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RTS-SLAM: A Trajectory Consistency-Driven Multi-Constraint Dynamic Feature-Rejection Method for Visual SLAM in Dynamic Environments. [PDF]

Sensors (Basel)
Wang H, Hu Q, Li B, Geng Y, Su C, Zhu S, Zheng E, Chen W.   +7 more
europepmc   +1 more source

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Relative Pose Estimation With a Single Affine Correspondence

IEEE Transactions on Cybernetics, 2022
In 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, Ji Zhao 0001, Zhang Li, Fang Sun, Friedrich Fraundorfer   +4 more
openaire   +2 more sources

Fast Relative Pose Estimation using Relative Depth

2024 International Conference on 3D Vision (3DV)
In this paper, we revisit the problem of estimating the relative pose from a sparse set of point-correspondences. For each point-correspondence we also estimate the relative depth, i.e. the relative distance to the scene point in the two images.
Jonathan Astermark, Yaqing Ding 0001, Viktor Larsson, Anders Heyden   +3 more
core   +3 more sources

Polarimetric Relative Pose Estimation

2019 IEEE/CVF International Conference on Computer Vision (ICCV), 2019
In 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, Viktor Larsson, Marc Pollefeys   +2 more
openaire   +1 more source