8 accepted papers
This work introduces a novel method for surface normal estimation from rectified stereo image pairs, leveraging affine transformations derived from disparity values to achieve fast and accurate results. We demonstrate how the rectification of stereo image pairs simplifies the process of surface norm…
We present a new solver for estimating a surface normal from a single affine correspondence in two calibrated views. The proposed approach provides a new globally optimal solution for this over-determined problem and proves that it reduces to a linear system that can be solved extremely efficiently.…
We propose a new algorithm for finding an unknown number of geometric models, e.g., homographies. The problem is formalized as finding dominant model instances progressively without forming crisp point-to-model assignments. Dominant instances are found via a RANSAC-like sampling and a consolidation…
We propose 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, second and third classes of solvers, the sought plane is expected to be perpendicular to one of the camera…
This paper investigates a novel calibration process of devices with different modalities, which is a critical step of computer vision applications. We propose a fully automatic extrinsic calibration of a LiDAR-camera system. Our approach applies sphere as their surfaces and contours can be accuratel…
A new closed-form solver is proposed minimizing the algebraic error optimally, in the least squares sense, to estimate the relative planar motion of two calibrated cameras. The main objective is to solve the over-determined case, i.e., when a larger-than-minimal sample of point correspondences is gi…
Two solvers are proposed for estimating the extrinsic camera parameters from a single affine correspondence assuming general planar motion. In this case, the camera movement is constrained to a plane and the image plane is orthogonal to the ground. The algorithms do not assume other constraints, e.g…
A minimal solution using two affine correspondences is presented to estimate the common focal length and the fundamental matrix between two semi-calibrated cameras - known intrinsic parameters except a common focal length. To the best of our knowledge, this problem is unsolved. The proposed approach…