In this work, a feature-based technique is proposed for the camera pose estimation in a sequence of widebaseline images. Camera pose estimation is an important issue in many computer vision and robotics applications such as augmented reality and visual SLAM. The developed method can track captured images taken by a hand-held camera in room-sized workspaces with a maximum scene depth of 3-4 m. T...

This paper presents our participation in the CLEAR 07 evaluation workshop head pose estimation tasks where two head pose estimation tasks were to be addressed. The first task estimates head poses with respect to (w.r.t.) a single camera capturing people seated in a meeting room scenario. The second task consisted of estimating the head pose of people moving in a room from four cameras w.r.t. a ...

Structure from motion (SFM) is the problem of reconstructing the geometry of a scene from a stream of images on which features have been tracked. In this paper, we consider a projective camera model and assume that the internal parameters of the camera are known. Our goal is to reconstruct the geometry of the scene up to a rigid motion (i.e. Euclidean reconstruction.) It has been shown that est...

Pose estimation is important step on PositionBased Visual Servo Control System building. This paper presents a vision based position sensor system which provide three dimensional (3D) relative position and orientation (pose) of an arbitary moving object with respect to end-effector mounted camera. Kalman filtering is applied to vision measurement from a single end-effector mounted camera to imp...

In this work, we solve the pose estimation problem for robot motion by placing multiple cameras on the robot. In particular, we combine the Extended Kalman Filter (EKF) with the multiple cameras. An essential strength of our approach is that it does not require finding image feature correspondences among cameras which is a difficult classical problem. The initial pose, the tracked features, and...

Multiple human 3D pose estimation from multiple camera views is a challenging task in unconstrained environments. Each individual has to be matched across each view and then the body pose has to be estimated. Additionally, the body pose of every individual changes in a consistent manner over time. To address these challenges, we propose a temporally consistent 3D Pictorial Structures model (3DP...

The poses of base station antennas play an important role in cellular network optimization. Existing methods of pose estimation are based on physical measurements performed either by tower climbers or using additional sensors attached to antennas. In this paper, we present a novel non-contact method of antenna pose measurement based on multi-view images of the antenna and inertial measurement u...

We have developed a fast facial feature point detection and pose estimation system. This system can detect facial points and estimate 3D pose angles in various conditions including facial expression changes and partial occlusion, etc. Only one facial image is needed as input and we don’t need special devices such as a blinking LED or a dual/stereo camera, etc. Moreover, no calibration process i...

In this paper, we present work from our ongoing project on vision-guided retrieval and insertion of ORUs. Guidance is to be provided through estimated relative poses between an ORU (to be retrievedinserted), a robotic arm and the related worksite. The major challenges of this work include objects with highly reflective or mirror surfaces moving with cluttered background, along with unreliable o...