3 papers
cs.CV2025
Multiview Image-Based Localization
Cameron Fiore, Hongyi Fan, Benjamin Kimia
The image retrieval (IR) approach to image localization has distinct advantages to the 3D and the deep learning (DNN) approaches: it is seen-agnostic, simpler to implement and use,…
cs.CV2024
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…
cs.CV2023
Condition numbers in multiview geometry, instability in relative pose estimation, and RANSAC
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 R…