Calibrated and Partially Calibrated Semi-Generalized Homographies

利用位于已知平面距离处的直线对平面上方部分标定相机进行自动相机朝向估计

Automatic camera orientation estimation for a partially calibrated camera above a plane with a line at known planar distance

针对平面上方仅部分标定的相机，本文利用已知高度和一条已知平面距离的参考线，通过逆投影几何及镜头畸变校正估计横滚角与俯仰角。

Partially calibrated semi-generalized pose from hybrid point correspondences

In this paper we study the problem of estimating the semi-generalized pose of a partially calibrated camera, i.e., the pose of a perspective camera with unknown focal length w.r.t. a generalized camera, from a hybrid set of 2D-2D and 2D-3D point correspondences. We study all possible camera configurations within the generalized camera system. To derive practical solvers to previously unsolved challenging configurations, we test different parameterizations as well as different solving strategies based on the state-of-the-art methods for generating efficient polynomial solvers. We evaluate the t…

基于仿射或旋转协变特征的感知重力的部分标定绝对位姿估计

Gravity-aware partially calibrated absolute pose estimation from affine- or rotation-covariant features

该研究针对部分标定绝对位姿估计的空白，利用IMU重力向量与特征局部几何构建两种高效求解器，实现更少样本、更低成本的快速精准定位与焦距估计。

Pose Estimation for Vehicle-mounted Cameras via Horizontal and Vertical Planes

We propose two novel solvers for estimating the egomotion of a calibrated camera mounted to a moving vehicle from a single affine correspondence via recovering special homographies. For the first class of solvers, the sought plane is expected to be perpendicular to one of the camera axes. For the second class, the plane is orthogonal to the ground with unknown normal, e.g., it is a building facade. Both methods are solved via a linear system with a small coefficient matrix, thus, being extremely efficient. Both the minimal and over-determined cases can be solved by the proposed methods. They a…

Automatic Scale Estimation of Structure from Motion based 3D Models using Laser Scalers

Recent advances in structure-from-motion techniques are enabling many scientific fields to benefit from the routine creation of detailed 3D models. However, for a large number of applications, only a single camera is available, due to cost or space constraints in the survey platforms. Monocular structure-from-motion raises the issue of properly estimating the scale of the 3D models, in order to later use those models for metrology. The scale can be determined from the presence of visible objects of known dimensions, or from information on the magnitude of the camera motion provided by other se…

统一球面前端：从任何相机学习旋转等变的球面图像表示

Unified Spherical Frontend: Learning Rotation-Equivariant Representations of Spherical Images from Any Camera

本文提出USF框架，通过射线方向对应将任意相机图像映射到单位球面，实现旋转等变的球面卷积，提升宽视场图像处理性能。