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An Efficient Solution to the FivePoint Relative Pose Problem
, 2004
"... An efficient algorithmic solution to the classical fivepoint relative pose problem is presented. The problem is to find the possible solutions for relative camera pose between two calibrated views given five corresponding points. The algorithm consists of computing the coefficients of a tenth degre ..."
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Cited by 475 (12 self)
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An efficient algorithmic solution to the classical fivepoint relative pose problem is presented. The problem is to find the possible solutions for relative camera pose between two calibrated views given five corresponding points. The algorithm consists of computing the coefficients of a tenth
LineBased Relative Pose Estimation
"... 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. We also ..."
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Cited by 1 (0 self)
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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. We also
Realtime human pose recognition in parts from single depth images
 In In CVPR, 2011. 3
"... We propose a new method to quickly and accurately predict 3D positions of body joints from a single depth image, using no temporal information. We take an object recognition approach, designing an intermediate body parts representation that maps the difficult pose estimation problem into a simpler p ..."
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Cited by 550 (19 self)
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We propose a new method to quickly and accurately predict 3D positions of body joints from a single depth image, using no temporal information. We take an object recognition approach, designing an intermediate body parts representation that maps the difficult pose estimation problem into a simpler
Relative pose calibration between visual and inertial sensors
 International Journal of Robotics Research, Special Issue 2nd Workshop on Integration of Vision and Inertial Sensors, 26:561–575, 2007. Luiz Gustavo Bizarro
, 2009
"... Abstract — This paper proposes an approach to calibrate offtheshelf cameras and inertial sensors to have a useful integrated system to be used in static and dynamic situations. The rotation between the camera and the inertial sensor can be estimated, when calibrating the camera, by having both sen ..."
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Cited by 72 (15 self)
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sensors observe the vertical direction, using a vertical chessboard target and gravity. The translation between the two can be estimated using a simple passive turntable and static images, provided that the system can be adjusted to turn about the inertial sensor null point in several poses. Simulation
Solutions to Minimal Generalized Relative Pose Problems
 IN WORKSHOP ON OMNIDIRECTIONAL VISION
, 2005
"... We present a method to obtain the solutions to the generalized 6point relative pose problem. The problem is to find the relative positions of two generalized cameras so that six corresponding image rays meet in space. Here, a generalized camera is a camera that captures some arbitrary set of rays a ..."
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Cited by 31 (1 self)
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We present a method to obtain the solutions to the generalized 6point relative pose problem. The problem is to find the relative positions of two generalized cameras so that six corresponding image rays meet in space. Here, a generalized camera is a camera that captures some arbitrary set of rays
Fast Relative Pose Calibration for Visual and Inertial Sensors
"... Accurate visionaided inertial navigation depends on proper calibration of the relative pose of the camera and the inertial measurement unit (IMU). Calibration errors introduce bias in the overall motion estimate, degrading navigation performance sometimes dramatically. However, existing cameraIMU ..."
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Cited by 11 (1 self)
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Accurate visionaided inertial navigation depends on proper calibration of the relative pose of the camera and the inertial measurement unit (IMU). Calibration errors introduce bias in the overall motion estimate, degrading navigation performance sometimes dramatically. However, existing camera
Multiple Relative Pose Graphs for Robust Cooperative Mapping
"... Abstract — This paper describes a new algorithm for cooperative and persistent simultaneous localization and mapping (SLAM) using multiple robots. Recent pose graph representations have proven very successful for single robot mapping and localization. Among these methods, incremental smoothing and m ..."
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Cited by 28 (6 self)
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and mapping (iSAM) gives an exact incremental solution to the SLAM problem by solving a full nonlinear optimization problem in realtime. In this paper, we present a novel extension to iSAM to facilitate online multirobot mapping based on multiple pose graphs. Our main contribution is a relative formulation
Camera Calibration and Relative Pose Estimation from Gravity
 Proceedings of the 16th International Conference on Pattern Recognition (ICPR 2000
, 2000
"... 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 ..."
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Cited by 3 (1 self)
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the imaging geometry. It is shown that it is possible to estimate the infinite homography and the epipolar geometry between pairs of views from this input, from which we can estimate (some) intrinsic parameters and relative pose. There are less singularities compared to approaches that do not use
An Alternative Formulation for Five Point Relative Pose Problem
"... The “Five Point Relative Pose Problem” is to find all possible camera configurations between two calibrated views of a scene given five pointcorrespondences. We take a fresh look at this wellstudied problem with an emphasis on the parametrization of Essential Matrices used by various methods over ..."
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Cited by 11 (0 self)
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The “Five Point Relative Pose Problem” is to find all possible camera configurations between two calibrated views of a scene given five pointcorrespondences. We take a fresh look at this wellstudied problem with an emphasis on the parametrization of Essential Matrices used by various methods over
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