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Benchmarking 6DOF Outdoor Visual Localization in Changing Conditions
TLDR
This paper introduces the first benchmark datasets specifically designed for analyzing the impact of day-night changes, weather and seasonal variations, as well as sequence-based localization approaches and the need for better local features on visual localization.
View on IEEE
Global Optimization through Rotation Space Search
  • R. Hartley, F. Kahl
  • Computer Science
    International Journal of Computer Vision
  • 1 April 2009
TLDR
A method is developed for the estimation of the essential matrix, giving the first guaranteed optimal algorithm for estimating the relative pose using a cost function based on reprojection errors.
View on Springer
Real-Time Camera Tracking and 3D Reconstruction Using Signed Distance Functions
TLDR
This paper presents a novel method for real-time camera tracking and 3D reconstruction of static indoor environments using an RGB-D sensor that is more accurate and robust than the iterated closest point algorithm (ICP) used by KinectFusion, and yields often a comparable accuracy at much higher speed to feature-based bundle adjustment methods such asRGB-D SLAM.
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City-Scale Localization for Cameras with Known Vertical Direction
TLDR
This work considers the problem of localizing a novel image in a large 3D model, given that the gravitational vector is known, and extends accurate approximations and fast polynomial solvers to camera pose estimation.
View on IEEE
Multiple View Geometry and the -norm
  • F. Kahl
  • Computer Science, Mathematics
  • 2005
TLDR
It is shown that a variety of structure and motion problems, for example, triangulation, camera resectioning and homography estimation can be recast as a quasi-convex optimization problem within this framework.
Multiple-View Geometry Under the {$L_\infty$}-Norm
  • F. Kahl, R. Hartley
  • Computer Science, Mathematics
    IEEE Transactions on Pattern Analysis and Machine…
  • 1 September 2008
TLDR
A variety of structure and motion problems, for example, triangulation, camera resectioning, and homography estimation, can be recast as quasi-convex optimization problems within this framework and can be efficiently solved using second-order cone programming (SOCP), which is a standard technique in convex optimization.
View on IEEE
Multiple view geometry and the L/sub /spl infin//-norm
  • F. Kahl
  • Computer Science
    Tenth IEEE International Conference on Computer…
  • 17 October 2005
TLDR
It is shown that a variety of structure and motion problems, for example, triangulation, camera resectioning and homography estimation can be recast as a quasiconvex optimization problem within this framework.
View on IEEE
A minimal solution for relative pose with unknown focal length
View on IEEE
Multiple View Geometry and the L-infinity Norm
Rotation Averaging and Strong Duality
TLDR
This paper analytically prove that in many cases there is no duality gap unless the noise levels are severe, and proposes an efficient, scalable algorithm that outperforms general purpose numerical solvers and is able to handle the large problem instances commonly occurring in structure from motion settings.
View on IEEE
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