• Publications
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Scalable Recognition with a Vocabulary Tree
TLDR
A recognition scheme that scales efficiently to a large number of objects, and is robust to background clutter and occlusion. Expand
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Recent developments on direct relative orientation
TLDR
This paper presents a novel version of the five-point relative orientation algorithm given in Nister [Nister, D., 2004. Expand
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Detailed Real-Time Urban 3D Reconstruction from Video
TLDR
This paper presents a system for automatic, geo-registered, real-time 3D reconstruction from video of urban scenes. Expand
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Linear Time Maximally Stable Extremal Regions
TLDR
In this paper we present a new algorithm for computing Maximally Stable Extremal Regions (MSER), as invented by Matas et al. using a union-find data structure. Expand
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Stereo Matching with Color-Weighted Correlation, Hierarchical Belief Propagation, and Occlusion Handling
TLDR
In this paper, we formulate a stereo matching algorithm with careful handling of disparity, discontinuity, and occlusion. Expand
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Bundle Adjustment Rules
TLDR
We investigate the status of bundle adjustment as a component of a real-time camera tracking system and show that with current computing hardware a significant amount of bundles adjustment can be performed every time a new frame is added, even under stringent real- time constraints. Expand
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A minimal solution for relative pose with unknown focal length
TLDR
We present an efficient solution to the minimal problem of six points in two views with unknown focal length and show that there are 15 solutions in general. Expand
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Solutions to Minimal Generalized Relative Pose Problems
TLDR
We present a method to obtain the solutions to the generalized 6-point relative pose problem for any generalized camera provided calibration is known. Expand
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A Minimal Solution to the Generalised 3-Point Pose Problem
TLDR
We solve the Generalised problem where the camera is allowed to sample rays in some arbitrary but known fashion and is not assumed to perform a central perspective projection. Expand
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Stereo Matching with Color-Weighted Correlation, Hierarchical Belief Propagation and Occlusion Handling
TLDR
In this paper, we formulate an algorithm for the stereo matching problem with careful handling of disparity, discontinuity and occlusion, showing that our algorithm is the top performer. Expand
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