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Accurate Single Image Multi-modal Camera Pose Estimation
[chapter]
2012
Lecture Notes in Computer Science
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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
AUTOMATIC CO-REGISTRATION OF AERIAL IMAGERY AND UNTEXTURED MODEL DATA UTILIZING AVERAGE SHADING GRADIENTS
2019
The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences
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</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
2004
Proceedings of the 17th International Conference on Pattern Recognition, 2004. ICPR 2004.
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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
2002
Image and Vision Computing
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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
2000
Image and Vision Computing
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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]
2022
arXiv
pre-print
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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
INFORMATION ACQUISITION ON PEDESTRIAN MOVEMENTS IN URBAN TRAFFIC WITH A MOBILE MULTI-SENSOR SYSTEM
2021
The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences
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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
2008
2008 IEEE Conference on Computer Vision and Pattern Recognition
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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
2010
Robotics and Autonomous Systems
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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
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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
2009
2009 IEEE International Conference on Robotics and Automation
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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
2009
2009 11th IEEE International Symposium on Multimedia
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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]
2015
Lecture Notes in Computer Science
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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
2014
Künstliche Intelligenz
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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]
2011
Eurographics Workshop on 3D Object Retrieval, EG 3DOR
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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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