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A great variety of computer vision tasks, such as rigid/nonrigid structure from motion and photometric stereo , can be unified into the problem of approximating a low-rank data matrix in the presence of missing data and out-liers. To improve robustness, the L 1-norm measurement has long been recommended. Unfortunately, existing methods usually fail to(More)
In this paper, we revisit the classical perspective-n-point (PnP) problem, and propose the first non-iterative O(n) solution that is fast, generally applicable and globally optimal. Our basic idea is to formulate the PnP problem into a functional minimization problem and retrieve all its stationary points by using the Gröbner basis technique. The novelty(More)
In this paper, we revisit the pose determination problem of a partially calibrated camera with unknown focal length, hereafter referred to as the PnPf problem, by using n (n ≥ 4) 3D-to-2D point correspondences. Our core contribution is to introduce the angle constraint and derive a compact bi-variate polynomial equation for each point triplet. Based on this(More)
We propose a unified branch and contract method to estimate the fundamental matrix with guaranteed global opti-mality, by minimizing either the Sampson error or the point to epipolar line distance, and explicitly handling the rank-2 constraint and scale ambiguity. Based on a novel denominator linearization strategy, the fundamental matrix estimation problem(More)
Sensor fusion of millimeter-wave radar and a camera is beneficial for advanced driver assistance functions such as obstacle avoidance and Stop&Go. However, millimeter-wave radar has low directional resolution which engenders low measurement accuracy of object position and difficulty of calibration between radar and camera. In this paper, we first propose a(More)
In this paper, we propose a direct method for 3D surface reconstruction from stereo images. We reconstruct a 3D surface by estimating all depths of the vertices of a mesh composed of piecewise triangular patches on the reference (template) image. The analyses described in this paper subsume that the deformation of the mesh between the stereo images is(More)
Due to its simplicity, the eight-point algorithm has been widely used in fundamental matrix estimation. Unfortunately , the rank-2 constraint of a fundamental matrix is enforced via a posterior rank correction step, thus leading to non-optimal solutions to the original problem. To address this drawback, existing algorithms need to solve either a very high(More)