no code implementations • 4 Oct 2023 • Hongyi Fan, Joe Kileel, Benjamin Kimia
In this paper we introduce a general framework for analyzing the numerical conditioning of minimal problems in multiple view geometry, using tools from computational algebra and Riemannian geometry.
no code implementations • CVPR 2022 • Hongyi Fan, Joe Kileel, Benjamin Kimia
In this paper we study the numerical instabilities of the 5- and 7-point problems for essential and fundamental matrix estimation in multiview geometry.
no code implementations • 24 Dec 2021 • David Charatan, Hongyi Fan, Benjamin Kimia
We present the Brown Pedestrian Odometry Dataset (BPOD) for benchmarking visual odometry algorithms in head-mounted pedestrian settings.
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.
1 code implementation • 23 Mar 2019 • Ricardo Fabbri, Timothy Duff, Hongyi Fan, Margaret Regan, David da Costa de Pinho, Elias Tsigaridas, Charles Wampler, Jonathan Hauenstein, Benjamin Kimia, Anton Leykin, Tomas Pajdla
We present a method for solving two minimal problems for relative camera pose estimation from three views, which are based on three view correspondences of i) three points and one line and the novel case of ii) three points and two lines through two of the points.