Results 11 to 20 of about 382,910 (276)
Certifiable relative pose estimation [PDF]
Image and Vision Computing, 2021 In this paper we present the first fast optimality certifier for the non-minimal version of the Relative Pose problem for calibrated cameras from epipolar constraints. The proposed certifier is based on Lagrangian duality and relies on a novel closed-form expression for dual points.
Garcia-Salguero, Mercedes +2 more
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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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Aerospace, 2022 Relative pose estimation of a satellite is an essential task for aerospace missions, such as on-orbit servicing and close proximity formation flying. However, the changeable situation makes precise relative pose estimation difficult.
Sijia Qiao +5 more
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Line-based relative pose estimation [PDF]
CVPR 2011, 2011 We present an algorithm for calibrated camera relative pose estimation from lines. Given three lines with two of the lines parallel and orthogonal to the third we can compute the relative rotation between two images. We can also compute the relative translation from two intersection points.
Ali Elqursh, Ahmed Elgammal
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3D Relative Pose Estimation from Six Distances [PDF]
Robotics: Science and Systems V, 2009 In this paper, we present three fast, hybrid numericalgebraic methods to solve polynomial systems in floating point representation, based on the eigendecomposition of a so-called multiplication matrix. In particular, these methods run using standard double precision, use only linear algebra packages, and are easy to implement. We provide the proof that
N. Trawny, X. S. Zhou, S. I. Roumeliotis
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Relative Pose Estimation For Stereo Rolling Shutter Cameras [PDF]
2020 IEEE International Conference on Image Processing (ICIP), 2020 In this paper, we present a novel linear algorithm to estimate the 6 DoF relative pose from consecutive frames of stereo rolling shutter (RS) cameras. Our method is derived based on the assumption that stereo cameras undergo motion with constant velocity around the center of the baseline, which needs 9 pairs of correspondences on both left and right ...
Wang, Ke, Fan, Bin, Dai, Yuchao
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Monocular Pose Estimation of an Uncooperative Spacecraft Using Convexity Defect Features
Sensors, 2022 Spacecraft relative pose estimation for an uncooperative spacecraft is challenging because the target spacecraft neither provides sensor information to a chaser spacecraft nor contains markers that assist vision-based navigation.
Haeyoon Han, Hanik Kim, Hyochoong Bang
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CREPES: Cooperative RElative Pose Estimation System
2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023 Mutual localization plays a crucial role in multi-robot cooperation. CREPES, a novel system that focuses on six degrees of freedom (DOF) relative pose estimation for multi-robot systems, is proposed in this paper. CREPES has a compact hardware design using active infrared (IR) LEDs, an IR fish-eye camera, an ultra-wideband (UWB) module and an inertial ...
Xun, Zhiren +7 more
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RELATIVE CAMERA POSE ESTIMATION METHOD USING OPTIMIZATION ON THE MANIFOLD [PDF]
The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, 2017 To solve the problem of relative camera pose estimation, a method using optimization with respect to the manifold is proposed. Firstly from maximum-a-posteriori (MAP) model to nonlinear least squares (NLS) model, the general state estimation model using ...
C. Cheng, X. Hao, J. Li, J. Li
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Accurate Line-Based Relative Pose Estimation With Camera Matrices
IEEE Access, 2020 While most monocular structure-from-motion frameworks rely on sparse keypoints, it has long been acknowledged that lines represent an alternative, higher-order feature with high accuracy, repeatability, and abundant availability in man-made environments.
Peihong Yu +4 more
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