151 citations · 366 across the 24 of their papers we have counts for
32 papers
Using monodromy to recover symmetries of polynomial systems
Timothy Duff, Viktor Korotynskiy, Tomas Pajdla +1
Galois/monodromy groups attached to parametric systems of polynomial equations provide a method for detecting the existence of symmetries in solution sets. Beyond the question of e…
Automatic Solver Generator for Systems of Laurent Polynomial Equations
Evgeniy Martyushev, Snehal Bhayani, Tomas Pajdla
In computer vision applications, the following problem often arises: Given a family of (Laurent) polynomial systems with the same monomial structure but varying coefficients, find…
D-InLoc++: Indoor Localization in Dynamic Environments
Martina Dubenova, Anna Zderadickova, Ondrej Kafka +2
Most state-of-the-art localization algorithms rely on robust relative pose estimation and geometry verification to obtain moving object agnostic camera poses in complex indoor envi…
Objects Can Move: 3D Change Detection by Geometric Transformation Constistency
Aikaterini Adam, Torsten Sattler, Konstantinos Karantzalos +1
AR/VR applications and robots need to know when the scene has changed. An example is when objects are moved, added, or removed from the scene. We propose a 3D object discovery meth…
Optimizing Elimination Templates by Greedy Parameter Search
Evgeniy Martyushev, Jana Vrablikova, Tomas Pajdla
We propose a new method for constructing elimination templates for efficient polynomial system solving of minimal problems in structure from motion, image matching, and camera trac…
Learning to Solve Hard Minimal Problems
Petr Hruby, Timothy Duff, Anton Leykin +1
We present an approach to solving hard geometric optimization problems in the RANSAC framework. The hard minimal problems arise from relaxing the original geometric optimization pr…
Reconstructing Small 3D Objects in front of a Textured Background
Petr Hruby, Tomas Pajdla
We present a technique for a complete 3D reconstruction of small objects moving in front of a textured background. It is a particular variation of multibody structure from motion,…
Galois/monodromy groups for decomposing minimal problems in 3D reconstruction
Timothy Duff, Viktor Korotynskiy, Tomas Pajdla +1
We consider Galois/monodromy groups arising in computer vision applications, with a view towards building more efficient polynomial solvers. The Galois/monodromy group allows us to…
Automatic self-contained calibration of an industrial dual-arm robot with cameras using self-contact, planar constraints, and self-observation
Karla Stepanova, Jakub Rozlivek, Frantisek Puciow +3
We present a robot kinematic calibration method that combines complementary calibration approaches: self-contact, planar constraints, and self-observation. We analyze the estimatio…
Globally Optimal Solution to Inverse Kinematics of 7DOF Serial Manipulator
Pavel Trutman, Safey El Din Mohab, Didier Henrion +1
The Inverse Kinematics (IK) problem is to nd robot control parameters to bring it into the desired position under the kinematics and collision constraints. We present a global solu…
Making Affine Correspondences Work in Camera Geometry Computation
Daniel Barath, Michal Polic, Wolfgang Förstner +3
Local features e.g. SIFT and its affine and learned variants provide region-to-region rather than point-to-point correspondences. This has recently been exploited to create new min…
From two rolling shutters to one global shutter
Cenek Albl, Zuzana Kukelova, Viktor Larsson +2
Most consumer cameras are equipped with electronic rolling shutter, leading to image distortions when the camera moves during image capture. We explore a surprisingly simple camera…
Minimal Rolling Shutter Absolute Pose with Unknown Focal Length and Radial Distortion
Zuzana Kukelova, Cenek Albl, Akihiro Sugimoto +2
The internal geometry of most modern consumer cameras is not adequately described by the perspective projection. Almost all cameras exhibit some radial lens distortion and are equi…
PLP -- Point-line Minimal Problems under Partial Visibility in Three Views
Timothy Duff, Kathlén Kohn, Anton Leykin +1
We present a complete classification of minimal problems for generic arrangements of points and lines in space observed partially by three calibrated perspective cameras when each…
Is This The Right Place? Geometric-Semantic Pose Verification for Indoor Visual Localization
Hajime Taira, Ignacio Rocco, Jiri Sedlar +5
Visual localization in large and complex indoor scenes, dominated by weakly textured rooms and repeating geometric patterns, is a challenging problem with high practical relevance…
Robust Motion Segmentation from Pairwise Matches
Federica Arrigoni, Tomas Pajdla
In this paper we address a classification problem that has not been considered before, namely motion segmentation given pairwise matches only. Our contribution to this unexplored t…
D2-Net: A Trainable CNN for Joint Detection and Description of Local Features
Mihai Dusmanu, Ignacio Rocco, Tomas Pajdla +4
In this work we address the problem of finding reliable pixel-level correspondences under difficult imaging conditions. We propose an approach where a single convolutional neural n…
PLMP -- Point-Line Minimal Problems in Complete Multi-View Visibility
Timothy Duff, Kathlén Kohn, Anton Leykin +1
We present a complete classification of all minimal problems for generic arrangements of points and lines completely observed by calibrated perspective cameras. We show that there…
Trifocal Relative Pose from Lines at Points and its Efficient Solution
Ricardo Fabbri, Timothy Duff, Hongyi Fan +8
We present a method for solving two minimal problems for relative camera pose estimation from three views, which are based on three view correspondences of i) three points and one…
Linear solution to the minimal absolute pose rolling shutter problem
Zuzana Kukelova, Cenek Albl, Akihiro Sugimoto +1
This paper presents new efficient solutions to the rolling shutter camera absolute pose problem. Unlike the state-of-the-art polynomial solvers, we approach the problem using simpl…
Neighbourhood Consensus Networks
Ignacio Rocco, Mircea Cimpoi, Relja Arandjelović +3
We address the problem of finding reliable dense correspondences between a pair of images. This is a challenging task due to strong appearance differences between the corresponding…
Fast and Accurate Camera Covariance Computation for Large 3D Reconstruction
Michal Polic, Wolfgang Förstner, Tomas Pajdla
Estimating uncertainty of camera parameters computed in Structure from Motion (SfM) is an important tool for evaluating the quality of the reconstruction and guiding the reconstruc…
InLoc: Indoor Visual Localization with Dense Matching and View Synthesis
Hajime Taira, Masatoshi Okutomi, Torsten Sattler +5
We seek to predict the 6 degree-of-freedom (6DoF) pose of a query photograph with respect to a large indoor 3D map. The contributions of this work are three-fold. First, we develop…
Beyond Gröbner Bases: Basis Selection for Minimal Solvers
Viktor Larsson, Magnus Oskarsson, Kalle Åström +3
Many computer vision applications require robust estimation of the underlying geometry, in terms of camera motion and 3D structure of the scene. These robust methods often rely on…