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A Novel One-to-One Framework for Relative Camera Pose Estimation
IEEE AccessTo address the challenge of relative camera pose estimation, many permutation-invariant neural networks have been developed to process sparse correspondences with constant latency.
M. Fatih Aydogdu, M. Fatih Demirci
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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.
Mercedes Garcia-Salguero +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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Globally Optimal Relative Pose Estimation with Gravity Prior [PDF]
2021 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2021 Smartphones, tablets and camera systems used, e.g., in cars and UAVs, are typically equipped with IMUs (inertial measurement units) that can measure the gravity vector accurately. Using this additional information, the $y$-axes of the cameras can be aligned, reducing their relative orientation to a single degree-of-freedom.
Yaqing Ding 0001 +4 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 M. Elgammal
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On the Instability of Relative Pose Estimation and RANSAC's Role
2022 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2022 27 pages, 11 figures, 2 ...
Hongyi Fan +2 more
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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 ...
Ke Wang, Bin Fan 0002, Yuchao Dai
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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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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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