6 accepted papers
We present a new quasi-affine reconstruction of a scene and its application to camera self-calibration. We refer to this reconstruction as QUARCH (QUasi-Affine Reconstruction with respect to Camera centers and the Hodographs of horopters). A QUARCH can be obtained by solving a semidefinite programmi…
In the robotic field, navigation and path planning applications benefit from a wide range of visual systems (e.g, perspective cameras, depth cameras, catadioptric cameras, etc.). In outdoor conditions, these systems capture information in which sky regions cover a major segment of the images acquire…
Recent progress in 3D sensor devices and in semantic mapping allows to build very rich HD 3D maps very useful for autonomous navigation and localization. However, these maps are particularly huge and require important memory capabilities as well computational resources. In this paper, we propose a n…
In this paper we present minimal solutions for two-view relative motion estimation based on a homography formulation. By assuming a known vertical direction (e.g. from an IMU) and assuming a dominant ground plane we demonstrate that rotation and translation estimation can be decoupled. This result a…
This paper investigates the problem of registering a scanned scene, represented by 3D Euclidean point coordinates, and two or more uncalibrated cameras. An unknown subset of the scanned points have their image projections detected and matched across images. The proposed approach assumes the cameras…
This paper deals with the problem of registering a known structured 3D scene and its metric Structure-from-Motion (SfM) counterpart. The proposed work relies on a prior plane segmentation of the 3D scene and aligns the data obtained from both modalities by solving the point-to-plane assignment probl…