Geometry Depth Consistency in RGBD Relative Pose Estimation

no code implementations • 1 Jan 2024 • Sourav Kumar, Chiang-Heng Chien, Benjamin Kimia

Relative pose estimation for RGBD cameras is crucial in a number of applications.

Pose Estimation

Minimal Solutions to Generalized Three-View Relative Pose Problem

no code implementations • ICCV 2023 • Yaqing Ding, Chiang-Heng Chien, Viktor Larsson, Karl Åström, Benjamin Kimia

For a generalized (or non-central) camera model, the minimal problem for two views of six points has efficient solvers.

GPU-Based Homotopy Continuation for Minimal Problems in Computer Vision

no code implementations • CVPR 2022 • Chiang-Heng Chien, Hongyi Fan, Ahmad Abdelfattah, Elias Tsigaridas, Stanimire Tomov, Benjamin Kimia

Homotopy Continuation (HC) can solve more complex problems without the stability issues, and with guarantees of a global solution, but they are known to be slow.

Pose Estimation