32 citations · 56 across the 10 of their papers we have counts for
10 papers
Towards Rotation-only Imaging Geometry: Rotation Estimation
Xinrui Li, Qi Cai, Yuanxin Wu
Structure from Motion (SfM) is a critical task in computer vision, aiming to recover the 3D scene structure and camera motion from a sequence of 2D images. The recent pose-only ima…
Generic Calibration: Pose Ambiguity/Linear Solution and Parametric-hybrid Pipeline
Yuqi Han, Qi Cai, Yuanxin Wu
Offline camera calibration techniques typically employ parametric or generic camera models. Selecting parametric models relies heavily on user experience, and an inappropriate came…
An Immediate Update Strategy of Multi-State Constraint Kalman Filter
Qingchao Zhang, Wei Ouyang, Jiale Han +3
The lightweight Multi-state Constraint Kalman Filter (MSCKF) has been well-known for its high efficiency, in which the delayed update has been usually adopted since its proposal. T…
Visual-inertial state estimation based on Chebyshev polynomial optimization
Hongyu Zhang, Maoran Zhu, Qi Cai +1
This paper proposes an innovative state estimation method for visual-inertial fusion based on Chebyshev polynomial optimization. Specifically, the pose is modeled as a Chebyshev po…
Linear Relative Pose Estimation Founded on Pose-only Imaging Geometry
Qi Cai, Xinrui Li, Yuanxin Wu
How to efficiently and accurately handle image matching outliers is a critical issue in two-view relative estimation. The prevailing RANSAC method necessitates that the minimal poi…
A Pose-only Solution to Visual Reconstruction and Navigation
Qi Cai, Lilian Zhang, Yuanxin Wu +2
Visual navigation and three-dimensional (3D) scene reconstruction are essential for robotics to interact with the surrounding environment. Large-scale scenes and critical camera mo…
Segmenting Epipolar Line
Shengjie Li, Qi Cai, Yuanxin Wu
Identifying feature correspondence between two images is a fundamental procedure in three-dimensional computer vision. Usually the feature search space is confined by the epipolar…
General Method for Prime-point Cyclic Convolution over the Real Field
Qi Cai, Tsung-Ching Lin, Yuanxin Wu +2
A general and fast method is conceived for computing the cyclic convolution of n points, where n is a prime number. This method fully exploits the internal structure of the cyclic…
Equivalent Constraints for Two-View Geometry: Pose Solution/Pure Rotation Identification and 3D Reconstruction
Qi Cai, Yuanxin Wu, Lilian Zhang +1
Two-view relative pose estimation and structure reconstruction is a classical problem in computer vision. The typical methods usually employ the singular value decomposition of the…
Fast RodFIter for Attitude Reconstruction from Inertial Measurements
Yuanxin Wu, Qi Cai, Tnieu-Kien Truong
Attitude computation is of vital importance for a variety of applications. Based on the functional iteration of the Rodrigues vector integration equation, the RodFIter method can b…