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Triangulation: Why Optimize?
Seong Hun Lee, Javier Civera
For decades, it has been widely accepted that the gold standard for two-view triangulation is to minimize the cost based on reprojection errors. In this work, we challenge this ide…
CAM-Convs: Camera-Aware Multi-Scale Convolutions for Single-View Depth
Jose M. Facil, Benjamin Ummenhofer, Huizhong Zhou +3
Single-view depth estimation suffers from the problem that a network trained on images from one camera does not generalize to images taken with a different camera model. Thus, chan…
Corners for Layout: End-to-End Layout Recovery from 360 Images
Clara Fernandez-Labrador, Jose M. Facil, Alejandro Perez-Yus +3
The problem of 3D layout recovery in indoor scenes has been a core research topic for over a decade. However, there are still several major challenges that remain unsolved. Among t…
Closed-Form Optimal Two-View Triangulation Based on Angular Errors
Seong Hun Lee, Javier Civera
In this paper, we study closed-form optimal solutions to two-view triangulation with known internal calibration and pose. By formulating the triangulation problem as and $L_\…
Condition-Invariant Multi-View Place Recognition
Jose M. Facil, Daniel Olid, Luis Montesano +1
Visual place recognition is particularly challenging when places suffer changes in its appearance. Such changes are indeed common, e.g., due to weather, night/day or seasons. In th…