental problem in computer vision and a wide range of approaches, from simple checks based on descriptor similarity to geometric verification, have been proposed over the last decades.
Revisiting Sampson Approximations for Geometric Estimation Problems
Many problems in computer vision can be formulated as geometric estimation problems, i. e. given a collection of measurements (e. g. point correspondences) we wish to fit a model (e. g. an essential matrix) that agrees with our observations.
Consensus-Adaptive RANSAC
The proposed attention mechanism and one-step transformer provide an adaptive behavior that enhances the performance of RANSAC, making it a more effective tool for robust estimation.
GlueStick: Robust Image Matching by Sticking Points and Lines Together
Line segments are powerful features complementary to points.
3D Line Mapping Revisited
In contrast to sparse keypoints, a handful of line segments can concisely encode the high-level scene layout, as they often delineate the main structural elements.
Revisiting Rotation Averaging: Uncertainties and Robust Losses
In this paper, we revisit the rotation averaging problem applied in global Structure-from-Motion pipelines.
NICER-SLAM: Neural Implicit Scene Encoding for RGB SLAM
Neural implicit representations have recently become popular in simultaneous localization and mapping (SLAM), especially in dense visual SLAM.
Tangent Sampson Error: Fast Approximate Two-view Reprojection Error for Central Camera Models
In this paper we introduce the Tangent Sampson error, which is a generalization of the classical Sampson error in two-view geometry that allows for arbitrary central camera models.
Minimal Solutions to Generalized Three-View Relative Pose Problem
For a generalized (or non-central) camera model, the minimal problem for two views of six points has efficient solvers.
Revisiting the P3P Problem
One of the classical multi-view geometry problems is the so called P3P problem, where the absolute pose of a calibrated camera is determined from three 2D-to-3D correspondences.
Privacy Preserving Localization via Coordinate Permutations
Recent methods on privacy-preserving image-based localization use a random line parameterization to protect the privacy of query images and database maps.
Four-View Geometry With Unknown Radial Distortion
The minimal case for reconstruction requires 13 points in 4 views for both the calibrated and uncalibrated cameras.
DeepLSD: Line Segment Detection and Refinement with Deep Image Gradients
Their learned counterparts are more repeatable and can handle challenging images, but at the cost of a lower accuracy and a bias towards wireframe lines.
Computationally Efficient Approach for Preheating of Battery Electric Vehicles before Fast Charging in Cold Climates
This paper investigates battery preheating before fast charging, for a battery electric vehicle (BEV) driving in a cold climate.
LaMAR: Benchmarking Localization and Mapping for Augmented Reality
To close this gap, we introduce LaMAR, a new benchmark with a comprehensive capture and GT pipeline that co-registers realistic trajectories and sensor streams captured by heterogeneous AR devices in large, unconstrained scenes.
Optimal Thermal Management and Charging of Battery Electric Vehicles over Long Trips
This paper studies optimal thermal management and charging of a battery electric vehicle driving over long distance trips.
Partially calibrated semi-generalized pose from hybrid point correspondences
In this paper we study the problem of estimating the semi-generalized pose of a partially calibrated camera, i. e., the pose of a perspective camera with unknown focal length w. r. t.
Learning-Based Dimensionality Reduction for Computing Compact and Effective Local Feature Descriptors
A distinctive representation of image patches in form of features is a key component of many computer vision and robotics tasks, such as image matching, image retrieval, and visual localization.
Optimal Thermal Management, Charging, and Eco-driving of Battery Electric Vehicles
The formulated problem is then transformed into a hybrid dynamical system, where the dynamics in driving and charging modes are modeled with different functions and with different state and control vectors.
Camera Pose Estimation Using Implicit Distortion Models
Low-dimensional parametric models are the de-facto standard in computer vision for intrinsic camera calibration.
Privacy Preserving Partial Localization
We propose a principled approach overcoming these limitations, based on two observations.
NICE-SLAM: Neural Implicit Scalable Encoding for SLAM
Neural implicit representations have recently shown encouraging results in various domains, including promising progress in simultaneous localization and mapping (SLAM).
Pixel-Perfect Structure-from-Motion with Featuremetric Refinement
Finding local features that are repeatable across multiple views is a cornerstone of sparse 3D reconstruction.
Privacy Preserving Localization and Mapping From Uncalibrated Cameras
In this paper, we propose a solution to the uncalibrated privacy preserving localization and mapping problem.
A Quasiconvex Formulation for Radial Cameras
In this paper we study structure from motion problems for 1D radial cameras.
SOLD2: Self-supervised Occlusion-aware Line Description and Detection
We thus hereby introduce the first joint detection and description of line segments in a single deep network.
MBA-VO: Motion Blur Aware Visual Odometry
Motion blur is one of the major challenges remaining for visual odometry methods.
Back to the Feature: Learning Robust Camera Localization from Pixels to Pose
In this paper, we go Back to the Feature: we argue that deep networks should focus on learning robust and invariant visual features, while the geometric estimation should be left to principled algorithms.
Localizing Unsynchronized Sensors with Unknown Sources
We look at the general case where neither the emission times of the sources nor the reference time frames of the receivers are known.
On the Tightness of Semidefinite Relaxations for Rotation Estimation
In studying the empirical performance we note that there are few failure cases reported in the literature, in particular for estimation problems with a single rotation, motivating us to gain further theoretical understanding.
Orthographic-Perspective Epipolar Geometry
In this paper we consider the epipolar geometry between orthographic and perspective cameras.
Infrastructure-based Multi-Camera Calibration using Radial Projections
In particular, our approach is more robust than the naive approach of first estimating intrinsic parameters and pose per camera before refining the extrinsic parameters of the system.
Online Invariance Selection for Local Feature Descriptors
To be invariant, or not to be invariant: that is the question formulated in this work about local descriptors.
AdaLAM: Revisiting Handcrafted Outlier Detection
Local feature matching is a critical component of many computer vision pipelines, including among others Structure-from-Motion, SLAM, and Visual Localization.
From two rolling shutters to one global shutter
Most consumer cameras are equipped with electronic rolling shutter, leading to image distortions when the camera moves during image capture.
GAPS: Generator for Automatic Polynomial Solvers
Minimal problems in computer vision raise the demand of generating efficient automatic solvers for polynomial equation systems.
Why Having 10,000 Parameters in Your Camera Model is Better Than Twelve
In contrast, generic camera models allow for very accurate calibration due to their flexibility.
Minimal Solvers for Rectifying from Radially-Distorted Conjugate Translations
This paper introduces minimal solvers that jointly solve for radial lens undistortion and affine-rectification using local features extracted from the image of coplanar translated and reflected scene texture, which is common in man-made environments.
Revisiting Radial Distortion Absolute Pose
In this paper we aim to fill this gap in the literature by proposing the first minimal solvers which can jointly estimate distortion models together with camera pose.
Minimal Solvers for Rectifying from Radially-Distorted Scales and Change of Scales
The proposed solvers use the affine invariant that coplanar repeats have the same scale in rectified space.
Rectification from Radially-Distorted Scales
This paper introduces the first minimal solvers that jointly estimate lens distortion and affine rectification from repetitions of rigidly transformed coplanar local features.
Camera Pose Estimation With Unknown Principal Point
To estimate the 6-DoF extrinsic pose of a pinhole camera with partially unknown intrinsic parameters is a critical sub-problem in structure-from-motion and camera localization.
Beyond Grobner Bases: Basis Selection for Minimal Solvers
In this paper we show how we can make polynomial solvers based on the action matrix method faster, by careful selection of the monomial bases.
Beyond Gröbner Bases: Basis Selection for Minimal Solvers
In this paper we show how we can make polynomial solvers based on the action matrix method faster, by careful selection of the monomial bases.
Radially-Distorted Conjugate Translations
The solvers are derived from constraints induced by the conjugate translations of an imaged scene plane, which are integrated with the division model for radial lens distortion.
Making Minimal Solvers for Absolute Pose Estimation Compact and Robust
In this paper we present new techniques for constructing compact and robust minimal solvers for absolute pose estimation.
Polynomial Solvers for Saturated Ideals
In this paper we present a new method for creating polynomial solvers for problems where a (possibly infinite) subset of the solutions are undesirable or uninteresting.
Compact Matrix Factorization With Dependent Subspaces
This imposes constraints on the matrix elements which allow for estimation of missing entries.
Efficient Solvers for Minimal Problems by Syzygy-Based Reduction
In this paper we study the problem of automatically generating polynomial solvers for minimal problems.
Optimal Relative Pose With Unknown Correspondences
Previous work on estimating the epipolar geometry of two views relies on being able to reliably match feature points based on appearance.
Practical Robust Two-View Translation Estimation
Outliers pose a problem in all real structure from motion systems.
