Results 31 to 40 of about 48,763 (257)
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 ...
Zhiren Xun +7 more
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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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Relative Pose Estimation Algorithm with Gyroscope Sensor [PDF]
Journal of Sensors, 2016 This paper proposes a novel vision and inertial fusion algorithm S2fM (Simplified Structure from Motion) for camera relative pose estimation. Different from current existing algorithms, our algorithm estimates rotation parameter and translation parameter separately.
Shanshan Wei, Zhiqiang He 0002, Wei Xie
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Domain Adaptation for Head Pose Estimation Using Relative Pose Consistency
IEEE Transactions on Biometrics, Behavior, and Identity Science, 2023 Head pose estimation plays a vital role in biometric systems related to facial and human behavior analysis. Typically, neural networks are trained on head pose datasets. Unfortunately, manual or sensor-based annotation of head pose is impractical. A solution is synthetic training data generated from 3D face models, which can provide an infinite number ...
Felix Kuhnke, Jörn Ostermann
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Accurate visual localization with semantic masking and attention
EURASIP Journal on Advances in Signal Processing, 2022 Visual localization is the task of accurate camera pose estimation within a scene and is a crucial technique for computer vision and robotics. Among the various approaches, relative pose estimation has gained increasing interest because it can generalize
Tunan Li, Zhaohuan Zhan, Guang Tan
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Dynamical Pose Estimation with Graduated Non-Convexity for Outlier Robustness [PDF]
Modeling, Identification and Control, 2022 In this paper we develop a method for relative pose estimation for two sets of corresponding geometric primitives in 3D with a significant outlier fraction.
Torbjørn Smith, Olav Egeland
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Relative Pose Estimation of Non-Cooperative Space Targets Using a TOF Camera
Remote Sensing, 2022 It is difficult to determine the accurate pose of non-cooperative space targets in on-orbit servicing (OOS). The visual camera is easily affected by the extreme light environment in space, and the scanning lidar will have motion distortion when the ...
Dianqi Sun +3 more
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Relative Pose Estimation Based on Pairwise Range With Application to Aerobridge
IEEE Access, 2020 Relative pose estimation refers to estimate the relative attitude and translation between multiple platforms. For mobile platforms, tracking the relative pose with pairwise range is challenging for highly nonlinear associations between measurement and ...
Ruican Xia, Hailong Pei
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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
Nikolas Trawny +2 more
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Camera calibration and relative pose estimation from gravity [PDF]
Proceedings 15th International Conference on Pattern Recognition. ICPR-2000, 2002 We examine the potential use of gravity for camera calibration and pose estimation purposes. Concretely, objects being launched or dropped follow trajectories dictated by the law of gravity. We examine if video sequences of such trajectories give us exploitable constraints for estimating the imaging geometry. It is shown that it is possible to estimate
Sturm, Peter, Quan, Long
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