5 accepted papers
Structure-from-Motion (SfM) is the task of estimating 3D structure and camera poses from images. We define Collaborative SfM (ColabSfM) as sharing distributed SfM reconstructions. Sharing maps requires estimating a joint reference frame, which is typically referred to as registration. However, there…
The growing presence of vision-based systems in the physical world comes with a major requirement: highly accurate estimation of the pose, a task typically addressed through methods based on local features. The totality of the available feature-based localization solutions are designed under the ass…
"In this paper, we derive a linear constraint for planar motion leveraging scale- and orientation-covariant features, , SIFT, which is used to create a novel minimal solver for planar motion requiring only a single covariant feature. We compare the proposed method to traditional point-based solvers…
Visual Place Recognition (VPR), the task of identifying the place where an image has been taken from, is at the core of important robotic problems as relocalization, loop-closure detection or topological navigation. Even for indoors, the focus of this work, VPR is challenging for a number of reasons
This paper describes a method that corrects errors of a VSLAM-estimated trajectory for cars driving in GPS-denied environments, by applying constraints from public databases of geo-tagged images (Google Street View, Mapillary, etc). The method, dubbed Appearance-based Geo-Alignment for Simultaneous…