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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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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Deep Photo-Geometric Loss for Relative Camera Pose Estimation
IEEE Access, 2023 CNN-based absolute camera pose estimation methods lack scene generalizability as the network is trained with scene-specific parameters. In this paper, we aim to solve the scene generalizability problem in 6-DoF camera pose estimation using a novel deep ...
Yongju Cho +5 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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