We present a new on-line scheme for the recognition and pose estimation of a large isolated 3-D object, which may not entirely fit in a camera’s field of view. We do not assume any knowledge of the internal parameters of the camera, or their constancy. We use a probabilistic reasoning framework for recognition and next view planning. We show results of successful recognition and pose estimation...

Recently, Dementhon 0 Davis [2] proposed a method for determining the pose of a 3-0 object with respect to a camera from 3-D to 2 0 point correspondences. The method consists of iteratively improving the pose computed with a weak perspective camera model to converge, at the limit, to a pose estimation computed with a perspective camera model. In this paper we show that the method of Dementhon €...

Head Tracking systems with head pose estimation have several applications in human-computer interaction and constitute a key component of 3D audio environments. Most developed systems to date are restricted to a range of poses in which the user has to be facing the camera, are sensible to the lightning conditions and are not identity-invariant. These constrains make these approaches not very ap...

A method for the self-calibration of a cameraequipped robot manipulator is proposed in this paper. In this method, it is assumed only a scale, which is placed in the field of view of the camera, is known in the world coordinate system. It has been known from the computer vision field that, the extrinsic parameters of the camera along with its intrinsic parameters can be obtained up to a scale f...

In this paper we propose a self-initialized method for human pose estimation from multiple cameras. A graphical model for the articulated body is defined through explicit kinematic and structural constraints, which allows for any plausible body configuration and avoids learning the joint distributions from training data. Nonparametric belief propagation (NBP) is used to infer the marginal distr...

We address the problem of body pose tracking in a scenario of multiple camera setup with the aim of recovering body motion robustly and accurately. The tracking is performed on three-dimensional (3D) space using 3D data, including colored volume and 3D optical flow, which are reconstructed at each time step. We introduce strategies to compute multiple camera-based 3D optical flow and have attai...

Most surveillance cameras have a wide-angle field of view and are situated unobtrusively in overhead positions. For this type of application, head pose estimation is very challenging because of the limitations of the quality and resolution of the incoming data. In addition, as a person moves, their pose relative to the camera changes, but the desired pose is the absolute pose with respect to th...

This paper presents a real-time vision based algorithm for 5 degrees-offreedom pose estimation and set-point control for a Micro Aerial Vehicle (MAV). The camera is mounted on-board a quadrotor helicopter. Camera pose estimation is based on the appearance of two concentric circles which are used as landmark. We show that that by using a calibrated camera, conic sections, and the assumption that...

Omnidirectional video cameras are becoming increasingly popular in computer vision. One family of these cameras uses a catadioptric system with a paraboloidal mirror and an orthographic lens to produce an omnidirectional image with a single center-ofprojection. In this paper, we develop a novel calibration model that we combine with a beacon-based pose estimation algorithm. Our approach relaxes...

Estimating the pose of a camera is a core problem in many geometric vision applications. While there has been much progress in the last two decades, the main difficulty is still dealing with data contaminated by outliers. For many scenes, e.g. with poor lightning conditions or repetitive textures, it is common that most of the correspondences are outliers. For real applications it is therefore ...