5 papers
Geometry Depth Consistency in RGBD Relative Pose Estimation
Sourav Kumar, Chiang-Heng Chien, Benjamin Kimia
Relative pose estimation for RGBD cameras is crucial in a number of applications. Previous approaches either rely on the RGB aspect of the images to estimate pose thus not fully ma…
Generalized Relative Neighborhood Graph (GRNG) for Similarity Search
Cole Foster, Berk Sevilmis, Benjamin Kimia
Similarity search is a fundamental building block for information retrieval on a variety of datasets. The notion of a neighbor is often based on binary considerations, such as the…
On the Instability of Relative Pose Estimation and RANSAC's Role
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. In both cases we characteri…
Benchmarking Pedestrian Odometry: The Brown Pedestrian Odometry Dataset (BPOD)
David Charatan, Hongyi Fan, Benjamin Kimia
We present the Brown Pedestrian Odometry Dataset (BPOD) for benchmarking visual odometry algorithms in head-mounted pedestrian settings. This dataset was captured using synchronize…
GPU-Based Homotopy Continuation for Minimal Problems in Computer Vision
Chiang-Heng Chien, Hongyi Fan, Ahmad Abdelfattah +3
Systems of polynomial equations arise frequently in computer vision, especially in multiview geometry problems. Traditional methods for solving these systems typically aim to elimi…