4 citations · 18 across the 27 of their papers we have counts for
8 papers · 1 filter
Handbook on Leveraging Lines for Two-View Relative Pose Estimation
Petr Hruby, Shaohui Liu, Rémi Pautrat +2
We propose an approach for estimating the relative pose between calibrated image pairs by jointly exploiting points, lines, and their coincidences in a hybrid manner. We investigat…
Q-REG: End-to-End Trainable Point Cloud Registration with Surface Curvature
Shengze Jin, Daniel Barath, Marc Pollefeys +1
Point cloud registration has seen recent success with several learning-based methods that focus on correspondence matching and, as such, optimize only for this objective. Following…
Volumetric Semantically Consistent 3D Panoptic Mapping
Yang Miao, Iro Armeni, Marc Pollefeys +1
We introduce an online 2D-to-3D semantic instance mapping algorithm aimed at generating comprehensive, accurate, and efficient semantic 3D maps suitable for autonomous agents in un…
Vanishing Point Estimation in Uncalibrated Images with Prior Gravity Direction
Rémi Pautrat, Shaohui Liu, Petr Hruby +2
We tackle the problem of estimating a Manhattan frame, i.e. three orthogonal vanishing points, and the unknown focal length of the camera, leveraging a prior vertical direction. Th…
AffineGlue: Joint Matching and Robust Estimation
Daniel Barath, Dmytro Mishkin, Luca Cavalli +3
We propose AffineGlue, a method for joint two-view feature matching and robust estimation that reduces the combinatorial complexity of the problem by employing single-point minimal…
Consensus-Adaptive RANSAC
Luca Cavalli, Daniel Barath, Marc Pollefeys +1
RANSAC and its variants are widely used for robust estimation, however, they commonly follow a greedy approach to finding the highest scoring model while ignoring other model hypot…
DGC-GNN: Leveraging Geometry and Color Cues for Visual Descriptor-Free 2D-3D Matching
Shuzhe Wang, Juho Kannala, Daniel Barath
Matching 2D keypoints in an image to a sparse 3D point cloud of the scene without requiring visual descriptors has garnered increased interest due to its low memory requirements, i…
SGAligner : 3D Scene Alignment with Scene Graphs
Sayan Deb Sarkar, Ondrej Miksik, Marc Pollefeys +2
Building 3D scene graphs has recently emerged as a topic in scene representation for several embodied AI applications to represent the world in a structured and rich manner. With t…