7 accepted papers
Compared to polynomial splines, rational functions are known to be more efficient and well-behaved data fitting models. However, due to the potential presence of zeros in their denominator, rational functions tend to yield notoriously hard optimization problems. In this work, we present a novel leas…
An approach for estimating the pose of a camera given a set of 3D points and their corresponding 2D image projections is presented. It formulates the problem as a non-linear quadratic program and identifies regions in the parameter space that contain unique minima with guarantees that at least one o…
This paper presents a large scale, metric Structure from Motion (SfM) pipeline for generalised cameras with overlapping fields-of-view, and demonstrates it using Light Field (LF) images. We build on recent developments in algorithms for absolute and relative pose recovery for generalised cameras and…
Absolute orientation estimation is the determination of the similarity transformation between two sets of corresponding 3D points, a task arising frequently in computer vision and robotics. We have recently proposed an absolute orientation algorithm based on the Fast Optimal Attitude Matrix (FOAM) a…
Estimating the pose of orbiting satellites is a key prerequisite for supporting autonomous proximity operations in space. This work presents a monocular 3D tracking algorithm that tracks edges with the aid of an arbitrary 3D mesh model assumed to capture a satellite's shape. The proposed tracker pro…
Visual Odometry (VO) is a proven technology for planetary exploration rovers, facilitating their localization with a small error over medium-sized trajectories. However, due to VO's incremental mode of operation, its estimation error accumulates over time, resulting in considerable drift for long tr…
Despite their ubiquitous presence, texture-less objects present significant challenges to contemporary visual object detection and localization algorithms. This paper proposes a practical method for the detection and accurate 3D localization of multiple texture-less and rigid objects depicted in RGB…