An Efficient Solution to the Five-Point Relative Pose Problem
IEEE Transactions on Pattern Analysis and Machine Intelligence
Robust Estimation of Camera Rotation, Translation and Focal Length at High Outlier Rates
CRV '04 Proceedings of the 1st Canadian Conference on Computer and Robot Vision
Online Estimation of Trifocal Tensors for Augmenting Live Video
ISMAR '04 Proceedings of the 3rd IEEE/ACM International Symposium on Mixed and Augmented Reality
Four Points in Two or Three Calibrated Views: Theory and Practice
International Journal of Computer Vision
Rapid Object Indexing Using Locality Sensitive Hashing and Joint 3D-Signature Space Estimation
IEEE Transactions on Pattern Analysis and Machine Intelligence
A Minimal Solution to the Generalised 3-Point Pose Problem
Journal of Mathematical Imaging and Vision
Simultaneous Motion and Structure Estimation by Fusion of Inertial and Vision Data
International Journal of Robotics Research
Vision-Based SLAM: Stereo and Monocular Approaches
International Journal of Computer Vision
A shape hierarchy for 3D modelling from video
Proceedings of the 5th international conference on Computer graphics and interactive techniques in Australia and Southeast Asia
Detailed Real-Time Urban 3D Reconstruction from Video
International Journal of Computer Vision
Online camera pose estimation in partially known and dynamic scenes
ISMAR '06 Proceedings of the 5th IEEE and ACM International Symposium on Mixed and Augmented Reality
The universal media book: tracking and augmenting moving surfaces with projected information
ISMAR '06 Proceedings of the 5th IEEE and ACM International Symposium on Mixed and Augmented Reality
A consensus sampling technique for fast and robust model fitting
Pattern Recognition
Content-preserving warps for 3D video stabilization
ACM SIGGRAPH 2009 papers
Efficient tracking and ego-motion recovery using gait analysis
Signal Processing
A framework for modeling 3D scenes using pose-free equations
ACM Transactions on Graphics (TOG)
Active matching for visual tracking
Robotics and Autonomous Systems
Algorithms for visual odometry in outdoor field environment
RA '07 Proceedings of the 13th IASTED International Conference on Robotics and Applications
Maximum Likelihood Estimation Sample Consensus with Validation of Individual Correspondences
ISVC '09 Proceedings of the 5th International Symposium on Advances in Visual Computing: Part I
Revisiting the PnP Problem with a GPS
ISVC '09 Proceedings of the 5th International Symposium on Advances in Visual Computing: Part I
Adaptive Sample Consensus for Efficient Random Optimization
ISVC '09 Proceedings of the 5th International Symposium on Advances in Visual Computing: Part II
Multiple-model RANSAC for ego-motion estimation in highly dynamic environments
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
An adaptive-scale robust estimator for motion estimation
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Motion estimation by decoupling rotation and translation in catadioptric vision
Computer Vision and Image Understanding
Selecting good corners for structure and motion recovery using a time-of-flight camera
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Visual odometry with effective feature sampling for untextured outdoor environment
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Model Fitting with Sufficient Random Sample Coverage
International Journal of Computer Vision
Accelerated hypothesis generation for multi-structure robust fitting
ECCV'10 Proceedings of the 11th European conference on Computer vision: Part V
Linear model hashing and batch RANSAC for rapid and accurate object recognition
CVPR'04 Proceedings of the 2004 IEEE computer society conference on Computer vision and pattern recognition
Real-time dense geometry from a handheld camera
Proceedings of the 32nd DAGM conference on Pattern recognition
Visual-inertial navigation, mapping and localization: A scalable real-time causal approach
International Journal of Robotics Research
Proceedings of the 13th annual conference on Genetic and evolutionary computation
Real-time and robust monocular SLAM using predictive multi-resolution descriptors
ISVC'06 Proceedings of the Second international conference on Advances in Visual Computing - Volume Part II
Iterative closest SIFT formulation for robust feature matching
ISVC'06 Proceedings of the Second international conference on Advances in Visual Computing - Volume Part II
A domain reduction algorithm for incremental projective reconstruction
ISVC'06 Proceedings of the Second international conference on Advances in Visual Computing - Volume Part II
A dynamic programming approach to maximizing tracks for structure from motion
ACCV'09 Proceedings of the 9th Asian conference on Computer Vision - Volume Part II
Globally optimal consensus set maximization through rotation search
ACCV'12 Proceedings of the 11th Asian conference on Computer Vision - Volume Part II
Efficient and robust model fitting with unknown noise scale
Image and Vision Computing
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A system capable of performing robust live ego-motion estimationfor perspective cameras is presented. The system is powered byrandom sample consensus with preemptive scoring of the motionhypotheses. A general statement of the problem of efficientpreemptive scoring is given. Then a theoretical investigation ofpreemptive scoring under a simple inlier-outlier model isperformed. A practical preemption scheme is proposed and it isshown that the preemption is powerful enough to enable robust livestructure and motion estimation.