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Relative Pose Estimation With a Single Affine Correspondence
IEEE Transactions on Cybernetics, 2022In this article, we present four cases of minimal solutions for two-view relative pose estimation by exploiting the affine transformation between feature points, and we demonstrate efficient solvers for these cases. It is shown that under the planar motion assumption or with knowledge of a vertical direction, a single affine correspondence is ...
Banglei Guan +4 more
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Polarimetric Relative Pose Estimation
2019 IEEE/CVF International Conference on Computer Vision (ICCV), 2019In this paper we consider the problem of relative pose estimation from two images with per-pixel polarimetric information. Using these additional measurements we derive a simple minimal solver for the essential matrix which only requires two point correspondences.
Zhaopeng Cui +2 more
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Fuzzy relative positions for qualitative pose estimation
Proceedings 15th International Conference on Pattern Recognition. ICPR-2000, 2002Similarity of object part embedding (description of how each part is surrounded by its neighbors) can be used to qualitatively infer similarity of images. We present an approach using fuzzy relative positions to qualitatively describe and reason with object part embedding.
Jean-Philippe Andreu, Axel Pinz
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Relative Pose Estimation of Unmanned Aerial Systems
2018 26th Mediterranean Conference on Control and Automation (MED), 2018The relative accurate pose estimation problem of collaborating Unmanned Aerial Systems (UASs) in GPS-denied environments is addressed in this article. The on-board system uses fiducial markers attached in the facets of a truncated rhombicuboctahedron placed on top of the UAS.
Athanasios Tsoukalas +2 more
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Fast certifiable relative pose estimation with gravity prior
Artificial Intelligence, 2023zbMATH Open Web Interface contents unavailable due to conflicting licenses.
Mercedes Garcia-Salguero +1 more
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An efficient solution to the relative pose estimation with a common direction
2020 IEEE International Conference on Robotics and Automation (ICRA), 2020In this paper, we propose an efficient solution to the calibrated camera motion estimation with a common direction. This case is relevant to smart phones, tablets, and other camera-IMU (Inertial measurement unit) systems, which have accelerometers to measure the gravity direction. We can align one of the axes of the camera with this common direction so
Yaqing Ding 0001 +2 more
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Robust relative pose estimation with integrated cheirality constraint
2008 19th International Conference on Pattern Recognition, 2008The cheirality constraint, which requires that reconstructed point correspondences lie in front of the cameras, has not typically been integrated into traditional RANSAC-based pose estimators. We have developed a new RANSAC-based relative pose estimator which incorporates the cheirality constraint not only to preempt invalid epipolar geometry ...
Wei Xu, Jane Mulligan
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