Globally-Optimal Inlier Maximization for Relative Pose Estimation Under Planar Motion [PDF]
Frontiers in Neurorobotics, 2022 Planar motion constraint occurs in visual odometry (VO) and SLAM for Automated Guided Vehicles (AGVs) or mobile robots in general. Conventionally, two-point solvers can be nested to RANdom SAmple Consensus to reject outliers in real data, but the ...
Haotian Liu +9 more
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RELATIVE POSE ESTIMATION USING IMAGE FEATURE TRIPLETS [PDF]
The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, 2015 A fully automated reconstruction of the trajectory of image sequences using point correspondences is turning into a routine practice. However, there are cases in which point features are hardly detectable, cannot be localized in a stable distribution ...
T. Y. Chuang +2 more
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RELATIVE POSE ESTIMATION FROM AIRBORNE IMAGE SEQUENCES [PDF]
ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences, 2012 We present a new relative pose estimation method for applications based on airborne image sequences. The performance of the method is tested using simulated test data, with correct and erroneous original conditions, as well as using real data.
T. Reize, R. Müller, F. Kurz
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Three-View Relative Pose Estimation Under Planar Motion Constraints [PDF]
VisionVision-based relative pose estimation serves as a core technology for high-precision localization in autonomous vehicles and mobile platforms. To overcome the limitations of conventional three-view pose estimation methods that rely heavily on dense ...
Ziqin Dai, Weimin Lv, Liang Liu
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Unique 4-DOF Relative Pose Estimation with Six Distances for UWB/V-SLAM-Based Devices [PDF]
Sensors, 2019 In this work we introduce a relative localization method that estimates the coordinate frame transformation between two devices based on distance measurements.
Francisco Molina Martel +4 more
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Simultaneous Recognition and Relative Pose Estimation of 3D Objects Using 4D Orthonormal Moments [PDF]
Sensors, 2017 Both three-dimensional (3D) object recognition and pose estimation are open topics in the research community. These tasks are required for a wide range of applications, sometimes separately, sometimes concurrently.
Sergio Dominguez
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Generalized q-Method Relative Pose Estimation for UAVs with Onboard Sensor Measurements [PDF]
SensorsThe q-method for pose estimation utilizes on-board measurement vectors of reference objects to calculate air vehicle position and orientation with respect to an Inertial frame.
Kyl Stanfield +2 more
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Point Cloud Based Relative Pose Estimation of a Satellite in Close Range [PDF]
Sensors, 2016 Determination of the relative pose of satellites is essential in space rendezvous operations and on-orbit servicing missions. The key problems are the adoption of suitable sensor on board of a chaser and efficient techniques for pose estimation.
Lujiang Liu, Gaopeng Zhao, Yuming Bo
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Sparse Unorganized Point Cloud Based Relative Pose Estimation for Uncooperative Space Target [PDF]
Sensors, 2018 This paper proposes an autonomous algorithm to determine the relative pose between the chaser spacecraft and the uncooperative space target, which is essential in advanced space applications, e.g., on-orbit serving missions.
Fang Yin +4 more
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Relative pose estimation from panoramic images using a hybrid neural network architecture [PDF]
Scientific ReportsCamera-based relative pose estimation (RPE) localizes a mobile robot given a view at the current position and an image at a reference location. Matching the landmarks between views is critical to localization quality.
Lars Offermann
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