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Accurate Single Image Multi-modal Camera Pose Estimation [chapter]

Christoph Bodensteiner, Marcus Hebel, Michael Arens
2012 Lecture Notes in Computer Science  
The pose is then accurately refined using an intensity based 2D/3D registration approach.  ...  A well known problem in photogrammetry and computer vision is the precise and robust determination of camera poses with respect to a given 3D model.  ...  Introduction A fundamental issue in computer vision and photogrammetry is the precise determination of camera poses with respect to a given 3D model.  ... 
doi:10.1007/978-3-642-35740-4_23 fatcat:y2lqjxfzu5f6vfjzm5f47wcmna


S. Schmitz, M. Weinmann, B. Ruf
2019 The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences  
</strong> The comparison of current image data with existing 3D model data of a scene provides an efficient method to keep models up to date.  ...  These correspondences are then used in an iterative optimization scheme to refine the initial camera pose by minimizing the reprojection error.  ...  In order to determine the camera pose in a given 3D environment using an RGB image, Brachmann and Rother (2018) propose a CNN that predicts 2D-3D correspondences.  ... 
doi:10.5194/isprs-archives-xlii-2-w13-581-2019 fatcat:enhecb6pxfgjzhh2qfe6vk4mwm

3D face pose tracking from an uncalibrated monocular camera

Zhiwei Zhu, Qiang Ji
2004 Proceedings of the 17th International Conference on Pattern Recognition, 2004. ICPR 2004.  
We propose a new near-real time technique for 3D face pose tracking from a monocular image sequence obtained from an uncalibrated camera.  ...  The initial estimated 3D pose is then used to guide face tracking in the image, which is subsequently used to refine the 3D face pose estimation.  ...  Simultaneous 3D Face Pose Determination and 2D Face Tracking We propose a novel technique to track 3D face pose and 2D face in the image synchronously as follows.  ... 
doi:10.1109/icpr.2004.1333787 dblp:conf/icpr/ZhuJ04 fatcat:ebgnhfuujng7pl4hzxa73eu7qe

3D Face pose estimation and tracking from a monocular camera

Qiang Ji
2002 Image and Vision Computing  
The detected initial face ellipse is then tracked in subsequent frames, allowing to track 3D face pose from frame to frame.  ...  We assume that the shape of a 3D face can be approximated by an ellipse and that the aspect ratio of 3D face ellipse is given.  ...  A disparity measure based on intensity correlation between the model images of known 3D poses and an input image is used to determine the 3D pose of the input image.  ... 
doi:10.1016/s0262-8856(02)00024-0 fatcat:d3ha7u57orgh7knlrub2hb4she

Real time tracking of borescope tip pose

K. Martin, C.V. Stewart
2000 Image and Vision Computing  
Our approach supports the mixed use of both matched feature positions and errors along the gradient within the pose determination.  ...  squares technique to iteratively refine the pose estimate.  ...  The second author would like to acknowledge the financial support of the National Science Foundation under grants IRI-9217195 and IRI-9408700.  ... 
doi:10.1016/s0262-8856(99)00047-5 fatcat:z6xyk277jba6tacvh3mgsydkxq

Approaches and Challenges in Robotic Perception for Table-top Rearrangement and Planning [article]

Aditya Agarwal, Bipasha Sen, Shankara Narayanan V, Vishal Reddy Mandadi, Brojeshwar Bhowmick, K Madhava Krishna
2022 arXiv   pre-print
The perception stack involves observing and registering the 3D scene on the table, detecting what objects are on the table, and how to manipulate them.  ...  Table-top Rearrangement and Planning is a challenging problem that relies heavily on an excellent perception stack.  ...  TTRP in an area of active research, despite that, it is largely unsolved. We hope to encourage research in this area and to also make the pipeline more generalizable, scalable, and faster. V.  ... 
arXiv:2205.04090v1 fatcat:uavmimarn5ba7ey3hn3jwdmhtm


B. Borgmann, M. Hebel, M. Arens, U. Stilla
2021 The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences  
After LiDAR-based detection, the approach leverages the typically higher data density provided by 2D cameras to determine the body pose of the detected pedestrians.  ...  These image sections are then processed with a method for image-based human pose estimation to determine keypoints for different body parts.  ...  By using the knowledge which 3D points of the point cloud belong to a particular detected pedestrian, the approach is able to determine 3D coordinates for the 2D results of the pose estimation.  ... 
doi:10.5194/isprs-archives-xliii-b2-2021-131-2021 fatcat:cf2yhqcdtngktgf6cfqopqkksi

Viewpoint-independent object class detection using 3D Feature Maps

Joerg Liebelt, Cordelia Schmid, Klaus Schertler
2008 2008 IEEE Conference on Computer Vision and Pattern Recognition  
We term these representations 3D Feature Maps. For recognizing an object class in an image we match the synthetic descriptors to the real ones in a 3D voting scheme.  ...  Our approach extracts a set of pose and class discriminant features from synthetic 3D object models using a filtering procedure, evaluates their suitability for matching to real image data and represents  ...  to the 2D localization, the proposed approach yields an estimate of the generic object's 3D pose.  ... 
doi:10.1109/cvpr.2008.4587614 dblp:conf/cvpr/LiebeltSS08 fatcat:r4tj6hk7lbbcbpsqly647oljq4

6D scan registration using depth-interpolated local image features

Henrik Andreasson, Achim J. Lilienthal
2010 Robotics and Autonomous Systems  
This paper describes a novel registration approach that is based on a combination of visual and 3D range information.  ...  In addition to pair-wise registration, we also propose a global registration method that registers all scan poses simultaneously.  ...  regresses to determining the change in pose between the scans.  ... 
doi:10.1016/j.robot.2009.09.011 fatcat:owtkjrazsrddzmmzkejdhlaeb4

A Novel Reconstruction and Tracking of 3D-Articulated Human Body from 2D Point Correspondences of a Monocular Image Sequence

2011 IEICE transactions on information and systems  
This reconstruction from 2D to 3D is an ill-posed problem due to non-uniqueness of solutions.  ...  A novel method is proposed to estimate the 3D relative positions of an articulated body from point correspondences in an uncalibrated monocular image sequence.  ...  The main drawback of this approach relates to camera system setup. An alternative approach uses a monocular image to reconstruct a 3D-articulated body.  ... 
doi:10.1587/transinf.e94.d.1090 fatcat:gn747nezyrcl5hg2k45sneiyge

CAD-based recognition of 3D objects in monocular images

Markus Ulrich, Christian Wiedemann, Carsten Steger
2009 2009 IEEE International Conference on Robotics and Automation  
Furthermore, the 3D pose is determined with high accuracy.  ...  This paper provides a method for recognizing 3D objects in a single camera image and for determining their 3D poses.  ...  There exist tracking approaches ( [18] , [19] ) that are able to determine the pose of 3D objects based on their geometry.  ... 
doi:10.1109/robot.2009.5152511 dblp:conf/icra/UlrichWS09 fatcat:xb3miudzrfclthnkvtpndwrphm

Introducing "XMOB": Extremity Movement Observation Framework for Upper Body Pose Tracking in 3D

Cuong Tran, Mohan M. Trivedi
2009 2009 11th IEEE International Symposium on Multimedia  
We introduce a vision based, markerless upper body pose tracking approach that first tracks the 3D movements of extremities, including head and hands.  ...  Then based on the knowledge of upper body model, these extremity movements are used to predict the whole upper body motion as an inverse kinematics problem.  ...  found that the desired position of the hand roughly determines the arm posture [4] , we introduce a multiview approach for upper body pose tracking using 3D movement of extremities (head and hands) which  ... 
doi:10.1109/ism.2009.89 dblp:conf/ism/TranT09 fatcat:jrj63ug4wzb5tbkoivga7sgnfa

Online 3D Reconstruction and 6-DoF Pose Estimation for RGB-D Sensors [chapter]

Hyon Lim, Jongwoo Lim, H. Jin Kim
2015 Lecture Notes in Computer Science  
In this paper, we propose an approach to Simultaneous Localization and Mapping (SLAM) for RGB-D sensors. Our system computes 6-DoF pose and sparse feature map of the environment.  ...  Our approach gives lowest relative pose error amongst any other approaches tested on public benchmark dataset. A set of 3D reconstruction results on publicly available RGB-D videos are presented.  ...  In [13] , prioritized 3D points are matched to input image using approximate nearest neighbor search. Unlike other approaches, it queries 3D point first rather than 2D features in an input image.  ... 
doi:10.1007/978-3-319-16178-5_16 fatcat:jatvwsu2lvb3lidg77kgncge5i

Rough Terrain 3D Mapping and Navigation Using a Continuously Rotating 2D Laser Scanner

Mark Schadler, Jörg Stückler, Sven Behnke
2014 Künstliche Intelligenz  
In this paper, we propose methods for efficient 3D mapping and real-time 6D pose tracking of autonomous robots using a continuously rotating 2D laser scanner.  ...  Our approach is evaluated using challenging real environments.  ...  To determine the map pose x of the observation, we optimize the logarithm of the observation likelihood from Eq. (1) in two stages.  ... 
doi:10.1007/s13218-014-0301-8 fatcat:vpv5lfa7rjaj3ccaddf4gohgou

A GPU Based High-efficient and Accurate Optimal Pose Alignment Approach of 3D Objects [article]

Qian Zhang, Jinyuan Jia
2011 Eurographics Workshop on 3D Object Retrieval, EG 3DOR  
The descriptor of 3D object used as the objective function to be optimized is a newly developed pose-variant similarity measure, which is obtained directly from the voxelized model's geometry and could  ...  In this paper we present a new method for alignment of 3D objects. This approach is based on the exhaustive optimization search in the 3D space using GPU based genetic algorithm.  ...  Our approach transforms the 3D alignment problem into an optimal solution searching in 3D space.  ... 
doi:10.2312/3dor/3dor11/097-100 fatcat:2luhk4wakjdrzcygm7yzn6hwsu
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